CN106725898B - Device for CT-guided puncture biopsy and particle implantation template positioning - Google Patents
Device for CT-guided puncture biopsy and particle implantation template positioning Download PDFInfo
- Publication number
- CN106725898B CN106725898B CN201611154497.8A CN201611154497A CN106725898B CN 106725898 B CN106725898 B CN 106725898B CN 201611154497 A CN201611154497 A CN 201611154497A CN 106725898 B CN106725898 B CN 106725898B
- Authority
- CN
- China
- Prior art keywords
- motor
- nut
- lead screw
- support
- plate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Apparatus For Radiation Diagnosis (AREA)
Abstract
The invention discloses a device for CT-guided punch biopsy and particle implantation template positioning, which comprises a CT bed, a bracket, a first slide rail, a first slide block, a first motor, a first lead screw, a first nut, a connecting plate, a second slide rail, a second slide block, a second motor, a second lead screw, a second nut, a moving plate, a third motor and a controller.
Description
Technical Field
The invention relates to a positioning device, in particular to a device for CT-guided puncture biopsy and particle implantation template positioning.
Background
At present, hospitals carry out puncture biopsy of in-vivo focuses under CT guidance, and carry out treatment of particle implantation on tumor patients by adopting 3D printing needle path templates. Although the 3D printing needle track template well solves the conforming problem of the simulation of the needle track and the preoperative TPS system, for organs such as lungs, livers and the like which continuously move under CT along with breathing, the problem that the relative positions of the needle track template and a tumor in a body are changed occurs. Once the needle track template is misaligned relative to the tumor location, all implanted needle positions are incorrect, resulting in treatment failure and puncture risks. In view of the above, there is a need for a device for CT guided needle biopsy and positioning of a particle implantation needle track template. The device can conveniently control the positioning needle to fix the needle path template at the planned position of the TPS before the tumor operation, thereby achieving the purpose of ideally positioning the particle implantation template. Meanwhile, the device is also used for puncture biopsy under CT guidance. In view of the above drawbacks, it is desirable to design a device for CT guided punch biopsy and positioning of a particle implantation template.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a device that is used for puncture biopsy and particle to implant template location under the CT guide, solves the unable accurate positioning's of present traditional puncture and particle implantation needle track template mode problem, has reduced medical personnel work efficiency's problem.
In order to solve the technical problems, the technical scheme of the invention is as follows: a device for CT-guided puncture biopsy and particle implantation template positioning comprises a CT bed, a support, a first slide rail, a first slide block, a first motor, a first lead screw, a first nut, a connecting plate, a second slide rail, a second slide block, a second motor, a second lead screw, a second nut, a moving plate, a third motor and a controller, wherein the first slide rail is positioned at the front end and the rear end of the top of the support, the first slide rail is in threaded connection with the support, the number of the first slide blocks is a plurality of pieces, the first slide block is positioned at the top of the first slide rail, the first slide block is in sliding connection with the first slide rail, the first motor is positioned at the front end and the rear end of the left side of the top of the support, the first motor is in threaded connection with the support, the first lead screw is positioned at the right side of the first motor, the first lead screw is in close fit connection with the first motor, the first nut is positioned at the top of the first slide block, the first nut is connected with the first sliding block in a welding mode, the first nut penetrates through the first lead screw, the first nut is connected with the first lead screw in a threaded mode, the connecting plate is located at the top of the first nut, the connecting plate is connected with the first nut in a welding mode, the second sliding rail is located at the front end and the rear end of the left side of the top of the connecting plate, the second sliding rail is connected with the connecting plate in a welding mode, the second sliding block is located on the right side of the second sliding rail, the second sliding block is connected with the second sliding rail in a sliding mode, the second motor is located on the front side and the rear side of the middle end of the top of the connecting plate, the second motor is connected with the connecting plate in a threaded mode, the second lead screw is located at the top of the second motor, the second lead screw is connected with the second motor in a tight fit mode, the second nut is located on the right side of the second sliding block, the second nut is connected with the second sliding, the second nut is connected with the second lead screw in a threaded mode, the moving plate is located on the right side of the second nut and connected with the second nut in a welded mode, the third motor is located at the front end of the moving plate and connected with the moving plate in a threaded mode, the controller is located at the lower end inside the support, and the controller is connected with the support in a threaded mode.
