WO2019141261A1

WO2019141261A1 - Puncture device

Info

Publication number: WO2019141261A1
Application number: PCT/CN2019/072423
Authority: WO
Inventors: Jian Liu; Xiao FANG; Jieyong MENG; Liangfan ZHU; Yun Wang
Original assignee: Shenzhen United Imaging Healthcare Co Ltd
Current assignee: Shenzhen United Imaging Healthcare Co Ltd
Priority date: 2018-01-19
Filing date: 2019-01-18
Publication date: 2019-07-25
Anticipated expiration: 2020-07-19

Abstract

A puncture device (100) is provided. The puncture device (100) includes a base (110), a puncture unit (140), a movement control mechanism (120), and a position-limiting mechanism (130). The puncture unit (140) is used for puncture treatment. The movement control mechanism (120) is mounted on the base and configured to control a movement of the puncture unit (140). The puncture unit (140) may be detachably mounted on the movement control mechanism (120). The movement control mechanism (120) may be movable on the base (110) along a route. The position-limiting mechanism (130) may be movably mounted on the base (110) and configured to limit a position of the movement control mechanism (120) during a movement of the movement control mechanism (120).

Description

PUNCTURE DEVICE

CROSS-REFERENCE TO RELATED APPLICATIONS

This application claims priority of Chinese Application No. 201810969495.7, filed on August 23, 2018, Chinese Application No. 201810969489.1, filed on August 23, 2018, Chinese Application No. 201810055640.0, filed on January 19, 2018, and Chinese Application No. 201821019996.0, filed on June 28, 2018, the entire contents of which are hereby incorporated by reference.

TECHNICAL FIELD

The disclosure generally relates to medical devices, and more particularly, relates to a puncture device.

BACKGROUND

A puncture device is widely used in medical treatment, such as a biopsy, an ablation, an implantation, a fluid extraction, an effusion extraction, etc. Normally, before a puncture treatment is performed on a subject, a surgical route extending from a puncture point to an endpoint of the subject and one or more parameters related to the surgical routes (e.g., a puncture angle) may be planned for the puncture device. In an ideal situation, the puncture device may be actuated to perform the puncture treatment on the subject according to the surgical route and the parameter (s) precisely. However, in some cases, an actual surgical route of the puncture device may deviate from the planned surgical route due to, for example, an equipment error. This may cause harm to the subject and affect the treatment. Thus, it is desirable to provide a more effective puncture device, thereby ensuring the safe use and treatment effect of the puncture device.

SUMMARY

In a first aspect of the present disclosure, a puncture device is provided. The puncture device may include a base, a puncture unit, a movement control mechanism, and a position-limiting mechanism. The puncture unit may be used for puncture treatment. The movement control mechanism may be mounted on the base and configured to control a movement of the puncture unit. The puncture unit may be detachably mounted on the movement control mechanism. The movement control mechanism may be movable on the base along a route. The position-limiting mechanism may be movably mounted on the base and configured to limit a position of the movement control mechanism during a movement of the movement control mechanism.

In some embodiments, the movement control mechanism may be configured to receive an instruction for causing the movement control mechanism to move from a start location on the route to a target location on the route. At least a portion of the position-limiting mechanism may be configured to move to a predetermined location to limit the position of the movement control mechanism at the predetermined location.

In some embodiments, the movement control mechanism may have a normal state and an abnormal state. Under the normal state, the movement control mechanism may move from the start location and stops at the target location according to the instruction. Under the abnormal state, the movement control mechanism may move from the start location along the route without stopping at the target location and abuts against the position-limiting mechanism located at the predetermined location.

In some embodiments, the position-limiting mechanism may include a blocking component, a driver, and a motion transmission component. The motion transmission component may be mechanically connected to the blocking component and the driver. The blocking component may be configured to abut against the movement control mechanism at the predetermined location. The driver may be configured to drive, via the motion transmission component, the blocking component to move to the predetermined location.

In some embodiments, the motion transmission component of the position-limiting mechanism may include a lead screw and a nut. The lead screw may be mechanically connected to the driver of the position-limiting mechanism. The nut may be mechanically connected to the lead screw and the blocking component.

In some embodiments, the movement control mechanism may include a motion platform, a driver, and a motion transmission component. The motion transmission component may be mechanically connected to the motion platform and the driver. The puncture unit may be mounted on the motion platform. The driver may be configured to drive, via the motion transmission component, the motion platform to move on the base.

In some embodiments, the motion transmission component of the movement control mechanism may include a lead screw and a nut. The lead screw may be mechanically connected to the driver. The nut may be mechanically connected to the lead screw and the motion platform.

In some embodiments, the motion platform may include a mounting base, a first mounting section, and a second mounting section. The first mounting section and second mounting section may be arranged on the mounting base. The puncture unit may be mounted on the first mounting section. The second mounting section may be mechanically connected to the motion transmission component of the movement control mechanism.

In some embodiments, the puncture device may further include a guiding device mounted on the base. The guiding device may be configured to guide the movement of the motion platform along the route.

In some embodiments, the guiding device may include a slide rail mounted on the base and a slide block movable along the slide rail. The motion platform may include a third mounting section, and the third mounting section may be mechanically connected to the slide block.

In some embodiments, the guiding device may further include a second slide block movable along on the slide rail, and the second slide block may be mechanically connected to the position-limiting mechanism.

In some embodiments, the puncture device may further include at least one of a first location detection device mounted on the base at a first reference location with respect to the position-limiting mechanism, or a second location detection device mounted on the base at a second reference location with respect to the movement control mechanism.

In some embodiments, the puncture unit may include an outer needle, an inner needle, and a firing mechanism. The inner needle may be detachably housed in the outer needle and movable with respect to the outer needle. The firing mechanism may be configured to cause the inner needle to extend from the outer needle.

In some embodiments, the puncture device may further include a firing actuator configured to actuate the firing mechanism. The firing actuator may be mechanically connected to the movement control mechanism.

In some embodiments, the firing mechanism may include a firing switch and a handle. The handle may be operably connected to the firing actuator and operably driven by the firing actuator. The firing switch may have a first state and a second state. Under the first state, the handle may be spaced from the firing switch by a distance and the inner needle may be locked. Under the second state, the handle may be in contact with the firing switch driven by the firing actuator and the inner needle may be caused to extend from the outer needle.

In some embodiments, the firing actuator may include a mounting base, a driver, and a motion transmission component. The motion transmission component may be mechanically connected to the firing mechanism and the driver. The driver and the motion transmission component may be mounted on the mounting base. The driver may be configured to drive, via the motion transmission component, the firing mechanism.

In some embodiments, the firing actuator may further include a push rod mechanically connected to the motion transmission component and operably connected to the firing mechanism. The driver may be configured to drive, via the motion transmission component and the push rod, the firing mechanism.

In some embodiments, the firing actuator may further include a housing configured to house at least a portion of the firing actuator. The puncture unit may be mounted on the housing.

In some embodiments, the movement control mechanism may include a motion platform, a driver, a motion transmission component, and a connector. The motion transmission component may be mechanically connected to the motion platform and the driver. The connector may be configured to establish a mechanical connection between the motion platform and the firing actuator. The driver may be configured to drive, via the motion transmission component, the motion platform to move on the base.

In some embodiments, the puncture device may further include a guiding housing mounted on the base configured to housing at least part of the movement control mechanism. The guiding housing may include a guiding groove configured to guide the movement of the movement control mechanism along the route. At least a portion of the connector may protrude from the guiding housing through the guiding groove and may be mechanically connected to the firing actuator.

In some embodiments, the puncture device may further include a mounting mechanism configured to mount the puncture device on a robotic arm.

In some embodiments, the puncture device may further include a positioning mechanism. The positioning mechanism may be configured to positioning a puncture point of a subject for the puncture unit to puncture. The positioning mechanism may include at least one of an indicator configured to indicate the puncture point on the subject, or a guiding device configured to provide a guiding channel toward the puncture point for at least a portion of the puncture unit to pass through.

In some embodiments, the indicator may include an optical source, a position adjustment mechanism, and a control device. The optical source may be configured to emit light. The position adjustment mechanism may be configured to adjust a position of the optical source. The control device may be configured to control the position adjustment mechanism such that the light emitted by the optical source is directed to the puncture point of the subject.

In some embodiments, the position adjustment mechanism may include a supporting component and a movement control component. The supporting component may be rotatably connected to the optical source at a first location of the optical source and configured to support the optical source. The movement control component may be rotatably connected to the optical source at a second location of the optical source and configured to control a movement of the optical source.

In some embodiments, the movement control component may include at least one of a first control unit and a second control unit. The first control unit may be configured to control the optical source to rotate around the first location along a first direction. The second control unit may be configured to control the optical source to rotate around the first location along a second direction.

In some embodiments, the first control unit may include a driver and a motion transmission component. The motion transmission component of the first control unit may be mechanically connected to the driver of the first control unit and the optical source. The driver of the first control unit may configured to drive, via the motion transmission component of the first control unit, the optical source to rotate around the first location along the first direction.

In some embodiments, the second control unit may include a second driver and a second motion transmission component. The second motion transmission component of the second control unit may be mechanically connected to the second driver of the second control unit and the motion transmission component of the first control unit. The second driver of the second control unit may be configured to drive, via the motion transmission component of the first control unit and the second motion transmission component of the second control unit, the optical source to rotate around the first location along the second direction.

In some embodiments, the indicator may include an angle measurement device configured to measure an angle between the light emitted by the optical source and a reference coordinate system.

In some embodiments, the positioning mechanism may include a mounting mechanism configured to mount the positioning mechanism on at least one of the base, the movement control mechanism, or a robotic arm. At least one of the indicator or the guiding device of the positioning mechanism may be detachably mounted on the mounting mechanism.

In a second aspect of the present disclosure, a surgical robot may be provided. The surgical robot may include at least one robotic arm and a puncture device mounted on the at least one robotic arm.

Additional features will be set forth in part in the description which follows, and in part will become apparent to those skilled in the art upon examination of the following and the accompanying drawings or may be learned by production or operation of the examples. The features of the present disclosure may be realized and attained by practice or use of various aspects of the methodologies, instrumentalities and combinations set forth in the detailed examples discussed below.

BRIEF DESCRIPTION OF THE DRAWINGS

The present disclosure is further described in terms of exemplary embodiments. These exemplary embodiments are described in detail with reference to the drawings. The drawings are not to scale. These embodiments are non-limiting exemplary embodiments, in which like reference numerals represent similar structures throughout the several views of the drawings, and wherein:

FIG. 1 is a schematic diagram illustrating an exemplary puncture device according to some embodiments of the present disclosure;

FIG. 2 is a schematic diagram illustrating an exemplary puncture device according to some embodiments of the present disclosure;

FIG. 3 is a schematic diagram illustrating an exemplary guiding rail and a location detection device according to some embodiments of the present disclosure;

FIG. 4 is a schematic diagram illustrating an exemplary motion platform of a movement control mechanism according to some embodiments of the present disclosure;

FIG. 5 is a schematic diagram illustrating an exemplary motion transmission component of a position-limiting mechanism according to some embodiments of the present disclosure;

FIG. 6 is a schematic diagram illustrating an exemplary motion transmission component of a movement control mechanism according to some embodiments of the present disclosure;

FIGs. 7A and 7B are schematic diagrams illustrating an exemplary puncture device according to some embodiments of the present disclosure;

FIG. 8A is a schematic diagram illustrating an exemplary positioning mechanism according to some embodiments of the present disclosure;

FIG. 8B is a schematic diagram illustrating an exemplary positioning mechanism according to some embodiments of the present disclosure;

FIGs. 9A and 9B are schematic diagrams illustrating an exemplary indicator according to some embodiments of the present disclosure; and

FIG. 10 is a schematic diagram of an exemplary surgical system according to some embodiments of the present disclosure.

DETAILED DESCRIPTION

In the following detailed description, numerous specific details are set forth by way of examples in order to provide a thorough understanding of the relevant disclosure. However, it should be apparent to those skilled in the art that the present disclosure may be practiced without such details. In other instances, well-known methods, procedures, systems, components, and/or circuitry have been described at a relatively high-level, without detail, in order to avoid unnecessarily obscuring aspects of the present disclosure. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present disclosure. Thus, the present disclosure is not limited to the embodiments shown, but to be accorded the widest scope consistent with the claims.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments of the invention. As used herein, the singular forms “a, ” “an, ” and “the, ” are intended to include the plural forms as well, unless the context clearly indicates otherwise. As used herein, the terms “and/or” and “at least one of” include any and all combinations of one or more of the associated listed items. It will be further understood that the terms "comprises, " "comprising, " "includes, " and/or "including, " when used herein, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Also, the term "exemplary" is intended to refer to an example or illustration.

It will be understood that the terms “system, ” “engine, ” “unit, ” “module, ” and/or “block” used herein are one method to distinguish different components, elements, parts, sections or assembly of different levels in ascending order. However, the terms may be displaced by another expression if they achieve the same purpose.

