CN109200486A - A kind of radioactive prospecting instrument operating robot - Google Patents
A kind of radioactive prospecting instrument operating robot Download PDFInfo
- Publication number
- CN109200486A CN109200486A CN201811155861.1A CN201811155861A CN109200486A CN 109200486 A CN109200486 A CN 109200486A CN 201811155861 A CN201811155861 A CN 201811155861A CN 109200486 A CN109200486 A CN 109200486A
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- China
- Prior art keywords
- radion
- puncture needle
- module
- robot
- promoting slider
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
-
- 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
- A61B17/3468—Trocars; Puncturing needles for implanting or removing devices, e.g. prostheses, implants, seeds, wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1014—Intracavitary radiation therapy
-
- 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
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/1009—Apparatus for loading seeds into magazines or needles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
- A61N2005/1012—Templates or grids for guiding the introduction of sources
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Radiology & Medical Imaging (AREA)
- Robotics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The invention belongs to the field of medical instrument technology, and in particular to a kind of radion implant surgery robot, including puncture needle propulsion die, radion pushing module and ultrasonic contrast module；The promoting slider is movably arranged on the propelling track, and the end of the puncture needle is fixed in the promoting slider, and the ultrasonic contrast module is arranged on the puncture needle, and radion pushing module is fixedly installed in the promoting slider.The present invention can be perceived and be fed back in the real-time force in puncture process, the robot of radioactive particle promotes by the way that force feedback sensor is arranged on puncture needle propulsion die；Meanwhile guide clip is arranged in the present invention on puncture needle, is fixed in guide clip by the angle of the adjustable piercing needle of guide clip, and by ultrasonic contrast module, and the puncture needle that ultrasound image guides in Inner irradiation may be implemented by ultrasonic contrast module and be accurately positioned.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of radioactive prospecting instrument operating robot.
Background technique
Malignant tumour is the public health problem for seriously threatening human survival quality and life, and only the U.S. has more than 170 every year
Ten thousand de novo malignancies, death toll is then 610,000 or so.The situation of China is even more serious, according to National Cancer Center datagram
It accuses, Cancer in China patient accounts for nearly the 40% of global cancer patient total amount, and there are about 10000 people to make a definite diagnosis malignant tumour daily, average
Just there are 7 people to suffer from per minute.Not in time due to the different big, diagnosis of cancer spectral difference, Cancer in China mortality is higher than global average water
It is flat.Radiotherapy and interventional therapy become the important means of such treating malignant tumor.Radiotherapy is known as and surgical intervention
One of the three big mainstays of modern treating malignant tumor arranged side by side with system chemotherapy, are widely used in primary malignant neoplasm and turn
The radical treatment or palliative therapy of tumor are moved, there are about the cancer patients of 50%-60% to be followed by illness by different type and journey
The radiotherapy of degree.
Internal radiotherapy is that it is thin to kill cancer using needle implantation radiation particle at CT or guide of magnetic resonant image
Born of the same parents are a kind of critical treatment means of malignant tumour.Internal radiotherapy with general surgery radical resection treat compared with complication compared with
It is few, it is small to patient trauma.And compare outer radiotherapy, Inner irradiation embody it is preferably local controlled, no matter for low danger patient
Internal radiotherapy is combined in the external exposure of single internal radiotherapy or middle high-risk patient, all shows more preferably therapeutic effect.Cause
This, internal radiotherapy plays irreplaceable role in treating malignant tumor.
Traditional internal radiotherapy uses the manual acupuncture manipulation based on puncture template, and that there are flexibilities is poor, precision is low etc.
Problem, and radioactive particle can also cause radiation damage to radiotherapy doctor.Robotic assisted surgery based on image-guidance
Not only positioning accuracy is high, strong flexibility, can also improve therapeutic efficiency, protection operator, is to make up traditional internal radiotherapy to lack
Sunken important channel.
Therefore, those skilled in the art is dedicated to developing a kind of seeds implanted with intraoperative ultrasound image guiding in real time
Robot.The puncture path of seeds implanted can be carried out accurate by CT image and intraoperative ultrasound image before registration fusion
Image guidance；By the robot forward operation of seeds implanted, operator is avoided to be endangered by particle radiation；Pass through propulsive mechanism
Real-time force detecting sensor and feedback technique improve telepresenc and the safety of puncture procedure.