Further, the right side in the moving plate is also provided with a guide groove, and the guide groove is integrally connected with the moving plate.
Furthermore, the front end of the third motor is also provided with a third lead screw, and the third lead screw is tightly matched and connected with the third motor.
Furthermore, a support plate penetrates through the outer portion of the third screw rod, the support plate is connected with the third screw rod in a threaded mode, and the support plate is connected with the guide groove in a sliding mode.
Furthermore, the top of the supporting plate is also provided with a fourth motor, and the fourth motor is in threaded connection with the supporting plate.
Further, a clamping cylinder is further arranged on the right side of the fourth motor and is connected with the fourth motor in a tight fit mode.
Furthermore, the top of the right side of the gripper cylinder is also provided with a positioning line, and the positioning line is integrally connected with the gripper cylinder.
Furthermore, the front end of the outer wall of the third screw rod is also provided with a left thread, and the left thread is integrally connected with the third screw rod.
Furthermore, the rear end of the outer wall of the third screw rod is also provided with a right thread, and the right thread is integrally connected with the third screw rod.
Furthermore, the four corners of the bottom of the support are also provided with universal positioning wheels, and the universal positioning wheels are connected with the support through threads.
Compared with the prior art, the device for CT-guided puncture biopsy and particle implantation template positioning comprises a positioning needle, a clamping cylinder, a CT machine, a first motor, a second motor, a third motor and a fourth motor, wherein before use, the positioning needle is placed between positioning lines at the clamping cylinder by medical staff, the clamping cylinder is opened by the medical staff, the positioning needle is clamped by the clamping cylinder, the medical staff moves the patient to the CT machine, the tumor position of the patient is detected by the CT machine, the particle implantation point and the puncture point avoiding blood vessels around the tumor of the patient are detected by the CT machine, the three-dimensional coordinates of the particle implantation point and the puncture point are transmitted to the controller, at the moment, under the action of the controller, the first motor, the second motor, the third motor and the fourth motor start to work, namely, the device starts to search the three-dimensional coordinates of the implantation point and the puncture point, the first motor drives the first lead screw to rotate, under the action of the screw transmission of the first lead screw and the, the first nut drives the first sliding block and the connecting plate to be linked with the second motor and to move back and forth along the direction of the first slide rail, the second motor drives the second lead screw to do rotary motion, the second nut drives the second sliding block and the moving plate to be linked with the third motor and to move back and forth along the direction of the second slide rail under the action of the thread transmission of the second lead screw and the second nut, the third motor drives the third lead screw to do rotary motion, the supporting plate drives the fourth motor to move back and forth along the direction of the guide groove under the action of the thread transmission of the third lead screw and the supporting plate, meanwhile, in the rotary process of the third lead screw, the supporting plate drives the fourth motor to be linked with the clamping cylinder to do back-to-back or opposite-to-motion through the left thread and the right thread respectively under the action of the thread transmission of the supporting plate, the fourth motor drives the clamping cylinder to link the positioning pin to do rotary motion, the device for CT guided puncture biopsy and particle implantation template positioning has the advantages of ingenious structure, powerful functions and simplicity and quickness in operation, can complete quick puncture and positioning on a focus in a patient body in an air suction and end air closing process by using the device, achieves the purpose of accurate puncture and positioning, and also improves the working efficiency of medical workers, meanwhile, the universal positioning wheel is used for facilitating the movement or positioning of the device for medical personnel.
Drawings
FIG. 1 is a partial front view of an apparatus for CT guided punch biopsy and positioning of a particle implantation template;
FIG. 2 is a partial top cross-sectional view of a device for CT guided punch biopsy and positioning of a particle implantation template;
fig. 3 is a sectional view of the connection of the moving plate and the supporting plate.