Generally, the word “module, ” “unit, ” or “block, ” as used herein, refers to logic embodied in hardware or firmware, or to a collection of software instructions. A module, a unit, or a block described herein may be implemented as software and/or hardware and may be stored in any type of non-transitory computer-readable medium or another storage device. In some embodiments, a software module/unit/block may be compiled and linked into an executable program. It will be appreciated that software modules can be callable from other modules/units/blocks or from themselves, and/or may be invoked in response to detected events or interrupts. Software modules/units/blocks configured for execution on computing devices may be provided on a computer-readable medium, such as a compact disc, a digital video disc, a flash drive, a magnetic disc, or any other tangible medium, or as a digital download (and can be originally stored in a compressed or installable format that needs installation, decompression, or decryption prior to execution) . Such software code may be stored, partially or fully, on a storage device of the executing computing device, for execution by the computing device. Software instructions may be embedded in firmware, such as an EPROM. It will be further appreciated that hardware modules/units/blocks may be included in connected logic components, such as gates and flip-flops, and/or can be included of programmable units, such as programmable gate arrays or processors. The modules/units/blocks or computing device functionality described herein may be implemented as software modules/units/blocks, but may be represented in hardware or firmware. In general, the modules/units/blocks described herein refer to logical modules/units/blocks that may be combined with other modules/units/blocks or divided into sub-modules/sub-units/sub-blocks despite their physical organization or storage. The description may be applicable to a system, an engine, or a portion thereof.

It will be understood that the terms “device, ” “mechanism, ” “component, ” etc., when used in this disclosure, refer to one or more parts with one or more specific purposes. However, a structure that may perform a same or similar function compared to a part exemplified above or referred to elsewhere in the present disclosure may be named differently from the present disclosure.

It will be understood that the terms “platform, ” “block, ” “component, ” “channel, ” “base, ” “rail, ” “section, ” “groove, ” “connector, ” etc., when used in this disclosure, refer to one or more parts with one or more specific purposes. However, a structure that may perform a same or similar function compared to a part exemplified above or referred to elsewhere in the present disclosure may be named differently from the present disclosure.

It will be understood that, although the terms “first, ” “second, ” “third, ” etc., may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of example embodiments of the present invention.

Spatial and functional relationships between elements (for example, between mechanisms/devices) are described using various terms, including “mounted, ” "connected, " "engaged, " "interfaced, " and "coupled. " Unless explicitly described as being "direct, " when a relationship between first and second elements is described in the present disclosure, that relationship includes a direct relationship where no other intervening elements are present between the first and second elements, and also an indirect relationship where one or more intervening elements are present (either spatially or functionally) between the first and second elements. In contrast, when an element is referred to as being "directly" connected, engaged, interfaced, coupled to or mounted on another element, there are no intervening elements present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., "between, " versus "directly between, " "adjacent, " versus "directly adjacent, " etc. ) . In addition, the spatial and functional relationship between elements may be established or achieved in various ways. For example, a mechanical connection between elements may be established by one or more screws, nails, pins, glue, flanges, positioning slots, or the like, or a combination thereof.

These and other features, and characteristics of the present disclosure, as well as the methods of operation and functions of the related elements of structure and the combination of parts and economies of manufacture, may become more apparent upon consideration of the following description with reference to the accompanying drawings, all of which form a part of this disclosure. It is to be expressly understood, however, that the drawings are for the purpose of illustration and description only and are not intended to limit the scope of the present disclosure. It is understood that the drawings are not to scale.

Provided herein are structures, mechanisms, and components of a puncture device. The puncture device may find its applications in different fields, such as disease diagnosis, physical check-up, disease treatment, or research purposes. For example, the puncture device may be used to perform a puncture treatment on a subject in an interventional operation including, for example, a biopsy, an ablation (e.g., a tumor ablation) , an implantation (e.g., a particle implantation) , a fluid extraction, an effusion extraction, a nerve block, a superficial surgery, or the like, or any combination thereof.

The following description is provided for illustration purposes to help a better understanding of the puncture device. The puncture device may include a base, a movement control mechanism, a position-limiting mechanism, and a puncture unit. The puncture unit may be detachably mounted on the movement control mechanism and configured to perform the puncture treatment on the subject. The movement control mechanism may be mounted on the base and movable on the base along a predetermined route. When the movement control mechanism moves on the base, the puncture unit may move with the movement control mechanism. The position-limiting mechanism may be movably mounted on the base and configured to limit a position of the movement control mechanism during a movement of the movement control mechanism. In some embodiments, the movement control mechanism may be configured receive an instruction causing the movement control mechanism to move from a start location to a target location on the predetermined route. If the movement control mechanism operates in an abnormal state, the movement control mechanism may move from the start location without stopping at the target location, which may cause harm to the subject. To prevent this, the position-limiting mechanism may be moved to a predetermined location before the puncture treatment so that it may abut against the movement control mechanism at the predetermined location to prevent the movement control mechanism from moving further. In this way, the puncture treatment may be performed safely and effectively.

FIG. 1 is a schematic diagram illustrating an exemplary puncture device 100 according to some embodiments of the present disclosure. The puncture device 100 may be configured to perform a puncture treatment on a subject in, for example, a biopsy, an ablation, an implantation, a fluid extraction, an effusion extraction, a nerve block, a superficial surgery, or the like, or any combination thereof. The subject may include a user (e.g., a patient) , a portion of the user (e.g., an organ and/or a tissue of the user) , a man-made object (e.g., a phantom) , etc.

As shown in FIG. 1, the puncture device 100 may include a base 110, a movement control mechanism 120, a position-limiting mechanism 130, a puncture unit 140, a firing actuator 150, a guiding device 160, a location detection device 170, a positioning mechanism 180, and a mounting mechanism 190.

The base 110 may be configured to support one or more components of the puncture device 100. For example, one or more of the movement control mechanism 120, the position-limiting mechanism 130, the guiding device 160, and the positioning mechanism 180 may be mounted on and supported by the base 110. The base 110 may have any suitable shape and/or size. For example, the base 110 may be a flat plate. As another example, the base 110 may include one or more components used to support and/or assemble one or more components of the puncture device 100. In some embodiments, the base 110 may include a mounting base and one or more supporting components. More descriptions regarding the base 110 may be found elsewhere in the present disclosure. See, e.g., FIGs. 2 and 3 and relevant descriptions thereof.

The movement control mechanism 120 may be configured to control a movement of one or more components of the puncture device 100, such as the puncture unit 140 and/or the firing actuator 150. In some embodiments, the movement control mechanism 120 may be mounted on the base 110. The puncture unit 140 may be detachably mounted on the movement control mechanism120. The movement control mechanism 120 may be movable on the base 110 along a predetermined route (e.g., a linear route guided by the guiding device 160) , and the puncture unit 140 may move with the movement control mechanism 120. Additionally or alternatively, the movement control mechanism 120 may be mechanically connected to the firing actuator 150 and configured to drive the firing actuator 150, which in turn may actuate a firing mechanism of the puncture unit 140. In some embodiments, the movement control mechanism 120 may include a motion platform, a driver, and a motion transmission component. More descriptions regarding the movement control mechanism 120 may be found elsewhere in the present disclosure. See, e.g., FIGs. 2, 4, 6, and 7 and relevant descriptions thereof.

The position-limiting mechanism 130 may be configured to limit a position of the movement control mechanism 120 during the movement of the movement control mechanism 120. In operation, the movement control mechanism 120 may be instructed to move from a start location to a target location on the predetermined route, such that the puncture unit 140 reaches a desired position for treatment (e.g., a lesion of the subject) . If the movement control mechanism 120 is under a normal state, the movement control mechanism 120 may move from the start location and stop at the target location as instructed. However, if the movement control mechanism 120 is under an abnormal state, the movement control mechanism 120 may move from the start location without stopping at the target location, which may cause that the puncture unit 140 continues to puncture the subject and harms the subject. To prevent this and to ensure the safe use of the puncture device 100, the position-limiting mechanism 130 may be configured to abut against the movement control mechanism 120 at a predetermined location if the movement control mechanism 120 keeps moving after passing the target location. In some embodiments, the position-limiting mechanism 130 may include a blocking component, a driver, and a motion transmission component. More descriptions regarding the position-limiting mechanism 130 may be found elsewhere in the present disclosure. See, e.g., FIGs. 2 and 5 and relevant descriptions thereof.

The puncture unit 140 may be an actuating mechanism that performs the puncture treatment on the subject. For example, the puncture unit 140 may include a puncture needle, such as a biopsy needle, a radiofrequency ablation needle, a microwave ablation needle, a puncture drainage needle, or the like. In some embodiments, the puncture unit 140 may include a puncture needle and a firing mechanism. The puncture needle may include an outer needle and an inner needle. The inner needle may be detachably housed in the outer needle and movable with respect to the outer needle. The firing mechanism may be configured to cause the inner needle to extend from the outer needle. In some embodiments, the firing mechanism may be operably connected to and/or driven by the firing actuator 150. More descriptions regarding the puncture unit 140 may be found elsewhere in the present disclosure. See, e.g., FIGs. 2 and 7A and relevant descriptions thereof.

In some embodiments, the puncture unit 140 may be configured to move along a surgical route during the puncture treatment performed on the subject. The surgical route may start from a puncture point (also be referred to as a start point) of the subject to an endpoint of the subject. In some embodiments, the surgical route and/or one or more parameters related to the surgical route may be determined by a computing device (e.g., a processing device 1040 as described in connection with FIG. 10) based on an image of the subject. Exemplary parameters may include, for example, a position of the puncture point, a position of the endpoint, a length of the surgical route, a direction of the surgical route, a depth of the surgical route, or the like, or any combination thereof. In some embodiments, the direction of the surgical route may be represented as a puncture angle of the puncture unit 140, such as an angle between the surgical route and the body surface of the subject, an angle between the surgical route and an X2/Z2 plane defined by a C2 coordinate system as shown in FIG. 10, an angle between the surgical route and an X2/Y2 plane defined by the C2 coordinate system, or the like. The depth of the surgical route may be represented as, for example, a depth of the surgical route along a Y2 axis of the C2 coordinate system. More descriptions regarding the determination of the surgical route may be found elsewhere in the present disclosure. See, e.g., FIG. 10 and relevant descriptions thereof.

The firing actuator 150 may be configured to actuate the firing mechanism of the puncture unit 140. For example, the firing actuator 150 may be mechanically connected to the movement control mechanism 120, wherein when the movement control mechanism 120 moves, the firing actuator 150 may be driven to become in contact with the firing mechanism to actuate the firing mechanism. In some embodiments, the firing actuator 150 may include a mounting base, a driver, a motion transmission component, and/or a push rod. More descriptions regarding the firing actuator 150 may be found elsewhere in the present disclosure. See, e.g., FIGs. 7A and 7B and relevant descriptions thereof.

The guiding device 160 may be configured to guide a movement of one or more components of the puncture device 100, such as the movement control mechanism 120, the position-limiting mechanism 130, and/or the firing actuator 150. For example, the guiding device 160 may be a guiding rail including a slide rail mounted on the base 110 and one or more slide blocks movable along the slide rail. The slide block (s) may be mechanically connected to, for example, the movement control mechanism 120 and/or the position-limiting mechanism 130 to guide the movement of the movement control mechanism 120 and/or the position-limiting mechanism 130. As another example, the guiding device 160 may be a guiding housing. The guiding housing may house at least part of the movement control mechanism 120 and include a guiding groove configured to guide the movement of the movement control mechanism 120. More descriptions regarding the guiding device 160 may be found elsewhere in the present disclosure. See, e.g., FIGs. 3 and 7A and relevant descriptions thereof.

The location detection device 170 may be configured to determine and/or indicate a location related to one or more components of the puncture device 100. For example, the location detection device 170 may be mounted on the base 110 to indicate a reference location (or referred to as a first reference location) of the movement control mechanism 120 and/or a reference location (or referred to as a second reference location) of the position-limiting mechanism 130. In some embodiments, the location detection device 170 may include a switch circuit and/or one or more sensors, such as a distance sensor, a resistive sensor, a laser sensor, a Hall sensor, a displacement sensor, a pressure sensor, etc. More descriptions regarding the location detection device 170 may be found elsewhere in the present disclosure. See, e.g., FIG. 3 and relevant descriptions thereof.

The positioning mechanism 180 may be configured to positioning the puncture point of the subject for the puncture unit 140 to puncture. In some embodiments, the positioning mechanism 180 may include an indicator and/or a guiding device. The indicator may emit light directing to the puncture point on the subject. The guiding device of the positioning mechanism 180 may be configured to provide a guiding channel toward the puncture point for at least a portion of the puncture unit 140 to pass through. For example, the guiding channel may point to the puncture point and form a certain angle with the body surface of the subject. The angle may be equal to or substantially equal to the puncture angle of the planned surgical route of the puncture unit 140 as described elsewhere in this disclosure (e.g., FIGs. 1 and 11 and the relevant descriptions) . This may ensure that the puncture unit 140 passes through the guiding channel to reach the puncture point and puncture the subject at the puncture angle precisely. More descriptions regarding the positioning mechanism 180 may be found elsewhere in the present disclosure. See, e.g., FIGs. 8A-9B and relevant descriptions thereof.