Summary of the invention
In view of the above problems, the present invention is intended to provide a kind of radion implant surgery robot.
In order to solve the above technical problems, one technical scheme adopted by the invention is that: a kind of radion implantation hand is provided
Art robot, including puncture needle propulsion die, radion pushing module, further include ultrasonic contrast module；The puncture needle pushes away
Progressive die block includes propelling track, promoting slider and puncture needle, and the promoting slider is movably arranged on the propelling track, described
The end of puncture needle is fixed in the promoting slider, and the ultrasonic contrast module is arranged on the puncture needle, described
Radion pushing module is fixedly installed in promoting slider.
As an improvement further including force feedback module, there is force feedback sensor fixture, institute in the promoting slider
Force feedback sensor fixture is stated perpendicular to promoting slider, the force feedback module installation and the force feedback sensor fixture
On, the puncture needle is fixed in the force feedback module.
As a further improvement, the puncture needle propulsion die further includes screw rod, the screw rod be located at promote sliding rail it
On, and be arranged in parallel with sliding rail is promoted；One end of the screw rod is movably fixed on bracket, and the bracket is fixed on propulsion sliding rail
One end, the promoting slider is set on the screw rod, and the screw rod is connect by shaft coupling with first motor.
Further, radion pushing module fixing piece is additionally provided in the promoting slider, the radion pushes away
Send module fixing piece for fixing the radion pushing module.
Further, the radion pushing module include protecting crust and be arranged in protecting crust line handspike,
Second motor, driving wheel and driven wheel；The second motor vertical thrust sliding block is simultaneously fixed at radion pushing module
On fixing piece, the driving wheel is connect with second motor, and the driven wheel is close to the driving wheel, the line handspike
Between driving wheel and driven wheel.
As an improvement cartridge clip module fixing piece is additionally provided in the promoting slider, the cartridge clip module fixing piece
For fixing the cartridge clip module；The cartridge clip module is between line handspike and puncture needle, by line handspike by cartridge clip
Radion in module pushes in puncture needle.
It is improved as further, further includes syringe needle guide clip, the syringe needle guide clip is located on the puncture needle, institute
Ultrasonic contrast module is stated to be fixed in the syringe needle guide clip.
A kind of radion implant surgery of the invention robot is sensed by the way that force feedback is arranged on puncture needle propulsion die
Device can be perceived and be fed back in the real-time force in puncture process, the robot of radioactive particle promotes；Meanwhile the present invention is being worn
Guide clip is set on pricker, is fixed on guiding by the angle of the adjustable piercing needle of guide clip, and by ultrasonic contrast module
On folder, the puncture needle that ultrasound image guides in Inner irradiation may be implemented by ultrasonic contrast module and be accurately positioned.
Detailed description of the invention
Fig. 1 is a kind of radion implant surgery of the invention robot stereoscopic schematic diagram；
Fig. 2 is a kind of radion implant surgery robot puncturing needle propulsion die stereoscopic schematic diagram of the present invention；
Fig. 3 is a kind of radion implant surgery of the invention robot radion pushing module stereoscopic schematic diagram；
Fig. 4 is a kind of radion implant surgery of the invention robot radion pushing module big envelope stereoscopic schematic diagram.
Specific embodiment
A kind of radion implant surgery robot provided by the invention is illustrated below in conjunction with Fig. 1-4, may be implemented
Syringe needle is pierced into particle puncturing operation, particle is sent into, acquiring ultrasound image.
As shown in Figs 1-4, the present invention provides a kind of radion implant surgery robot, including puncture needle propulsion die
11, radion pushing module 22 further includes ultrasonic contrast module 7；The puncture needle propulsion die 11 includes propelling track
1109, promoting slider 1104 and puncture needle 6, the promoting slider 1104 is movably arranged on the propelling track 1109, described
The end of puncture needle 6 is fixed in the promoting slider 1104, and the ultrasonic contrast module 7 is arranged in the puncture needle 6
On, radion pushing module 22 is fixedly installed in the promoting slider 1104.Ultrasonic contrast module 7, for being obtained in art
The real-time ultrasound image for taking probe distal end human organ carries out realtime graphic guidance to the puncture of puncture needle 6.