First slide rail 2 and first slide block 3
First motor 4 first lead screw 5
First nut 6 connecting plate 7
Second slide rail 8 and second slide block 9
Supporting plate 103 fourth motor 104
Positioning line 106 of clamping cylinder 105
Left hand thread 107 and right hand thread 108
The following detailed description will be further described in conjunction with the above-identified drawings.
Detailed Description
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the concepts underlying the described embodiments. It will be apparent, however, to one skilled in the art, that the described embodiments may be practiced without some or all of these specific details. In other instances, well known process steps have not been described in detail.
As shown in fig. 1, 2 and 3, a device for CT-guided biopsy and positioning of a particle implantation template comprises a CT bed 16, a support 1, a first slide rail 2, a first slide block 3, a first motor 4, a first lead screw 5, a first nut 6, a connecting plate 7, a second slide rail 8, a second slide block 9, a second motor 10, a second lead screw 11, a second nut 12, a moving plate 13, a third motor 14 and a controller 15, wherein the first slide rail 2 is located at the front end and the rear end of the top of the support 1, the first slide rail 2 is in threaded connection with the support 1, the number of the first slide blocks 3 is several, the first slide block 3 is located at the top of the first slide rail 2, the first slide block 3 is in sliding connection with the first slide rail 2, the first motor 4 is located at the front end and the rear end of the left side of the top of the support 1, the first motor 4 is in threaded connection with the support 1, the first lead screw 5 is located at the right side of the first motor 4, the first screw rod 5 is tightly matched and connected with the first motor 4, the first nut 6 is positioned at the top of the first sliding block 3, the first nut 6 is welded and connected with the first sliding block 3, the first nut 6 penetrates through the first screw rod 5, the first nut 6 is in threaded connection with the first screw rod 5, the connecting plate 7 is positioned at the top of the first nut 6, the connecting plate 7 is welded and connected with the first nut 6, the second sliding rails 8 are positioned at the front end and the rear end of the left side of the top of the connecting plate 7, the second sliding rails 8 are welded and connected with the connecting plate 7, the second sliding block 9 is positioned at the right side of the second sliding rails 8, the second sliding block 9 is in sliding connection with the second sliding rails 8, the second motor 10 is positioned at the front end and the rear end of the top of the connecting plate 7, the second motor 10 is in threaded connection with the connecting plate 7, and the second screw rod 11 is positioned at the top of the second motor 10, the second screw rod 11 is tightly matched and connected with the second motor 10, the second nut 12 is positioned on the right side of the second sliding block 9, the second nut 12 is welded and connected with the second sliding block 9, the second nut 12 penetrates through the second screw rod 11, the second nut 12 is in threaded connection with the second screw rod 11, the moving plate 13 is positioned on the right side of the second nut 12, the moving plate 13 is in welded connection with the second nut 12, the third motor 14 is positioned at the front end of the moving plate 13, the third motor 14 is in threaded connection with the moving plate 13, the controller 15 is positioned at the lower end inside the bracket 1, the controller 15 is in threaded connection with the bracket 1, the right side inside the moving plate 13 is further provided with a guide groove 101, the guide groove 101 is integrally connected with the moving plate 13, the front end of the third motor 14 is further provided with a third screw rod 102, and the third screw rod 102 is tightly matched and connected with the third motor 14, a support plate 103 penetrates through the outer part of the third screw rod 102, the support plate 103 is in threaded connection with the third screw rod 102, the support plate 103 is in sliding connection with the guide groove 101, a fourth motor 104 is further arranged at the top of the support plate 103, the fourth motor 104 is in threaded connection with the support plate 103, a clamping cylinder 105 is further arranged on the right side of the fourth motor 104, the clamping cylinder 105 is tightly matched and connected with the fourth motor 104, a positioning line 106 is further arranged at the top of the right side of the clamping cylinder 105, the positioning line 106 is integrally connected with the clamping cylinder 105, a left thread 107 is further arranged at the front end of the outer wall of the third screw rod 102, the left thread 107 is integrally connected with the third screw rod 102, a right thread 108 is further arranged at the rear end of the outer wall of the third screw rod 102, the right thread 108 is integrally connected with the third screw rod 102, and universal positioning wheels 109 are further arranged at the four corners of the bottom of the bracket 1, the universal positioning wheel 109 is connected with the support 1 through threads.