The mounting mechanism 190 may be configured to mount the puncture device 100 on another device, such as a robotic arm of a surgical robot. The mounting mechanism 190 may include any suitable component to implement the mounting of the puncture device 100. For example, the mounting mechanism 190 may include one or more screws, nails, pins, glue, positioning slots, flanges, or the like, or a combination thereof. More descriptions regarding the mounting mechanism 190 may be found elsewhere in the present disclosure. See, e.g., FIG. 7A and relevant descriptions thereof.

It should be noted that the above description of the puncture device 100 is merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. For example, the assembly and/or function of the puncture device 100 may be varied or changed according to specific implementation scenarios. In some embodiments, the puncture device 100 may include one or more additional components, such as a power supply module that supplies power to one or more components of the puncture device 100. Additionally or alternatively, one or more components of the puncture device 100 mentioned above may be omitted. For example, one or more of the firing actuator 150, the location detection device 170, the positioning mechanism 180, and the mounting mechanism 190 may be omitted.

FIG. 2 is a schematic diagram illustrating an exemplary puncture device 200 according to some embodiments of the present disclosure. The puncture device 200 may be an exemplary embodiment of the puncture device 100 as described in connection with FIG. 1. As shown in FIG. 2, the puncture device 200 may include a base 110A, a movement control mechanism 120A, a position-limiting mechanism 130, a puncture unit 140, and a guiding rail 160A.

The base 110A may be an exemplary embodiment of the base 110 as described in connection with FIG. 1. The base 110A may be configured to support one or more components of the puncture device 200. For example, the movement control mechanism 120A, the position-limiting mechanism 130, and the guiding rail 160A may be mounted on and supported by the base 110A. The base 110A may have any suitable shape and/or size.

As shown in FIG. 2, the base 110A may include a mounting base 111 and supporting components 112 (including a supporting component 112A and a supporting component 112B) . The mounting base 111 may be a plate or have any other structure that can support the components mounted thereon. The supporting

components

112A and 112B may be disposed on the mounting base 111 oppositely and configured to support one or more components of the puncture device 200. In some embodiments, a portion of the movement control mechanism 120A and/or a portion of the position-limiting mechanism 130 may be mounted on the supporting

components

112A and 112B. More descriptions regarding the mounting of the portion of the movement control mechanism 120A and/or the portion of the position-limiting mechanism 130 may be found elsewhere in the present disclosure. See, e.g., FIGs. 5 and 6 and relevant descriptions thereof.

The movement control mechanism 120A may be an exemplary embodiment of the movement control mechanism 120 as described in connection with FIG. 1. The movement control mechanism 120A may be configured to control a movement of the puncture unit 140. As illustrated in FIG. 2, the movement control mechanism 120A may include a driver 121, a motion transmission component 122, and a motion platform 123A. The motion transmission component 122 may be mechanically connected the driver 121 and the motion platform 123A. The driver 121 may serve as a power source of the movement control mechanism 120A, driving the motion platform 123A to move on the base 110A along a predetermined route (e.g., a linear route guided by the guiding rail 160A) via the motion transmission component 122.

In some embodiments, the puncture unit 140 may be detachably mounted on the motion platform 123A. When the motion platform 123A is driven to move along the predetermined route by the driver 121, the motion platform 123A may carry the puncture unit 140 to move. For example, before a puncture treatment is performed on a subject, the movement control mechanism 120A may be deposited at a start location on the predetermined route, for example, a position adjacent to the supporting component 112A as shown in FIG. 2. The movement control mechanism 120A may receive a first instruction for causing the movement control mechanism 120A to move from the start location toward the supporting component 112B to a target location on the predetermined route, such that the puncture unit 140 may puncture the subject and reach a desired position inside the subject (e.g., a lesion of the subject) . After the puncture treatment is completed, the movement control mechanism 120A may be configured to receive a second instruction to move from the target location back to the start location carrying the puncture unit 140. In some embodiments, the first instruction and/or the second instruction may be generated by a computing device (e.g., the processing device 1040) based on an analysis of the condition of the subject. Additionally or alternatively, the first instruction and/or the second instruction may be inputted by a user (e.g., a doctor, a physician) of the puncture device 200 via a terminal device (e.g., a terminal 1030 as illustrated in FIG. 10) .

The motion platform 123A may have any suitable structure (e.g., shape and/or size) that can support the puncture unit 140 mounted thereon. For example, the motion platform 123A may include a mounting base and one or more mounting sections as shown in FIGs. 2 and 4. In this situation, the puncture unit 140 may be mounted on and/or driven by the motion platform 123A directly. As another example, the motion platform 123A may be formed as a block as shown in FIG. 7A. The puncture unit 140 may be mounted on a firing actuator (e.g., the firing actuator 150 as shown in FIG. 7A) , which is connected to the motion platform 123A via a connector. In this situation, the motion platform 123A may drive the puncture unit 140 via the connector and the firing actuator.

In some embodiments, the driver 121 may include a first motor mechanically connected to the motion transmission component 122. The first motor may be a servo motor, an ultrasonic motor, a stepper motor, or any other type of motor that can drive the motion transmission component 122. Optionally, the driver 121 may further include a first speed reducer and a first encoder. The first motor may be mechanically connected to the first speed reducer. The first speed reducer may be mechanically connected to the motion transmission component 122. The first encoder may be electrically connected to the first motor and configured to receive a control signal for the first motor. The control signal may control the rotation of the first motor and be provided by, for example, a user and/or a computing device (e.g., the processing device 1040) . In response to the control signal, the first motor may rotate and drive the motion transmission component 122. The use of the first motor may ensure the precision and the safe use of the puncture device 200. For example, the first motor, such as a servo motor, may enable that an error of a puncture depth of the puncture device 200 is less than a threshold, such as 0.1 millimeters.

The motion transmission component 122 may include any component that can transfer motion, such as a screw and nut assembly, a cylinder, an electromagnet, a telescoping rod, or the like, or any combination thereof. In some embodiments, the motion transmission component 122 may be a screw and nut assembly as illustrated in FIG. 6. The screw and net assembly may include a first lead screw (e.g., a lead screw 630 as shown in FIG. 6) mechanically connected to the driver 121 and a first nut (e.g., a nut 640 as shown in FIG. 6) mechanically connected to the first lead screw and the motion platform 123A. The first lead screw may rotate under the driving force of the driver 121. The rotation of the first lead screw may cause the first nut to move along the first lead screw, which in turn, drives the motion platform 123A to move. In some embodiments, the motion transmission component 122 may further include a coupling configured to establish a mechanical connection between the driver 121 and the first lead screw. In some embodiments, the two ends of the first lead screw may be mounted on the supporting component 112A and the supporting component 112B, respectively. More descriptions regarding the motion transmission component 122 may be found elsewhere in the present disclosure. See, e.g., FIG. 6 and relevant descriptions thereof.

The position-limiting mechanism 130 may be configured to limit a position of the movement control mechanism 120A during the movement of the movement control mechanism 120A. In some embodiments, the position-limiting mechanism 130 may include a driver 131, a motion transmission component 132, and a blocking component 133. The motion transmission component 132 may be mechanically connected to the driver 131 and the blocking component 133. The driver 131 may serve as a power source of the position-limiting mechanism 130 to drive the blocking component 133 via the motion transmission component 132.

In some embodiments, as described above, the movement control mechanism 120A may be instructed to move from the start location to the target location on the predetermined route. If the movement control mechanism 120A operates in an abnormal state, the movement control mechanism 120A may continue to move after passing the target position, which may cause harm to the subject. To prevent this, the blocking component 133 may be configured to move to a predetermined location to limit the movement of the movement control mechanism 120A at the predetermined location. After the movement control mechanism 120A passes the target location, the movement control mechanism 120A may abut against the blocking component 133 and stop moving. In some embodiments, the predetermined location may be any position between the target location and an endpoint of the predetermined route of the movement control mechanism 120A. The endpoint of the predetermined route may refer to an endpoint of the predetermined route that is close to the supporting component 112B. Optionally, the predetermined position may be a position whose distance to the target location is within a threshold (e.g., 0.1 millimeters, 0.3 millimeters, or 0.5 millimeters) , such that the movement control mechanism 120A is stopped immediately after it passes the target point. The blocking component 133 may have any suitable shape and/or size. For example, the blocking component 133 may be a plate or block that can abut against the motion platform 123A at the predetermined location.

In some embodiments, the driver 131 may include the same or similar component (s) as the driver 121. For example, the driver 131 may include a second motor. Alternatively, the driver 131 may include the second motor, a second speed reducer, and a second encoder. The second motor or the second speed reducer may be mechanically connected to the motion transmission component 132. The second encoder may be electrically connected to the second motor and configured to receive a control signal of the second motor. The control signal may control the rotation of the second motor and be provided by, for example, a user or a computing device (e.g., the processing device 1040) . In response to the control signal, the second motor of the driver 131 may rotate and drive the blocking component 133. The use of the second motor may enable that the blocking component 133 is moved to the predetermined location precisely.

The motion transmission component 132 may include any component that can transfer motion, such as a screw and nut assembly, a cylinder, an electromagnet, a telescoping rod, or the like, or any combination thereof. In some embodiments, the motion transmission component 132 may be a screw and nut assembly as illustrated in FIG. 5. The screw and nut assembly may include a second lead screw (e.g., a lead screw 530 as shown in FIG. 5) mechanically connected to the driver 131 and a second nut (e.g., a nut 540 as shown in FIG. 5) mechanically connected to the second lead screw and the blocking component 133. The second lead screw may rotate under the driving force of the driver 131. The rotation of the second lead screw may cause the second nut to move along the second lead screw, which in turn, drives the blocking component 133 to move. In some embodiments, the motion transmission component 132 may further include a coupling configured to establish a mechanical connection between the driver 131 and the second lead screw. In some embodiments, the two ends of the second lead screw may be mounted on the supporting component 112A and the supporting component 112B, respectively. More descriptions regarding the motion transmission component 132 may be found elsewhere in the present disclosure. See, e.g., FIG. 5 and relevant descriptions thereof.

The puncture unit 140 may be an actuating mechanism of the puncture device 200 that performs the puncture treatment on the subject. As shown in FIG. 2, the puncture unit 140 may be a puncture needle detachably mounted on the movement control mechanism 120A. In some embodiments, a new puncture needle may be mounted on the movement control mechanism 120A for each puncture treatment in order to avoid cross-infection. In some embodiments, the puncture unit 140 may include an outer needle, an inner needle, and a firing mechanism. More descriptions regarding the puncture unit 140 may be found elsewhere in the present disclosure. See, e.g., FIG. 7A and relevant descriptions thereof.

The guiding rail 160A may be an exemplary embodiment of the guiding device 160, which is configured to guide a movement of one or more components of the puncture device 200, such as the movement control mechanism 120A and/or the position-limiting mechanism 130. As shown in FIG. 2, the guiding rail 160A may be mounted on the base 110A. The guiding rail 160A may include a slide rail and one or more slide blocks movable (not shown) along the slide rail. The slide rail may extend along a direction that is parallel with the predetermined route of the movement control mechanism 120A. The slide block (s) may be mechanically connected to the motion platform 123A and/or the position-limiting mechanism 130 to guide the movement of the motion platform 123A and/or the position-limiting mechanism 130. More descriptions regarding the guiding rail 160A may be found elsewhere in the present disclosure. See, e.g., FIG. 3 and relevant descriptions thereof.

It should be noted that the example illustrated in FIG. 2 is merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. In some embodiments, the components of the puncture device 200, such as the base 110A, the movement control mechanism 120A, and/or the position-limiting mechanism 130 may have any suitable size and/or shape, and be located at any suitable positions. In some embodiments, one or more components of the puncture device 200 described above may be omitted or be replaced by any other components that can perform the same or similar functions. For example, the guiding rail 160A may be omitted or be replaced by another guiding device configured to guide the movement of the movement control mechanism 120A (e.g., a guiding housing 160B as shown in FIG. 7A) . In some embodiments, the puncture device 200 may include one or more additional components. For example, the puncture device 200 may further include a positioning mechanism (e.g., a positioning mechanism 800A as shown in FIG. 8) configured to indicate a puncture point for the puncture unit 140 and/or a firing actuator (e.g., the firing actuator 150 as shown in FIG. 7A) configured to drive the puncture unit 140.

FIG. 3 is a schematic diagram illustrating an exemplary guiding rail 160A and a location detection device 170 according to some embodiments of the present disclosure.

As shown in FIG. 3, the guiding rail 160A may include a slide rail 161, a first slide block 162, and a second slide block 163. The slide rail 161 may extend linearly in a direction that is parallel with a predetermined route of a movement control mechanism (e.g., the movement control mechanism 120A as shown in FIG. 2) . The first slide block 162 and the second slide block 163 may be movable along the slide rail 161. The first slide block 162 may be mechanically connected to a motion platform of the movement control mechanism (e.g., the motion platform 123A as shown in FIG. 2) . For example, the first slide block 162 may be mechanically connected to a mounting section of the motion platform 123A as illustrated in FIG. 4. When driven by a motion transmission component of the movement control mechanism (e.g., the motion transmission component 122 as shown in FIG. 2) , the motion platform may move in a direction which is linear and/or parallel with the slide rail 161 under the guidance of the first slide block 162.

The second slide block 163 may be mechanically connected to a blocking component of a position-limiting mechanism (e.g., the blocking component 133 of the position-limiting mechanism 130 as shown in FIG. 2) . When driven by a motion transmission component of the position-limiting mechanism (e.g., the motion transmission component 132 as shown in FIG. 2) , the blocking component may move in a direction which is linear and/or parallel with the slide rail 161 under the guidance of the second slide block 163.

The location detection device 170 may include a first location detection device 170A and a second location detection device 170B, which are both mounted on the mounting base 111. The first location detection device 170A may be mounted on a first reference location with respect to the movement control mechanism. The first reference location may be any location that is related to the movement control mechanism. For example, the first reference location may be a default location that the movement control mechanism needs to be located before and/or after a puncture. The second location detection device 170B may be mounted on a second reference location with respect to the position-limiting mechanism. The second reference location may be any location that is related to the position-limiting mechanism. For example, the second reference location may be a default location that the position-limiting mechanism needs to be located before and/or after a puncture.

In some embodiments, the location detection device 170 may include a switch circuit, a distance sensor, a resistive sensor, a laser sensor, a Hall sensor, a smart sensor, a displacement sensor, a pressure sensor, etc. The first and second location detection devices 170 may be of the same type or different types. For example, the first location detection device 170A may be the switch circuit. If the motion platform of the movement control mechanism is located at the first reference location, the switch circuit may transmit a signal indicating that the motion platform is at the first reference location to, for example, a computing device (e.g., the processing device 1040) or a terminal (e.g., the terminal 1030) of a user.

It should be noted that the example illustrated in FIG. 3 is merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. In some embodiments, the components of the guiding rail 160A and/or the location detection device 170 may have any suitable size and/or shape, and be located at any suitable positions. In some embodiments, one or more components of the guiding rail 160A and/or the location detection device 170 described above may be omitted or be replaced by any other component that can perform the same or similar functions. For example, the second slide block 163 and/or the second location detection device 170B may be omitted. In some embodiments, the guiding rail 160A and/or the location detection device 170 may include one or more additional components.

FIG. 4 is a schematic diagram illustrating an exemplary motion platform 123A of a movement control mechanism according to some embodiments of the present disclosure. As shown in FIG. 4, the motion platform 123A may include a mounting base 1231, a first mounting section 1232, a second mounting section 1233, and a third mounting section 1234.

The mounting base 1231 may be configured to support the first, the second, and the third mounting sections 1232 to 1234. In some embodiments, the mounting base 1231 may be a flat plate or block. The first mounting section 1232 and the second mounting section 1233 may be disposed on opposite sides of the mounting base 1231. For example, as shown in FIG. 4, the first mounting section 1232 and the second mounting section 1233 may be disposed on an upper side and a bottom side of the mounting base 1231, respectively.

In some embodiments, a puncture unit (e.g., the puncture unit 140) may be detachably mounted on the first mounting section 1232. The first mounting section 1232 may include one or more positioning blocks 1235, which are configured to fix the puncture unit mounted on the first mounting section 1232.

In some embodiments, the second mounting section 1233 may be mechanically connected to a motion transmission component of a movement control mechanism (e.g., the motion transmission component 122 of the movement control mechanism 120A as illustrated in FIG. 2) . For example, the second mounting section 1233 may be mechanically connected to a nut of the motion transmission component (e.g., a nut 640 of the motion transmission component 122 as illustrated in FIG. 6) . Merely by way of example, the second mounting section 1233 may be sleeved on the nut or mechanically connected to the nut by one or more screws, nails, pins, glue, or the like. In some embodiments, the second mounting section 1233 itself may be used as the nut of the motion transmission component of the movement control mechanism.

The third mounting section 1234 may be mechanically connected to a guiding device (e.g., the guiding rail 160A as shown in FIG. 3) . For example, the third mounting section 1234 may be connected to a slide block of the guiding device (e.g., the first slide block 162) via one or more screws, nails, pins, glue, or the like. In this way, the motion platform 123A may move along a predetermined route precisely under the guidance of the guiding device. In some embodiments, the third mounting section 1234 may be mounted on a bottom side of the second mounting section 1233 as shown in FIG. 4. Alternatively, the third mounting section 1234 may have a similar structure as the second mounting section 1233 and be mounted on the same side of the mounting base 1231 as the second mounting section 1233. Alternatively, the third mounting section 1234 and the second mounting section 1233 may be integrated into a single mounting section.

It should be noted that the example illustrated in FIG. 4 is merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. In some embodiments, the components of the motion platform 123A may have any suitable size and/or shape, and be located at any suitable positions. In some embodiments, one or more components of the motion platform 123A described above may be omitted or be replaced by any other component that can perform the same or similar functions.

FIG. 5 is a schematic diagram illustrating an exemplary motion transmission component 132 of a position-limiting mechanism according to some embodiments of the present disclosure.

As described in connection with FIGs. 1 and 2, the position-limiting mechanism (e.g., the position-limiting mechanism 130) may include a driver (e.g., the driver 131) , a motion transmission component 132, and a blocking component 133. The motion transmission component 132 may be mechanically connected to the driver and the blocking component 133 to transfer motion from the driver to the blocking component 133.

As shown in FIG. 5, the motion transmission component 132 may include a coupling 510, a bearing housing 520, a lead screw 530, a nut 540, and a bearing 550. The coupling 510 may be configured to establish a mechanical connection between the lead screw 530 and the driver of the position-limiting mechanism. The nut 540 may be sleeved on the lead screw 530 and mechanically connected to the blocking component 133. When driven by the driver of the position-limiting mechanism, the lead screw 530 may rotate, which may cause the nut 540 to move, carrying the blocking component 133, with respect to the lead screw 530.

In some embodiments, the two ends of the lead screw 530 may be rotatably connected to two supporting components of a base of a puncture device, respectively. For example, the two ends of the lead screw 530 may be rotatably connected to the supporting

components

112A and 112B of the base 110A of the puncture device 200 illustrated in FIG. 2, respectively. The bearing housing 520 may be mounted in one of the supporting components (e.g., the supporting component 112A) . The bearing 550 may be mounted in another one of the supporting components (e.g., the supporting component 112B) . The bearing housing 520 and the bearing 550 may avoid an interference between the lead screw 530 and the supporting components when the lead screw 530 rotates. In some embodiments, the bearing housing 520 may include one or more angular contact bearings.

FIG. 6 is a schematic diagram illustrating an exemplary motion transmission component 122 of a movement control mechanism according to some embodiments of the present disclosure.

As described in connection with FIG. 2, the movement control mechanism (e.g., the movement control mechanism 120A) may include a driver (e.g., the driver 121) , a motion transmission component 122, and a motion platform (e.g., the motion platform 123A) . The motion transmission component 122 may be mechanically connected to the driver and the motion platform to transfer motion from the driver to the motion platform.

As shown in FIG. 6, the motion transmission component 122 may include a coupling 610, a bearing housing 620, a lead screw 630, a nut 640, and a bearing 650. The coupling 610 may be configured to establish a mechanical connection between the lead screw 630 and the driver of the movement control mechanism (e.g., a motor) . The nut 640 may be sleeved on the lead screw 630 and mechanically connected to the motion platform. When driven by the driver of the movement control mechanism, the lead screw 630 may rotate, which may cause the nut 640 to move, carrying the motion platform, with respect to the lead screw 630.

In some embodiments, the two ends of the lead screw 630 may be rotatably connected to two supporting components of a base of a puncture device, respectively. For example, the two ends of the lead screw 630 may be rotatably connected to the supporting

components

112A and 112B of the base 110A of the puncture device 200 illustrated in FIG. 2, respectively. For example, the bearing housing 620 may be mounted in one of the supporting components (e.g., the supporting component 112A) . The bearing 650 may be mounted in another one of the supporting components (e.g., the supporting component 112B) . The bearing housing 620 and the bearing 650 may avoid an interference between the lead screw 630 and the supporting components when the lead screw 630 rotates. In some embodiments, the bearing housing 620 may include one or more angular contact bearings.

It should be noted that the examples illustrated in FIGs. 5 and 6 are merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. In some embodiments, the components of the motion transmission component 132 and/or the motion transmission component 122 may have any suitable size and/or shape, and be located at any suitable positions. In some embodiments, one or more components of motion transmission component 132 and/or the motion transmission component 122 described above may be omitted or be replaced by any other components that can perform the same or similar functions. Additionally or alternatively, the motion transmission component 132 and/or the motion transmission component 122 may include one or more additional components.

FIGs. 7A and 7B are schematic diagrams illustrating an exemplary puncture device 700 according to some embodiments of the present disclosure. FIG. 7A illustrates an exploded view of the puncture device 700 and FIG. 7B illustrates a portion of the puncture device 700 after assembly. The puncture device 700 may be an exemplary embodiment of the puncture device 100 as described in connection with FIG. 1. As shown in FIG. 7A, the puncture device 700 may include a base 110B, a movement control mechanism 120B, a puncture unit 140, a firing actuator 150, a guiding housing 160B, and a flange 190A.

The base 110B may be an exemplary embodiment of the base 110 as described in connection with FIG. 1. The base 110B may be configured to support one or more components of the puncture device 700, such as the movement control mechanism 120B and the guiding housing 160B. In some embodiments, the base 110B may have one or more same or similar components as the base 110A as shown in FIG. 2. For example, the base 110B may include a mounting base (e.g., the mounting base 111) and one or more supporting components (e.g., the supporting components 112A and/or 112B) .

The movement control mechanism 120B may be an exemplary embodiment of the movement control mechanism 120 as described in connection with FIG. 1. The movement control mechanism 120B may be configured to control the movement of one or more components of the puncture device 700, such as the firing actuator 150 and the puncture unit 140. The movement control mechanism 120B may be mounted on the base 110B and movable along a predetermined route (e.g., a linear route guided by the guiding housing 160B) . As shown in FIG. 7A, the movement control mechanism 120B may include a driver 121, a motion transmission component 122, a motion platform 123B, and a connector 124. The motion transmission component 122 may be mechanically connected to the motion platform 123B and the driver 121. The driver 121 may be configured to drive the motion platform 123B to move on the base 110B via the motion transmission component 122. For example, the motion transmission component 122 may include a first lead screw (e.g., the lead screw 630 as shown in FIG. 6) and a first nut (e.g., the nut 640 as shown in FIG. 6) . The motion platform 123B may be a slider mechanically connected to the first nut, wherein when the first lead screw is driven to rotate by the driver 121, the first nut may carry the motion platform 123B to move with respect to the first lead screw. The driver 121 and the motion transmission component 122 may be similar to those described in connection with FIG. 2 and the descriptions thereof are not repeated here.

The connector 124 may be configured to establish a mechanical connection between the motion platform 123B and the firing actuator 150. The puncture unit 140 may be detachably mounted on the firing actuator 150. When the driver 121 drives the motion platform 123B to move, the firing actuator 150 connected to the motion platform 123B and the puncture unit 140 mounted on the firing actuator 150 may move with the motion platform 123B. In some embodiments, the connector 124 may include a flange, a threaded connector, or any other connector that can establish a mechanical connection between two components. In some embodiments, the connector 124 and the motion platform 123B may form as an integral part.

In some embodiments, the movement of the movement control mechanism 120B may be guided by the guiding housing 160B. The guiding housing 160B may be mounted on the base 110B and house at least part of the movement control mechanism 120B. The guiding housing 160B may include a guiding groove, which extends in a direction parallel with the predetermined route of the motion transmission component 122. In some embodiments, at least portion of the connector 124 may protrude from the guiding housing 160B through the guiding groove 162 and be mechanically connected to the firing actuator 150. In this way, the movement control mechanism 120 may move along the predetermined route precisely under the guidance of the guiding housing 160B (or the guiding groove 162) . In some embodiments, the guiding housing 160B may be omitted. The puncture device 700 may include another a guiding device, such as the guiding rail 160A as shown in FIGs. 2 and 3.

The puncture unit 140 may include an inner needle 142A, an outer needle 142B, and a firing mechanism (not shown in FIG. 7A) . The inner needle 142A may be detachably housed in the outer needle 142B and movable with respect to the outer needle 142B. The firing mechanism may be configured to cause the inner needle 142A to extend from the outer needle 142B. As described above (e.g., FIGs. 1 and 2 and the relevant descriptions) , during a puncture treatment, the movement control mechanism 120B may be instructed to move from a start location to a target location on the predetermined route, such that the puncture unit 140 may reach a desired position of the subject (e.g., a lesion of the subject) . In some embodiments, when the puncture unit 140 is close to the desired position of the subject (e.g., a distance between the puncture unit 140 and the lesion being smaller than a threshold) , the firing mechanism may be actuated to cause the inner needle 142A to extend from the outer needle 142B. The inner needle 142A may reach the desired position to perform the puncture treatment. Optionally, after the puncture treatment, the puncture unit 140 may be detached from the firing actuator 150, and a new puncture unit may be mounted on the firing actuator 150 for a next puncture treatment.