Before the device for CT-guided puncture biopsy and particle implantation template positioning, medical personnel place a positioning needle between positioning lines 106 at a hand clamping cylinder 105, the medical personnel open the hand clamping cylinder 105 again, the hand clamping cylinder 105 clamps the positioning needle at the moment, the medical personnel move a patient to a CT machine 16 again, the tumor position of the patient is found out through the detection of the CT machine 16, the particle implantation point and the puncture point avoiding blood vessels around the tumor of the patient are found out through the detection of the CT machine 16, the three-dimensional coordinates of the particle implantation point and the puncture point are transmitted to a controller 15, at the moment, under the action of the controller 15, a first motor 4, a second motor 10, a third motor 14 and a fourth motor 104 start to work, namely the device starts to find the three-dimensional coordinates of the particle implantation point and the puncture point, the first motor 4 drives a first lead screw 5 to rotate, under the action of the thread transmission of the first lead screw 5 and a first nut 6, so that the first nut 6 drives the first slider 3 and the connecting plate 7 to link with the second motor 10 and move back and forth along the direction of the first slide rail 2, synchronously, the second motor 10 drives the second lead screw 11 to rotate, under the action of the screw transmission of the second lead screw 11 and the second nut 12, the second nut 12 drives the second slider 9 and the moving plate 13 to link with the third motor 14 and move back and forth along the direction of the second slide rail 8, synchronously, the third motor 14 drives the third lead screw 102 to rotate, under the action of the screw transmission of the third lead screw 102 and the supporting plate 103, the supporting plate 103 drives the fourth motor 104 to move back and forth along the direction of the guide slot 101, and simultaneously, under the action of the screw transmission of the left thread 107 and the right thread 108 with the supporting plate 103 respectively during the rotation of the third lead screw 102, the supporting plate 103 drives the fourth motor 104 to link with the gripper cylinder 105 to move back and forth or opposite to each other, the device comprises a first motor 4, a second motor 10, a third motor 14 and a fourth motor 104, wherein the first motor 4, the second motor 10, the third motor 14 and the fourth motor 104 are all stepping servo motors and have a self-locking function, through the movement modes, the device is finally enabled to position three-dimensional coordinates of a particle implantation point and a puncture point of a tumor of a patient, then medical personnel can start the second motor 10 or the third motor 14 or start the second motor 10 and the third motor 14 simultaneously according to actual treatment conditions, and finally enable the locating pin to be inserted into the treatment part of the patient. Through using the device, can inhale end to patient's internal focus and close quick puncture and location of gas in-process completion one, not only reach the purpose of accurate puncture and location, but also improved medical personnel's work efficiency, simultaneously, universal positioning wheel 109 is for the convenience medical personnel remove or fix a position the device.
The present invention is not limited to the above-described embodiments, and those skilled in the art will be able to make various modifications without creative efforts from the above-described conception, and fall within the scope of the present invention.
Claims (3)
1. A device for CT-guided puncture biopsy and particle implantation template positioning comprises a CT bed and is characterized by further comprising a support, a first slide rail, a first slide block, a first motor, a first lead screw, a first nut, a connecting plate, a second slide rail, a second slide block, a second motor, a second lead screw, a second nut, a moving plate, a third motor and a controller, wherein the first slide rail is positioned at the front end and the rear end of the top of the support, the first slide rail is in threaded connection with the support, the number of the first slide blocks is a plurality of pieces, the first slide block is positioned at the top of the first slide rail, the first slide block is in sliding connection with the first slide rail, the first motor is positioned at the front end and the rear end of the left side of the top of the support, the first motor is in threaded connection with the support, the first lead screw is positioned at the right side of the first motor, and the first lead screw is in tight fit connection with the first motor, the first nut is positioned at the top of the first sliding block, the first nut is connected with the first sliding block in a welding way, the first nut penetrates through the first lead screw, the first nut is connected with the first lead screw in a threaded way, the connecting plate is positioned at the top of the first nut, the connecting plate is connected with the first nut in a welding way, the second sliding rails are positioned at the front end and the rear end of the left side of the top of the connecting plate, the second sliding rails are connected with the connecting plate in a welding way, the second sliding block is positioned at the right side of the second sliding rails, the second sliding block is connected with the second sliding rails in a sliding way, the second motor is positioned at the front end and the rear end of the middle end of the top of the connecting plate, the second motor is connected with the connecting plate in a threaded way, the second lead screw is positioned at the top of the second motor, the second lead screw is connected with the second motor in a tight fit way, the second nut is positioned at the right side, the second nut penetrates through the second lead screw, the second nut is in threaded connection with the second lead screw, the moving plate is located on the right side of the second nut, the moving plate is connected with the second nut in a welding mode, the third motor is located at the front end of the moving plate, the third motor is in threaded connection with the moving plate, the controller is located at the lower end inside the support, and the controller is in threaded connection with the support;
the right side in the moving plate is also provided with a guide groove, and the guide groove is integrally connected with the moving plate;
the front end of the third motor is also provided with a third lead screw, and the third lead screw is tightly matched and connected with the third motor;
a support plate penetrates through the outer part of the third screw rod, the support plate is in threaded connection with the third screw rod, and the support plate is in sliding connection with the guide groove;
the top of the supporting plate is also provided with a fourth motor, and the fourth motor is in threaded connection with the supporting plate;
a clamping cylinder is arranged on the right side of the fourth motor and is tightly matched and connected with the fourth motor;
the front end of the outer wall of the third screw rod is also provided with a left thread and a right thread which are integrally connected with the third screw rod;
the clamping cylinder and the fourth motor are arranged in two groups and symmetrically and penetrate through a left thread and a right thread on the third screw rod respectively.
2. The device as claimed in claim 1, wherein the gripper cylinder further comprises a positioning line at the top of the right side thereof, and the positioning line is integrally connected to the gripper cylinder.
3. The device as claimed in claim 1, wherein the four corners of the bottom of the support frame are further provided with universal positioning wheels, and the universal positioning wheels are connected with the support frame through screw threads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611154497.8A CN106725898B (en) | 2016-12-14 | 2016-12-14 | Device for CT-guided puncture biopsy and particle implantation template positioning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611154497.8A CN106725898B (en) | 2016-12-14 | 2016-12-14 | Device for CT-guided puncture biopsy and particle implantation template positioning |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106725898A CN106725898A (en) | 2017-05-31 |
| CN106725898B true CN106725898B (en) | 2020-02-14 |
Family
ID=58888774
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611154497.8A Expired - Fee Related CN106725898B (en) | 2016-12-14 | 2016-12-14 | Device for CT-guided puncture biopsy and particle implantation template positioning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106725898B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110575253B (en) * | 2019-09-27 | 2020-11-10 | 西安交通大学医学院第一附属医院 | Robot-assisted puncture system based on positioning plate and puncture track acquisition method |