In some embodiments, the firing mechanism may be operably connected and operably actuated by the firing actuator 150. For example, a portion of the firing actuator 150 may be moved to a certain position to abut against the firing mechanism to acute the firing mechanism. As another example, the firing actuator 150 may actuate the firing mechanism by pushing, pulling, or rotating the firing mechanism. When actuated by the firing actuator 150, the firing mechanism may be configured to cause the inner needle 142A to extend from the outer needle142B.

For illustration purposes, the following descriptions are provided with reference to an example that the firing actuator 150 actuates the firing mechanism by abutting against the firing mechanism. The firing mechanism may include a handle 141 and a firing switch (not shown in FIG. 7A) . The handle 141 may be operably connected to the firing actuator 150 and operably driven by the firing actuator 150. The firing switch may be configured to control the inner needle 142A. For example, the firing switch may have a first state and a second state. Under the first state, the handle 141 may be spaced from the firing switch by a distance and the inner needle 142A may be locked. Under the second state, the handle 141 may be driven by the firing actuator 150 to be in contact with the firing switch and the inner needle 142A may be caused to extend out from the outer needle 142B. The firing switch may prevent a misoperation of the firing mechanism, and thereby ensure the safe use of the puncture device 700. In some embodiments, the firing switch may include a spring. When in contact with the handle 141, the spring may be deformed and change from the first state to the second state to actuate the inner needle 142A.

The firing actuator 150 may include any component that can drive the movement of the handle 141. Merely by way of example, as illustrated in FIG. 7A, the firing actuator 150 may include a driver 151, a motion transmission component 152, a push rod 153, a mounting base 154, and a housing 155. The mounting base 154 may be mechanically connected to the connector 124. The driver 151 and the motion transmission component 152 may be mounted on the mounting base 154. The push rod 153 may be mechanically connected to the motion transmission component 152 (e.g., connected to a nut of the motion transmission component 152) and operably connected to the firing mechanism of the puncture unit 140. In operation, the driver 151 may be configured to drive, via the motion transmission component 152, the push rod 153 to move toward the handle 141. When the handle 141 is driven to in contact with the firing switch, the firing mechanism may be actuated and the inner needle 142A may be caused to extend from the outer needle 142B. The driver 151 and the motion transmission component 152 may be similar to the driver 121 and the motion transmission component 122 as described in connection with FIG. 2, and the descriptions thereof are not repeated here.

The housing 155 may be mounted on the mounting base 154 and configured to house the driver 151 and the motion transmission component 152. This may prevent a touch of the firing actuator 150 by accident and also protect the firing actuator 150 from dust and other debris. In some embodiments, the puncture unit 140 may be detachably mounted on the housing 155. For example, the housing 155 may include one or more positioning blocks similar to the positioning blocks 1235 as illustrated in FIG. 4, which are configured to fix the puncture unit 140 on the housing 155. In some embodiments, the housing 155 may include an open slot as illustrated in FIG. 7A. The push rod 153 may move along the open slot to drive the handle 141.

It should be understood that the description regarding the firing actuator 150 is provided for illustration purpose, and not intended to limit the scope of the present disclosure. In some embodiments, the push rod 153 and the motion transmission component 152 may be integrated into a single component to perform the functions thereof. For example, the nut of the motion transmission component 152 may form the push rod 153. In some embodiments, the push rod 153 may drive the movement of the handle 141 by other means, such as pushing, pulling, or rotating. Additionally or alternatively, the housing 155 and the mounting base 154 may form as an integral part.

The flange 190A may be an exemplary embodiment of the mounting mechanism 190 as described in connection with FIG. 1. The flange 190A may be configured to mount the puncture device 700 on another device, such as a robotic arm of a surgical robot. In some embodiments, one end of the flange 190A may be mechanically connected to the puncture device 700, and another end of the flange 190A may be mechanically connected to the device on which the puncture device 700 is mounted. For example, one end of the flange 190A may be mechanically connected to the base 110B or the movement control mechanism 120B. The other end of the flange 190A may be connected to the robotic arm. In some embodiments, the flange 190A may be ratable. In this situation, the puncture device 700 may be rotatably and detachably mounted on the device.

It should be noted that the above description of the puncture device 700 is merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. In some embodiments, the components of the puncture device 700 may have any suitable size and/or shape, and be located at any suitable positions. In some embodiments, one or more components of the puncture device 700 described above may be omitted or be replaced by any other component that can perform the same or similar functions. For example, the guiding housing 160B may be omitted or be replaced by another guiding device configured to guide the movement of the movement control mechanism 120B (e.g., the guiding rail 160A as shown in FIGs. 2 and 3) . In some embodiments, the puncture device 700 may include one or more additional components. For example, the puncture device 700 may further include a position-limiting mechanism (e.g., the position-limiting mechanism 130 as illustrated in FIG. 2) configured to limit the movement of the movement control mechanism 120B.

FIG. 8A is a schematic diagram illustrating an exemplary positioning mechanism 800A according to some embodiments of the present disclosure. The positioning mechanism 800A may be an exemplary embodiment of the positioning mechanism 180 as described in connection with FIG. 1.

As described elsewhere in this disclosure (e.g., FIGs. 1 and 10 and the relevant descriptions) , before a puncture treatment, a surgical route of the puncture unit 140 and one or more parameters related to the surgical route (e.g., a puncture angle) may be planned by a computing device (e.g., the processing device 1040) based on a condition of a subject 850. The surgical route may extend from a puncture point to an endpoint of the subject 850. The positioning mechanism 800A may be configured to positioning the puncture point that the puncture unit 140 is planned to puncture.

In some embodiments, the positioning mechanism 800A may be mounted on a puncture device as disclosed in this disclosure. Taking the puncture device 200 as shown in FIG. 2 as an example, the positioning mechanism 800A may be mounted on the base 110A or the movement control mechanism 120A. Taking the puncture device 700 as shown in FIG. 7A as an example, the positioning mechanism 800A may be mounted on the guiding housing 160B or the housing 155. Alternatively, the positioning mechanism 800A may be mounted on another device that the puncture device is mounted on. For example, the positioning mechanism 800A and the puncture device may both be mounted on a robotic arm of a surgical robot. Optionally, the positioning mechanism 800A may be integrated into the robotic arm (e.g., being a part of an end of the robotic arm) .

As shown in FIG. 8A, the positioning mechanism 800A may include an indicator 810, a guiding device 820, a mounting mechanism 830, a supporting component 840, and a puncture unit 140. The mounting mechanism 830 may be configured to support one or more components of the positioning mechanism 800A. For example, the indicator 810 and the supporting component 840 may be mounted on and supported by the mounting mechanism 830. Additionally or alternatively, the mounting mechanism 830 may be configured to mount the positioning mechanism 800A on the puncture device or the device on which the puncture device is mounted as described above. The mounting mechanism 830 may have any suitable shape and size. For example, the mounting mechanism 830 may be formed as a platform, a mounting block, or the like, or any combination thereof.

The indicator 810 may be configured to emit light to indicate the planned puncture point on the subject 850. For example, the indicator 810 may include one or more optical sources that can emit light. The light emitted by the optical source (s) may irradiate on the puncture point or an area on the subject 850 covering the puncture point to direct to the puncture point. The area may include one or more points which are suitable for puncture. The area may have any suitable shape and size. For example, the area may have the shape of a star, a cross, a circle, a polygon, or the like. As another example, the area may be a 2-cm square or a circle whose diameter is 2 cm. The light emitted by the optical source (s) may be any light that poses no harm or is otherwise safe to the subject 850. In some embodiments, the light emitted by the optical source (s) may be laser light, such as, laser light whose frequency is lower than a threshold (e.g., 0.5 milliwatts, 1 milliwatt, 3 milliwatts, or 5 milliwatts) . The light may have any color, such as red, blue, green, or the like.

In some embodiments, the indicator 810 may be rotatably and/or detachably mounted on the mounting mechanism 830. For example, the positioning mechanism 800A may include a rotatable component to establish a rotatable connection between the mounting mechanism 830 and the indicator 810. The rotatable component may include but be not limited to a ball joint, a universal joint, a swivel bearing, or the like. In operation, the indicator 810 may be rotated to a suitable position such that the light emitted by the indicator 810 is directed to the puncture point of the subject 850.

In some embodiments, the position of the indicator 810 may be determined and/or adjusted in real time or periodically to ensure that the emitted light is directed to the puncture point precisely. For example, the position of the indicator 810 may be adjusted manually before the puncture treatment. As another example, the positioning mechanism 800A may be mounted on a robotic arm of a surgical robot. Before the puncture treatment, the computing device may transmit an instruction to the surgical robot to move the positioning mechanism 800A to a predetermined location such that the light emitted by the indicator 810 is directed to the puncture point. As yet another example, an angle measurement device may be mounted on the positioning mechanism 800A configured to measure an angle between the indicator 810 (or the light emitted by the indicator 810) and a reference coordinate system (e.g., the bottom surface of the mounting mechanism 830) . The computing device may determine whether the emitted light is directed to the puncture point under the measured angle. If the emitted light is spaced from the puncture point by a distance, the computing device may determine an adjustment angle of the indicator 810 (or the light emitted by the indicator 810) . The computing device may further transmit an instruction to the indicator 810 or the mounting mechanism 830 (e.g., the rotation component thereof) to adjust the position of the indicator 810 according to the adjustment angle, such that the light emitted by the indicator 810 is directed to the puncture point of the subject 850 precisely. In some embodiments, the indicator 810 may include one or more components as shown in FIGs. 9A and 9B to adjust the position of the indicator 810.

The guiding device 820 may be configured to provide a guiding channel toward the puncture point for the puncture unit 140 to pass through. In operation, the puncture unit 140 may be driven by, for example, a motion transmission component (e.g., the motion transmission component 122 as shown in FIG. 2) and/or a firing mechanism (e.g., the firing mechanism of the puncture unit 140 as shown in FIG. 7A) to pass through the guiding channel and reach the puncture point of the subject 850. In some embodiments, the guiding channel may have a short length (e.g., a length shorter than a threshold, such as 0.5 millimeters, 1 millimeter, 3 millimeters) and can be regarded as a guiding hole on a surface. Alternatively, the guiding channel may have a length greater than a threshold (e.g., 1 centimeter, 2 centimeters, or 3 centimeters) . The extension direction of the guiding channel may be associated with the planned puncture angle of the puncture unit 140. For example, in order to make sure that the puncture unit 140 punctures the subject 850 at the planned puncture angle precisely, the position of the guiding device 820 may be adjusted, such that the extension direction of the guiding channel is consistent with the planned puncture angle. During the puncture treatment, the puncture unit 140 may move down along the guiding channel to puncture the subject 850 at the planned puncture angle. After the puncture treatment, the puncture unit 140 may move out from the subject 850 along the guiding channel at the planned puncture angle.

In some embodiments, the guiding device 820 may be detachably and/or rotatably mounted on the supporting component 840 as shown in FIG. 8A. For example, the supporting component 840 may clamp the guiding device 820 or include a clamping component (e.g., a clamping jaw) configured to clamp the guiding device 820. As another example, the supporting component 840 may include a mounting mechanism configured to mount the guiding device 820 detachably on the supporting component 840. The mounting mechanism may include a mounting hole, a mounting slot, a buckle, a screw, a nail, or the like. Merely by way of example, the guiding device 820 may include a first buckle, and the guiding device 820 may include a second buckle that matches the first buckle. The guiding device 820 may be detachably mounted on the supporting component 840 via the first buckle and the second buckle. In some embodiments, after the puncture treatment, the guiding device 820 may be detached from the mounting mechanism 830. A new guiding device 820 may be mounted on the mounting mechanism 830 before a new puncture treatment to avoid cross-infection. In some embodiments, the guiding device 820 may be made of any suitable material, such as plastic.

In some embodiments, after the positioning mechanism 800A indicates the planned puncture point of the subject 850, the puncture unit 140 may be driven to puncture the subject at an actual point of the subject 850. In an ideal situation, the actual puncture point may be overlapped with the planned puncture point. However, in some cases, the actual puncture point may be spaced from the planned puncture point by a distance due to, for example, an equipment error. The computing device or a user of the positioning mechanism 800A may determine whether the distance is within an acceptable range (e.g., being smaller than a threshold, such as 0.5 millimeters, 1 millimeter, or 2 millimeters) . If the distance is within the acceptable range, the puncture unit 140 may continue the puncture treatment. On the other hand, if the distance exceeds the acceptable range, the puncture treatment may be terminated. For example, the computing device or the user may transmit an instruction to a device that drives the movement of the puncture unit 140 (e.g., the movement control mechanism and/or the firing actuator) to terminate driving the puncture unit 140.