| CN111202540B (en) * | 2020-03-04 | 2023-05-23 | 明峰医疗系统股份有限公司 | CT scanning bed lifting protection device and use method thereof |
| CN112059078A (en) * | 2020-09-01 | 2020-12-11 | 广西壮族自治区人民医院 | Cricothyroid membrane puncture needle processing device |
| CN112244953B (en) * | 2020-10-08 | 2024-05-07 | 王洪奎 | Robot hand for automatic puncturing |
| CN112704553B (en) * | 2020-12-24 | 2022-03-01 | 洛阳市中心医院（郑州大学附属洛阳中心医院） | Nail locking device with positioning function for orthopedics department |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2448303Y (en) * | 2000-09-28 | 2001-09-19 | 邸若谷 | CT led automatic positioning puncture outfit |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| WO2014012163A1 (en) * | 2012-07-14 | 2014-01-23 | University Of Western Ontario | Mechanical tracking system |
| CN203609748U (en) * | 2013-12-17 | 2014-05-28 | 天津市同仁和医用科技有限公司 | Three-dimensional rectangular coordinate CT bed connecting type radioactive particle minimally invasive automatic-control positioning device |
| CN105395240A (en) * | 2015-11-18 | 2016-03-16 | 山东科技大学 | Prostate living tissue puncture robot |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5692518A (en) * | 1993-07-02 | 1997-12-02 | Rachman Scientific, Inc. | Skin test applicator |
| US5792169A (en) * | 1995-02-28 | 1998-08-11 | Markman; Barry Stephen | Method and apparatus for forming multiple cavities for placement of hair grafts |
| CN203777063U (en) * | 2014-04-17 | 2014-08-20 | 陈绪亮 | Linear positioner for lateral ventricle puncture |
| CN104157989B (en) * | 2014-08-26 | 2016-07-06 | 重庆自勇科技有限公司 | Penetrating cable clamp |
| US9750469B2 (en) * | 2014-10-24 | 2017-09-05 | I.M.S. Internazionale Medico Scientifica S.R.L. | Apparatus for performing a biopsy on a patient's breast and computer-implemented method for defining a route for a biopsy needle through a patient's breast |
| CN105011970B (en) * | 2015-06-09 | 2018-01-30 | 孙龙 | Fixing device in a kind of art of puncture needle |
-
2016
- 2016-12-14 CN CN201611154497.8A patent/CN106725898B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2448303Y (en) * | 2000-09-28 | 2001-09-19 | 邸若谷 | CT led automatic positioning puncture outfit |
| CN2712301Y (en) * | 2004-06-17 | 2005-07-27 | 冯威健 | Guiding device for puncturation, biopsy and injection under CT |
| WO2014012163A1 (en) * | 2012-07-14 | 2014-01-23 | University Of Western Ontario | Mechanical tracking system |
| CN203609748U (en) * | 2013-12-17 | 2014-05-28 | 天津市同仁和医用科技有限公司 | Three-dimensional rectangular coordinate CT bed connecting type radioactive particle minimally invasive automatic-control positioning device |
| CN105395240A (en) * | 2015-11-18 | 2016-03-16 | 山东科技大学 | Prostate living tissue puncture robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106725898A (en) | 2017-05-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106725898B (en) | Device for CT-guided puncture biopsy and particle implantation template positioning | |
| CN104146772B (en) | A kind of robot for the accurate diagnosis and treatment of jaw face disease | |
| CN107374739A (en) | A kind of intervention operation robot is from end device and its control method | |
| CN107260269A (en) | A kind of ultrasound guidance robot for aspiration biopsy of prostatic gland | |
| CN106725648B (en) | Multidirectional adsorption breast fixing device for minimally invasive breast surgery and mounting method and using method thereof | |
| CN110960318B (en) | CT guided ablation system and ablation positioning method | |
| CN206151580U (en) | Tight fixing device of supplementary flexible needle holder of accurate target puncture soft tissue target of robot | |
| CN105852939A (en) | Automatic real-time positioning and puncturing robot arm for CT | |
| CN208893426U (en) | A kind of seal wire auxiliary clamping device | |
| CN209137698U (en) | A kind of catheter controller | |
| CN107789720A (en) | A kind of seal wire auxiliary clamping device and its method for controlling seal wire | |
| CN207721862U (en) | A kind of robot for aspiration biopsy of prostatic gland | |
| CN103919570A (en) | CT-guided automatic percutaneous focus puncture apparatus | |
| CN212521854U (en) | Medical instrument | |
| CN111603244A (en) | Surgical robot | |
| CN212699107U (en) | Robot for vascular intervention operation | |
| CN111588471A (en) | Robot for vascular intervention operation | |
| CN111329559B (en) | Pneumothorax puncture guiding and positioning device for severe cases in department of respiration | |
| CN112244953A (en) | Robot hand for automatic puncture | |
| CN110448361A (en) | A kind of portable Color Sonography localised puncture device | |
| CN114587534A (en) | Auxiliary supporting device for puncture and ultrasonic probe matching use | |
| CN207979771U (en) | A kind of intervention operation robot is from end device and its operating platform | |
| CN112315513A (en) | Novel breast tumor puncture biopsy device | |
| CN211534702U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN107744616A (en) | A kind of catheter controller and its application method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200214 Termination date: 20201214 |