FIG. 8B is a schematic diagram illustrating an exemplary positioning mechanism 800B according to some embodiments of the present disclosure. The positioning mechanism 800B may be similar to the positioning mechanism 800A, except for certain components or features.

As shown in FIG. 8B, the indicator 810 may be detachably mounted on the supporting component 840. In some embodiments, before a puncture treatment, the indicator 810 may be mounted on the supporting component 840 to emit light to indicate the planned puncture point of the subject 850. Then, the indicator 810 may be removed and a guiding device (e.g., the guiding device 820 as shown in FIG. 8A) including a guiding channel may be mounted on the supporting component 840. The position of the guiding device may adjusted such that the guiding channel is directed to the planned puncture point indicated by the indicator 810. In some embodiments, the positioning mechanism 800A may further include a connector 860 (e.g., a clamping component) configured to mount the indicator 810 on the supporting component 840.

It should be noted that the examples illustrated in FIGs. 8A and 8B are merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. In some embodiments, the components of the

positioning mechanisms

800A and 800B may have any suitable size and/or shape, and be located at any suitable positions. For example, the indicator 810 and the guiding device 820 may be mounted on two independent devices, such as two support components (e.g., two mounting mechanisms 830) or two robotic arms of a surgical robot. As another example, the indicator 810 and the guiding device 820 may be mounted on a same device, such as a same robotic arm or a same support component (e.g., the mounting mechanism 830) .

In some embodiments, one or more components of the positioning mechanisms 800A and/or 800B described above may be omitted or be replaced by any other component that can perform the same or similar functions. Taking the positioning mechanism 800A as an example, the supporting component 840 and the guiding device 820 may be omitted. Alternatively, the indicator 810 may be omitted.

In some embodiments, the positioning mechanisms 800A and/or 800B may include one or more additional components. For example, the positioning mechanism 800A and/or the positioning mechanism 800B may include an output element. The output element may be configured to output information related to the

positioning mechanism

800A or 800B, such as an angle between the light emitted by the indicator 810 and the reference coordinate system as described above, a notification that the position of the indicator 810 and/or the guiding device 820 needs to be adjusted, or the like, or any combination thereof. Exemplary output elements may include a display, a loudspeaker, a projector, or the like, or any combination thereof.

FIGs. 9 and 9B are schematic diagrams illustrating an exemplary indicator 810 according to some embodiments of the present disclosure. FIG. 9A illustrates a perspective view of the indicator 810 mounted on a mounting mechanism 830 and FIG. 9B illustrates a front view of the indicator 810 mounted on a robotic arm 940. As shown in FIG. 9B, a planned surgical route of a puncture unit 140 may extend from a puncture point A on the body surface of the subject 850 to an endpoint B in the subject 850. The indicator 810 may be configured to emit light toward the subject 850 to indicate the puncture point A.

In some embodiments, the indicator 810 may be mounted on any suitable position at which the light emitted by the indicator 810 can reach the puncture point A. For example, the indicator 810 may be mounted on the mounting mechanism 830 as shown in FIG. 9A. The mounting mechanism 830 may be a flat plate configured to support the indicator 810. In some embodiments, the mounting mechanism 830 may be a component of a positioning mechanism (e.g., the

positioning mechanism

800A or 800B as shown in FIGs. 8A and 8B) . As another example, the indicator 810 may be mounted on the robotic arm 940 as shown in FIG. 9B. As yet another example, the indicator 810 may be mounted on a puncture device or a portion thereof. Taking the puncture device 200 shown in FIG. 2 as an example, the indicator 810 may be mounted on the base 110, the motion platform 123A, or the like. Taking the puncture device 700 shown in FIG. 7A as an example, the indicator 810 may be mounted on the guiding housing 160B, the housing 155, or the like.

As shown in FIG. 9A, the indicator 810 may include an optical source 910, a position adjustment mechanism 920, and a control device 930. The optical source 910 may be configured to emit light. The optical source 910 may be similar to that described in connection with FIG. 8A, and the descriptions thereof are not repeated here. The position adjustment mechanism 920 may be configured to adjust a position of the optical source 910.

The position adjustment mechanism 920 may include a supporting component 921, a movement control component 922, and an angle measurement device 923. The supporting component 921 may be configured to support the optical source 910. The movement control component 922 may be configured to control a movement of the optical source 910. As illustrated in FIG. 9A, the supporting component 921 and the movement control component 922 may be rotatably connected to the optical source 910 at a first location M and a second location N of the optical source 910, respectively. The first location M and the second location N may be any location on the optical source 910. For example, the optical source 910 may include two ends. The first location M may be close to one end of the optical source 910 and the second location N may be close to another end of the optical source 910. For illustration purposes, the end close to the first location M may be referred to as a left end and the end close to the second location N may be referred to as a right end. In some embodiments, the optical source 910 may be rotatably mounted on the supporting component 921 and the movement control component 922 via one or more rotatable components, such as a ball joint, a universal joint, a swivel bearing, or the like, or any combination thereof.

In some embodiments, the supporting component 921 may be located at a fixed location on the mounting mechanism 830. The optical source 910 may rotate around the first location M along one or more directions under the control of the movement control component 922. For example, as shown in FIG. 9A, the supporting component 921 may be a supporting rod or column having a predetermined length. The supporting component 921 may be perpendicular to and fixed on the mounting mechanism 830. The movement control component 922 may include one or more control units, each of which is configured to control the optical source 910 to rotate around the first location M along a direction. The direction may refer to any circumferential direction around the first location M.

For illustration purposes, a coordinate system C’is provided in FIG. 9A. The coordinate system C’may include an X’-axis, a Y’-axis, and a Z’-axis. The Y’-axis may be parallel with the supporting component 921. The X’-axis and the Z’-axis may form a plane, which is perpendicular to the Y’-axis and parallel with the mounting mechanism 830. An exemplary movement control component 922 including a first control unit and a second control unit is described as an example. The first control unit may be configured to control the optical source 910 to rotate around the first location M along a first direction. The first direction may refer to a circumferential direction around an axis 960 (denoted as a dotted line in FIG. 9A) . The axis 960 may pass through the first location M and be parallel with the Z’-axis. In some embodiments, the first control unit may control the right end of the optical source 910 to move up and down along the Y’-axis (as indicated by an arrow a in FIGs. 9A and 9B) so that the optical source 910 may rotate around the first location M along the first direction. The first control unit may include a driver 9221 and a motion transmission component 9224. The motion transmission component 9224 may be mechanically connected to the second location N of optical source 910 and the driver 9221. The driver 9221 may be configured to drive the optical source 910 to rotate around the first location M along the first direction (e.g., by driving the right end of the optical source 910 to move up and down along the Y’-axis) via the motion transmission component 9224.

In some embodiments, the driver 9221 may be similar to the driver 121 as described in connection with FIG. 2, and the descriptions are not repeated. The motion transmission component 9224 may include a third lead screw and a third nut. The third lead screw may be mechanically connected to the driver 9221. The third nut may be mechanically connected to the third lead screw and the second location N of the optical source 910. When the driver 9221 drives the third lead screw to rotate, the third nut may be moved up and down along the third lead screw, which may cause the second end of the optical source 910 to move up and down along the Y’-axis with the third nut. The motion transmission component 9224 may be similar to the motion transmission component 122 as described in connection with FIG. 2, and the descriptions are not repeated.

The second control unit may be configured to control the optical source 910 to rotate around the first location M along a second direction. The second direction may refer to a circumferential direction around the supporting component 921. In some embodiments, the second control unit may control the right end of the optical source 910 to move along a direction as indicated by an arrow b in FIG. 9A so that the optical source 910 may rotate around the first location M along the second direction. The second control unit may include a driver 9222 and a motion transmission component 9226. The motion transmission component 9226 may be mechanically connected to the motion transmission component 9224 of the first control unit and the driver 9222. The driver 9222 may be configured to drive the optical source 910 to rotate around the first location along the second direction (e.g., by driving the right end of the optical source 910 to move along the direction as indicated by the arrow b) via the motion transmission component 9224 and the motion transmission component 9226.

In some embodiments, the driver 9222 may be similar to the driver 121 as described in connection with FIG. 2, and the descriptions are not repeated. Optionally, the driver 9221 and the driver 9222 may be integrated into a single driver. The motion transmission component 9226 may include a fourth lead screw and a fourth nut. The fourth lead screw may be mechanically connected to the driver 9222 and extend along the direction as indicated by the arrow b in FIG. 9A. The fourth nut may be mechanically connected to the fourth lead screw and the motion transmission component 9224. When the driver 9222 drives the fourth lead screw to rotate, the fourth nut may move along the fourth lead screw, which may cause the motion transmission component 9224 and the right end of the optical source 910 to move along the direction as indicated by the arrow b. The motion transmission component 9226 may be similar to the motion transmission component 122 as described in connection with FIG. 2, and the descriptions are not repeated. In some embodiments, the motion transmission component 9226 may be mounted on the surface of the mounting mechanism 830. Alternatively, the mounting mechanism 830 may have a groove. The motion transmission component 9226 may be disposed in the groove of the mounting mechanism 830.

The control device 930 may be configured to control the position adjustment mechanism 920 to adjust the position of the optical source 910 such that the light emitted by the optical source 910 is directed to the puncture point A of the subject 850. For example, the control device 930 may be coupled to the driver 9221 and/or the driver 9222 and control the operation of the driver 9221 and/or the driver 9222.

In some embodiments, a computing device (e.g., the processing device 1040) may transmit one or more parameters related to the planned surgical route of the puncture unit 140 (e.g., a position of the puncture point A, a puncture angle of the puncture unit 140) to the control device 930. The control device 930 may determine a target position of the optical source 910 at which the light emitted by the optical source 910 is directed to the puncture point A. For example, the control device 930 may determine a target angle between the optical source 910 (or the light emitted by the optical source 910) and a reference coordinate system, a target distance between the right end of the optical source 910 and the mounting mechanism 830, or the like. The reference coordinate system may be, for example, the X’-Z’plane, the X’-Y’plane, or the Y’-Z plane defined by the C’coordinate system. The control device 930 may further control the position adjustment mechanism 920 to adjust the optical source 910 to reach the target position. For example, the control device 930 may instruct the position adjustment mechanism 920 to move the right end of the optical source 910 such that the angle between the optical source 910 (or the light emitted by the optical source 910) and the reference coordinate system is equal to the target angle. Additionally or alternatively, the control device 930 may instruct the position adjustment mechanism 920 to move the second end of the optical source 910 such that the distance between the right end and the mounting mechanism 830 is equal to the target distance. In some embodiments, the angle between the optical source 910 (or the light emitted by the optical source 910) and the reference coordinate system may also be referred to as a spatial tilt angle of the optical source 910.

In some embodiments, the control device 930 may control the position adjustment mechanism 920 to adjust the position of the optical source 910 in real time or periodically to ensure that the light emitted by the optical source 910 is directed to the puncture point A. For example, the control device 930 may update the target position in real time or periodically based on, for example, a current location of the subject 850 and a current location of the optical source 910. The control device 930 may further control position adjustment mechanism 920 to adjust the optical source 910 so that the optical source 910 reaches the updated target location. As another example, the angle measurement device 923 may be mounted the optical source 910 to measure an angle between the optical source 910 (or the light emitted by the optical source 910) and the reference coordinate system in real time or periodically. The angle measurement device 923 may transmit the measured angle to the control device 930. The control device 930 may determine whether a difference between the measured angle and the target angle exceeds an acceptable range (e.g., being greater than a threshold, such as 0.5 degrees, 1 degree, or 2 degrees) . If the difference exceeds the acceptable range, the control device 930 may control the position adjustment mechanism 920 to adjust the optical source 910 so that the angle between the optical source 910 (or the light emitted by the optical source 910) and the reference coordinate system is equal to the target angle.

In some embodiments, the indicator 810 may be directly mounted on the robotic arm 940 as shown in FIG. 9B. Alternatively, the indicator 810 may be mounted on the mounting mechanism 830 as shown in FIG. 9A and the mounting mechanism 830 may be mounted on the robotic arm 940. The robotic arm 940 may move during the puncture treatment. The control device 930 may take the position of the robotic arm into consideration in determining the target position of the optical source 910. For example, the control device 930 may determine a target position at which the light emitted by the optical source 910 is directed to the puncture point A without being blocked by the robotic arm 940. In some embodiments, the target position of the optical source 910 may be determined and/or updated by the computing device and transmitted to the control device 930. Additionally or alternatively, the control device 930 may be integrated into the computing device.

It should be noted that the examples illustrated in FIGs. 9A and 9B are merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. In some embodiments, the components of the indicator 810 may have any suitable size and/or shape, and be located at any suitable positions. In some embodiments, one or more components of the indicator 810 described above may be omitted or be replaced by any other components that can perform the same or similar functions. For example, the angle measurement device 923 may be omitted. As another example, the movement control component 922 may include any number of control units each of which is configured control the optical source 910 to rotate around the first location M along a direction. In some embodiments, the supporting component 921 may have the same or similar structure as the movement control component 922. In this situation, the optical source 910 may be configured to move around the second location N along one or more directions.

FIG. 10 is a schematic diagram illustrating an exemplary surgery system 1000 according to some embodiments of the present disclosure. The surgery system 1000 may be configured to perform a puncture treatment on a subject 850. The subject 850 may include a user (e.g., a patient) , a portion of the user (e.g., an organ and/or a tissue of the user) , a man-made object (e.g., a phantom) , etc.

As shown in FIG. 10, the surgery system 1000 may include an imaging device 1010, a surgical robot 1020, one or more terminals 1030, a processing device 1040, a storage device 1050, a network 1060, and a puncture device 100. The connection between the components in the surgery system 1000 may be variable. Merely by way of example, as illustrated in FIG. 10, the imaging device 1010 and/or the surgical robot 1020 may be connected to the processing device 1040 through the network 1060. As another example, the imaging device 1010 may be connected to the processing device 1040 directly. As a further example, the storage device 1050 may be connected to the processing device 1040 directly or through the network 1060. As still a further example, the terminal 1030 may be connected to the processing device 1040 directly (as indicated by the bi-directional arrow in dotted lines linking the terminal 1030 and the processing device 1040) or through the network 1060.

The imaging device 1010 may be configured to perform a scan on the subject 850 to acquire scan data related to the subject 850 before, during, and/or after the surgical operation. For example, the imaging device 1010 may perform a scan on the subject 850 before the puncture treatment and an image of the subject 850 may be generated based on the scan. The image may indicate a lesion of the subject 850 and be used as a basis for planning a surgical route of the puncture device 100.

The imaging device 1010 may include a digital subtraction angiography (DSA) device, a magnetic resonance imaging (MRI) device, a computed tomography angiography (CTA) device, a positron emission tomography (PET) device, a single photon emission computed tomography (SPECT) device, a computed tomography (CT) device (e.g., a cone beam CT) , a digital radiography (DR) device, or the like. In some embodiments, the imaging device 1010 may be a multi-modality imaging device including, for example, a PET-CT device, a PET-MRI device, a SPECT-PET device, a DSA-MRI device, or the like.

In some embodiments, as illustrated in FIG. 10, the imaging device 1010 may include a gantry 1011, a table 1012, a detecting tunnel (not shown) , a radiation source (not shown) , and a detector (not shown) . The gantry 1011 may support the detector and the radiation source. The subject 850 may be placed on the table 1012 for scan. The radiation source may emit radioactive rays to the subject, and the detector may detect radiation rays (e.g., X-rays) emitted from the detecting tunnel. In some embodiments, the detector may include one or more detector units. The detector units may include a scintillation detector (e.g., a cesium iodide detector) , a gas detector, etc. The detector unit may include a single-row detector and/or a multi-rows detector.

The surgical robot 1020 may be configured to perform the puncture treatment on the subject 850 using the puncture device 100 automatically or semi-automatically. As used herein, an automatic puncture treatment may refer to a puncture treatment performed by the surgical robot 1020 automatically. A semi-automatic puncture treatment may refer to a puncture treatment performed by the surgical robot 1020 with a user intervention. The user intervention may include, for example, providing information regarding the subject 850 (e.g., a location of a lesion of the subject 850) , providing information regarding the puncture treatment (e.g., a puncture point related to the puncture treatment) , or the like, or a combination thereof.

In some embodiments, the surgical robot 1020 may include one or more robotic arms. The puncture device 100 may be assembled on an end of one of the robotic arm (s) of the surgical robot 1020, e.g., through a mounting mechanism (e.g., the mounting mechanism 190 as described in connection with FIG. 1) . In some embodiments, the surgical robot 1020 may include a plurality of robotic arms. The robotic arms may be serial-type robotic arms or parallel-type robotic arms.

In some embodiments, as illustrated in FIG. 10, the imaging device 1010 and the surgical robot 1020 may correspond to a coordinate system C1 and a coordinate system C2, respectively. The coordinate systems C1 and C2 may have any number of dimensions and the dimension (s) may be in any direction. The origins of the coordinate systems C1 and C2 may be located at any suitable position.

Merely by way of example, the coordinate systems C1 and C2 are both Cartesian coordinate systems including three dimensions as shown in FIG. 10. In some embodiments, the origin of the coordinate system C1 may be located at the center of the gantry 1011 of the imaging device 1010. The coordinate system C1 may include a Z1-axis, an X1-axis, and a Y1-axis. The Z1-axis is parallel with the moving direction of the table 1012, and the X1-axis and the Y1-axis forms a plane perpendicular to the Z1-axis. The origin of the coordinate system C2 may be located at any point on the surgical robot 1020. The coordinate system C2 may include a Z2-axis, an X2-axis, and a Y2-axis, which are parallel with the Z1-axis, the X1-axis, and the Y1-axis, respectively.

The terminal 1030 may be configured to realize an interaction between a user and one or more components of the surgery system 1000. For example, the terminal 1030 may have a user interface (UI) for the user to input an instruction to the surgical robot 1020 to perform the puncture treatment on the subject 850. As another example, the terminal 1030 may display one or more images acquired by the imaging device 1010 to the user. The terminal 1030 may include a mobile device 1030-1, a tablet computer 1030-2, a laptop computer 1030-3, a display 1030-4, or the like, or any combination thereof. In some embodiments, the mobile device 1030-1 may include a smart home device, a wearable device, a mobile device, a virtual reality device, an augmented reality device, or the like, or any combination thereof. In some embodiments, the smart home device may include a smart lighting device, a control device of an intelligent electrical apparatus, a smart monitoring device, a smart television, a smart video camera, an interphone, or the like, or any combination thereof. In some embodiments, the wearable device may include a bracelet, a footgear, eyeglasses, a helmet, a watch, clothing, a backpack, a smart accessory, or the like, or any combination thereof. In some embodiments, the mobile device may include a mobile phone, a personal digital assistant (PDA) , a gaming device, a navigation device, a point of sale (POS) device, a laptop, a tablet computer, a desktop, or the like, or any combination thereof. In some embodiments, the virtual reality device and/or the augmented reality device may include a virtual reality helmet, virtual reality glasses, a virtual reality patch, an augmented reality helmet, augmented reality glasses, an augmented reality patch, or the like, or any combination thereof. For example, the virtual reality device and/or the augmented reality device may include a Google Glass ^TM, an Oculus Rift ^TM, a Hololens ^TM, a Gear VR ^TM, etc. In some embodiments, the terminal 1030 may be part of the processing device 1040.

The processing device 1040 may process data and/or information related to the surgery system 1000, for example, information obtained from the imaging device 1010, the puncture device 100, the surgical robot 1020, the terminal 1030, and/or the storage device 1050. For example, the processing device 1040 may plan a surgical route for a puncture unit of the puncture device 100 (e.g., the puncture unit 140 as described in connection with FIG. 1) . The surgical route may refer to a route that the puncture unit plans to travel through during performing the puncture treatment. In some embodiments, the surgical route may extend from a puncture point of the subject 850 to an endpoint of the subject 850. The surgical route may be represented as a set of coordinates of a plurality of points of the surgical route in the coordinate system C2 or a vector from the puncture point to the endpoint in the coordinate system C2.

In some embodiments, the processing device 1040 may obtain an image of the subject 850. The image may be generated based on scan data of the subject 850 acquired by the imaging device 1010 and correspond to the coordinate system C1. The processing device 1040 may determine a virtual planned surgical route in the image in the coordinate system C1, and transform the virtual planned surgical route to the surgical route in coordinate system C2. Optionally, the processing device 1040 may further determine one or more parameters related to the surgical route, such as a position of the puncture point, a position of the endpoint, a length of the surgical route, a direction of the surgical route, a depth of the surgical route, or the like, or any combination thereof. Exemplary techniques for determining the surgical route and the parameters thereof may be found in, for example, International Application PCT/CN2019/071490, entitled “SYSTEMS AND METHODS FOR SURGICAL ROUTE PLANNING” filed on even date of the present application, the contents of which are hereby incorporated by reference.

In some embodiments, the processing device 1040 may determine one or more parameters related to the position and/or movement of the surgical robot 1020 and/or the puncture device 100. The processing device 1040 may further control the surgical robot 1020 and/or the puncture device 100 based on the parameter (s) to ensure that the puncture unit performs the puncture treatment on the subject 850 according to the planned surgical route precisely. For example, the processing device 1040 may plan a moving path for the surgical robot 1020 and/or the robotic arm (s) thereof (not shown in FIG. 10) . The moving path may be used to direct the surgical robot 1020 and/or the robotic arm (s) to carry the puncture device 100 to reach a desired position. As yet another example, the processing device 1040 may determine a predetermined location of a position-limiting mechanism of the puncture device 100 (e.g., the position-limiting mechanism 130 as shown in FIG. 2) based on the length and/or depth of the planned surgical route. Before the puncture treatment, the processing device 1040 may transmit an instruction to the position-limiting mechanism to move to the predetermined location to limit the position of a movement control mechanism of the puncture device 100 (e.g., the movement control mechanism 120 as shown in FIG. 2) at the predetermined location in case that the movement control mechanism 120 operates in an abnormal state. After the position-limiting mechanism moves to the predetermined location, the processing device 1040 may transmit an instruction to the movement control mechanism to drive the puncture unit to move along the surgical route. In some embodiments, when the puncture unit is close to the endpoint (e.g., a distance between the puncture unit and the endpoint being smaller than a threshold) , the processing device 1040 may cause a firing mechanism of the puncture device 100 to actuate an inner needle to extend from an outer needle to complete the puncture treatment.

In some embodiments, the processing device 1040 may be a single server or a server group. The server group may be centralized or distributed. In some embodiments, the processing device 1040 may be local or remote. For example, the processing device 1040 may access information and/or data stored in the imaging device 1010, the surgical robot 1020, the terminal 1030, and/or the storage device 1050 via the network 1060. As another example, the processing device 1040 may be directly connected to the imaging device 1010, the terminal 1030 and/or the storage device 1050 to access stored information and/or data. In some embodiments, the processing device 1040 may be implemented on a cloud platform. Merely by way of example, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, a multi-cloud, or the like, or any combination thereof. In some embodiments, the processing device 1040 may be integrated into the surgical robot 1020 or the puncture device 100.

The storage device 1050 may store data, instructions, and/or any other information. In some embodiments, the storage device 1050 may store data obtained from the imaging device 1010, the surgical robot 1020, the terminal 1030, and the processing device 1040. In some embodiments, the storage device 1050 may store data and/or instructions that the processing device 1040 and/or the terminal 1030 may execute or use to perform exemplary methods described in the present disclosure. In some embodiments, the storage device 1050 may include a mass storage device, a removable storage device, a volatile read-and-write memory, a read-only memory (ROM) , or the like, or any combination thereof. Exemplary mass storage may include a magnetic disk, an optical disk, a solid-state drive, etc. Exemplary removable storage may include a flash drive, a floppy disk, an optical disk, a memory card, a zip disk, a magnetic tape, etc. Exemplary volatile read-and-write memory may include a random access memory (RAM) . Exemplary RAM may include a dynamic RAM (DRAM) , a double date rate synchronous dynamic RAM (DDR SDRAM) , a static RAM (SRAM) , a thyristor RAM (T-RAM) , and a zero-capacitor RAM (Z-RAM) , etc. Exemplary ROM may include a mask ROM (MROM) , a programmable ROM (PROM) , an erasable programmable ROM (EPROM) , an electrically erasable programmable ROM (EEPROM) , a compact disk ROM (CD-ROM) , and a digital versatile disk ROM, etc. In some embodiments, the storage device 1050 may be implemented on a cloud platform. Merely by way of example, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an inter-cloud, a multi-cloud, or the like, or any combination thereof.

In some embodiments, the storage device 1050 may be connected to the network 1060 to communicate with one or more other components in the surgery system 1000 (e.g., the processing device 1040, the terminal 1030, etc. ) . One or more components in the surgery system 1000 may access the data or instructions stored in the storage device 1050 via the network 1060. In some embodiments, the storage device 1050 may be directly connected to or communicate with one or more other components in the surgery system 1000 (e.g., the processing device 1040, the terminal 1030, etc. ) . In some embodiments, the storage device 1050 may be part of the processing device 1040.

The network 1060 may include any suitable network that can facilitate exchange of information and/or data in the surgery system 1000. In some embodiments, one or more components of the surgery system 1000 (e.g., the imaging device 1010, the surgical robot 1020, the terminal 1030, the processing device 1040, and/or the storage device 1050) may communicate with each other via the network 1060. For example, the processing device 1040 may obtain historical treatment records from the storage device 1050 via the network 1060. As another example, the imaging device 1010 and/or the surgical robot 1020 may obtain user instructions from the terminal 1030 via the network 1060. The network 1060 may include a public network (e.g., the Internet) , a private network (e.g., a local area network (LAN) , a wide area network (WAN) , etc. ) , a wired network (e.g., an Ethernet network) , a wireless network (e.g., an 802.11 network, a Wi-Fi network, etc. ) , a cellular network (e.g., a Long Term Evolution (LTE) network) , a frame relay network, a virtual private network ( "VPN" ) , a satellite network, a telephone network, routers, hubs, switches, server computers, and/or any combination thereof. Merely by way of example, the network 1060 may include a cable network, a wireline network, a fiber-optic network, a telecommunications network, an intranet, a wireless local area network (WLAN) , a metropolitan area network (MAN) , a public telephone switched network (PSTN) , a Bluetooth ^TM network, a ZigBee ^TM network, a near field communication (NFC) network, or the like, or any combination thereof. In some embodiments, the network 1060 may include one or more network access points. For example, the network 1060 may include wired and/or wireless network access points such as base stations and/or internet exchange points through which one or more components of the surgery system 1000 may be connected to the network 1060 to exchange data and/or information.

It should be noted that the above description of the surgery system 1000 is merely provided for the purposes of illustration, and not intended to limit the scope of the present disclosure. For persons having ordinary skills in the art, multiple variations and modifications may be made under the teachings of the present disclosure. However, those variations and modifications do not depart from the scope of the present disclosure. In some embodiments, the surgery system 1000 may include one or more additional components. Additionally or alternatively, one or more components of the surgery system 1000 described above may be omitted.

Having thus described the basic concepts, it may be rather apparent to those skilled in the art after reading this detailed disclosure that the foregoing detailed disclosure is intended to be presented by way of example only and is not limiting. Various alterations, improvements, and modifications may occur and are intended to those skilled in the art, though not expressly stated herein. These alterations, improvements, and modifications are intended to be suggested by this disclosure, and are within the spirit and scope of the exemplary embodiments of this disclosure.

Moreover, certain terminology has been used to describe embodiments of the present disclosure. For example, the terms “one embodiment, ” “an embodiment, ” and/or “some embodiments” mean that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Therefore, it is emphasized and should be appreciated that two or more references to “an embodiment” or “one embodiment” or “an alternative embodiment” in various portions of this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures or characteristics may be combined as suitable in one or more embodiments of the present disclosure.

Further, it will be appreciated by one skilled in the art, aspects of the present disclosure may be illustrated and described herein in any of a number of patentable classes or context including any new and useful process, machine, manufacture, or composition of matter, or any new and useful improvement thereof. Accordingly, aspects of the present disclosure may be implemented entirely hardware, entirely software (including firmware, resident software, micro-code, etc. ) or combining software and hardware implementation that may all generally be referred to herein as a “unit, ” “module, ” or “system. ” Furthermore, aspects of the present disclosure may take the form of a computer program product embodied in one or more computer readable media having computer readable program code embodied thereon.

A non-transitory computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including electro-magnetic, optical, or the like, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that may communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable signal medium may be transmitted using any appropriate medium, including wireless, wireline, optical fiber cable, RF, or the like, or any suitable combination of the foregoing.

Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB. NET, Python or the like, conventional procedural programming languages, such as the "C" programming language, Visual Basic, Fortran 2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages such as Python, Ruby and Groovy, or other programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN) , or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider) or in a cloud computing environment or offered as a service such as a Software as a Service (SaaS) .

Furthermore, the recited order of processing elements or sequences, or the use of numbers, letters, or other designations therefore, is not intended to limit the claimed processes and methods to any order except as may be specified in the claims. Although the above disclosure discusses through various examples what is currently considered to be a variety of useful embodiments of the disclosure, it is to be understood that such detail is solely for that purpose, and that the appended claims are not limited to the disclosed embodiments, but, on the contrary, are intended to cover modifications and equivalent arrangements that are within the spirit and scope of the disclosed embodiments. For example, although the implementation of various components described above may be embodied in a hardware device, it may also be implemented as a software only solution, e.g., an installation on an existing server or mobile device.

Similarly, it should be appreciated that in the foregoing description of embodiments of the present disclosure, various features are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure aiding in the understanding of one or more of the various inventive embodiments. This method of disclosure, however, is not to be interpreted as reflecting an intention that the claimed subject matter requires more features than are expressly recited in each claim. Rather, inventive embodiments lie in less than all features of a single foregoing disclosed embodiment.

In some embodiments, the numbers expressing quantities, properties, and so forth, used to describe and claim certain embodiments of the application are to be understood as being modified in some instances by the term “about, ” “approximate, ” or “substantially. ” For example, “about, ” “approximate, ” or “substantially” may indicate ±20%variation of the value it describes, unless otherwise stated. Accordingly, in some embodiments, the numerical parameters set forth in the written description and attached claims are approximations that may vary depending upon the desired properties sought to be obtained by a particular embodiment. In some embodiments, the numerical parameters should be construed in light of the number of reported significant digits and by applying ordinary rounding techniques. Notwithstanding that the numerical ranges and parameters setting forth the broad scope of some embodiments of the application are approximations, the numerical values set forth in the specific examples are reported as precisely as practicable.

Each of the patents, patent applications, publications of patent applications, and other material, such as articles, books, specifications, publications, documents, things, and/or the like, referenced herein is hereby incorporated herein by this reference in its entirety for all purposes, excepting any prosecution file history associated with same, any of same that is inconsistent with or in conflict with the present document, or any of same that may have a limiting affect as to the broadest scope of the claims now or later associated with the present document. By way of example, should there be any inconsistency or conflict between the description, definition, and/or the use of a term associated with any of the incorporated material and that associated with the present document, the description, definition, and/or the use of the term in the present document shall prevail.

In closing, it is to be understood that the embodiments of the application disclosed herein are illustrative of the principles of the embodiments of the application. Other modifications that may be employed may be within the scope of the application. Thus, by way of example, but not of limitation, alternative configurations of the embodiments of the application may be utilized in accordance with the teachings herein. Accordingly, embodiments of the present application are not limited to that precisely as shown and described.

Claims

A puncture device, comprising:

a base;

a puncture unit for puncture treatment;

a movement control mechanism mounted on the base and configured to control a movement of the puncture unit, the puncture unit being detachably mounted on the movement control mechanism, the movement control mechanism being movable on the base along a route; and

a position-limiting mechanism movably mounted on the base and configured to limit a position of the movement control mechanism during a movement of the movement control mechanism.
The puncture device of claim 1, wherein:

the movement control mechanism is configured to receive an instruction for causing the movement control mechanism to move from a start location on the route to a target location on the route, and

at least a portion of the position-limiting mechanism is configured to move to a predetermined location to limit the position of the movement control mechanism at the predetermined location.
The puncture device of claim 2, wherein:

the movement control mechanism has a normal state and an abnormal state,

under the normal state, the movement control mechanism moves from the start location and stops at the target location according to the instruction, and

under the abnormal state, the movement control mechanism moves from the start location along the route without stopping at the target location and abuts against the position-limiting mechanism located at the predetermined location.
The puncture device of claim 2, the position-limiting mechanism comprising a blocking component, a driver, and a motion transmission component mechanically connected to the blocking component and the driver, wherein:

the blocking component is configured to abut against the movement control mechanism at the predetermined location, and

the driver is configured to drive, via the motion transmission component, the blocking component to move to the predetermined location.
The puncture device of claim 4, wherein the motion transmission component of the position-limiting mechanism comprises:

a lead screw mechanically connected to the driver of the position-limiting mechanism; and

a nut mechanically connected to the lead screw and the blocking component.
The puncture device of claim 1, the movement control mechanism comprising a motion platform, a driver, and a motion transmission component mechanically connected to the motion platform and the driver, wherein:

the puncture unit is mounted on the motion platform, and

the driver is configured to drive, via the motion transmission component, the motion platform to move on the base.
The puncture device of claim 6, wherein the motion transmission component of the movement control mechanism comprises:

a lead screw mechanically connected to the driver; and

a nut mechanically connected to the lead screw and the motion platform.
The puncture device of claim 6, the motion platform comprising a mounting base, a first mounting section, and a second mounting section, wherein:

the first mounting section and second mounting section are arranged on the mounting base,

the puncture unit is mounted on the first mounting section, and

the second mounting section is mechanically connected to the motion transmission component of the movement control mechanism.
The puncture device of claim 6, further comprising a guiding device mounted on the base configured to guide the movement of the motion platform along the route.
The puncture device of claim 9, wherein:

the guiding device comprises a slide rail mounted on the base and a slide block movable along the slide rail, and

the motion platform comprises a third mounting section, the third mounting section being mechanically connected to the slide block.
The puncture device of claim 10, wherein the guiding device further comprises a second slide block movable along on the slide rail, the second slide block being mechanically connected to the position-limiting mechanism.
The puncture device of claim 1, further comprising at least one of:

a first location detection device mounted on the base at a first reference location with respect to the position-limiting mechanism, or

a second location detection device mounted on the base at a second reference location with respect to the movement control mechanism.
The puncture device of claim 1, wherein the puncture unit comprises:

an outer needle;

an inner needle detachably housed in the outer needle and movable with respect to the outer needle; and

a firing mechanism configured to cause the inner needle to extend from the outer needle.
The puncture device of claim 13, wherein the puncture device further comprises a firing actuator configured to actuate the firing mechanism, the firing actuator being mechanically connected to the movement control mechanism.
The puncture device of claim 14, the firing mechanism comprising a firing switch and a handle, wherein:

the handle is operably connected to the firing actuator and operably driven by the firing actuator, and

the firing switch has a first state and a second state, under the first state the handle being spaced from the firing switch by a distance and the inner needle being locked, under the second state the handle being in contact with the firing switch driven by the firing actuator and the inner needle being caused to extend from the outer needle.
The puncture device of claim 14, the firing actuator comprising a mounting base, a driver, and a motion transmission component mechanically connected to the firing mechanism and the driver, wherein:

the driver and the motion transmission component are mounted on the mounting base, and

the driver is configured to drive, via the motion transmission component, the firing mechanism.
The puncture device of claim 16, wherein:

the firing actuator further comprises a push rod mechanically connected to the motion transmission component and operably connected to the firing mechanism, and

the driver is configured to drive, via the motion transmission component and the push rod, the firing mechanism.
The puncture device of claim 14, wherein:

the firing actuator further comprises a housing configured to house at least a portion of the firing actuator, and

the puncture unit is mounted on the housing.
The puncture device of claim 14, wherein:

the movement control mechanism comprises a motion platform, a driver, a motion transmission component mechanically connected to the motion platform and the driver, and a connector configured to establish a mechanical connection between the motion platform and the firing actuator, and

the driver is configured to drive, via the motion transmission component, the motion platform to move on the base.
The puncture device of claim 19, wherein:

the puncture device further comprises a guiding housing mounted on the base configured to housing at least part of the movement control mechanism, the guiding housing including a guiding groove configured to guide the movement of the movement control mechanism along the route; and

at least a portion of the connector protrudes from the guiding housing through the guiding groove and be mechanically connected to the firing actuator.
The puncture device of claim 1, further comprising a mounting mechanism configured to mount the puncture device on a robotic arm.
The puncture device of claim 1, further comprising a positioning mechanism configured to positioning a puncture point of a subject for the puncture unit to puncture,

wherein the positioning mechanism comprises at least one of:

an indicator configured to indicate the puncture point on the subject, or

a guiding device configured to provide a guiding channel toward the puncture point for at least a portion of the puncture unit to pass through.
The puncture device of claim 22, wherein the indicator comprises:

an optical source configured to emit light;

a position adjustment mechanism configured to adjust a position of the optical source; and

a control device configured to control the position adjustment mechanism such that the light emitted by the optical source is directed to the puncture point of the subject.
The puncture device of claim 23, wherein the position adjustment mechanism comprises:

a supporting component rotatably connected to the optical source at a first location of the optical source and configured to support the optical source; and

a movement control component rotatably connected to the optical source at a second location of the optical source and configured to control a movement of the optical source.
The puncture device of claim 24, wherein the movement control component comprises at least one of:

a first control unit configured to control the optical source to rotate around the first location along a first direction, 1 or

a second control unit configured to control the optical source to rotate around the first location along a second direction.
The puncture device of claim 25, the first control unit comprising a driver and a motion transmission component, wherein:

the motion transmission component of the first control unit is mechanically connected to the driver of the first control unit and the optical source, and

the driver of the first control unit is configured to drive, via the motion transmission component of the first control unit, the optical source to rotate around the first location along the first direction.
The puncture device of claim 26, the second control unit comprising a second driver and a second motion transmission component, wherein:

the second motion transmission component of the second control unit is mechanically connected to the second driver of the second control unit and the motion transmission component of the first control unit, and

the second driver of the second control unit is configured to drive, via the motion transmission component of the first control unit and the second motion transmission component of the second control unit, the optical source to rotate around the first location along the second direction.
The puncture device of claim 23, wherein the indicator comprises an angle measurement device configured to measure an angle between the light emitted by the optical source and a reference coordinate system.
The puncture device of claim 22, wherein:

the positioning mechanism further comprises a mounting mechanism configured to mount the positioning mechanism on at least one of the base, the movement control mechanism, or a robotic arm, and

at least one of the indicator or the guiding device is detachably mounted on the mounting mechanism.
A surgical robot, comprising:

at least one robotic arm; and

a puncture device according to any one of claims 1-29 mounted on the at least one robotic arm.