As a preferred implementation manner, the invention also includes force feedback module 4, there is power in the promoting slider 1104
Feedback transducer fixing piece 1107, the force feedback sensor fixture 1107 is perpendicular to promoting slider 1104, the force feedback
For the installation of module 4 on the force feedback sensor fixture 1107, the puncture needle 6 is fixed at the force feedback module 4
On.Force feedback module incudes in real time and feeds back puncture dynamics in puncture process, judges convenient for performer, thus more smart
Quasi- assurance surgical procedure.
4 propulsion die of puncture needle of the present invention further includes screw rod 1103, the screw rod as a preferred implementation manner,
1103 are located on propulsion sliding rail 1109, and are arranged in parallel with sliding rail 1109 is promoted；One end activity of the screw rod 1103 is fixed
On bracket 1108, the bracket 1108 is fixed on the one end for promoting sliding rail 1109, and the promoting slider 1104 is set in described
On screw rod 1103, the screw rod 1103 is connect by shaft coupling 1102 with first motor 1101.First motor 1101 passes through shaft coupling
Device 1102 drives screw rod 1103 to rotate, and screw rod 1103 drives promoting slider 1104 to move in a straight line along propelling track 1109.
Radion pushing module is additionally provided in promoting slider 1104 of the present invention as a preferred implementation manner,
Fixing piece 1105, the radion pushing module fixing piece 1105 is for fixing the radion pushing module 22.
Radion pushing module of the present invention includes that protecting crust and setting are being protected as a preferred implementation manner,
Line handspike 2201, the second motor 2204, driving wheel 2202 and driven wheel 2203 in shell；Second motor 2204 vertically pushes away
It into sliding block 1104 and is fixed on radion pushing module fixing piece 1105, the driving wheel 2202 and second electricity
Machine 2204 connects, and the driven wheel 2203 is close to the driving wheel 2202, and the line handspike 2201 is located at driving wheel 2202
Between driven wheel 2203.Second motor 2204 driving driving wheel 2202 makes rotating motion, in driving wheel 2202 and driven wheel
Under 2203 circumferential frictional force, line handspike 2201 is moved in a straight line along the rolling tangential direction of driving wheel 2202.
Cartridge clip module fixing piece is additionally provided in promoting slider 1104 of the present invention as a preferred implementation manner,
1106, the cartridge clip module fixing piece 1106 is for fixing the cartridge clip module 3；The cartridge clip module 3 is located at line handspike
Between 2201 and puncture needle 6, the radion in cartridge clip module 3 is pushed in puncture needle 6 by line handspike 2201.
As a preferred implementation manner, the invention also includes syringe needle guide clip 5, the syringe needle guide clip 5 is located at described
On puncture needle 6, the ultrasonic contrast module 7 is fixed in the syringe needle guide clip 5.
Workflow: it is accurately fixed that the puncture needle that ultrasound image guides in Inner irradiation may be implemented by ultrasonic contrast module
Position, and the angle of piercing needle is adjusted by adjusting guide clip, for obtaining the real-time of probe distal end human organ in art
Ultrasonic image carries out realtime graphic guidance to the puncture of puncture needle；Shaft coupling is passed through by first motor according to real-time ultrasound image
It drives screw rod rotation, and then promoting slider is driven to travel forward, to make puncture needle head send to designated position, in puncture process
Middle force feedback module incudes in real time and feeds back puncture dynamics, judges convenient for performer；Work of the line handspike in the second motor
It under, is moved in a straight line according to the rotation of driving wheel and driven wheel, by the radion in cartridge clip module along syringe needle internal channel
Target position is pushed to, and repeatedly, until completing radion push；After the completion of radion push, by first motor
By shaft coupling drive screw rod reversely rotate, and then drive promoting slider move backward, syringe needle is extracted into destination organization, work into
Journey terminates.
A kind of radion implant surgery of the invention robot is sensed by the way that force feedback is arranged on puncture needle propulsion die
Device can be perceived and be fed back in the real-time force in puncture process, the robot of radioactive particle promotes；Meanwhile the present invention is being worn
Guide clip is set on pricker, is fixed on guiding by the angle of the adjustable piercing needle of guide clip, and by ultrasonic contrast module
On folder, the puncture needle that ultrasound image guides in Inner irradiation may be implemented by ultrasonic contrast module and be accurately positioned.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (7)
1. a kind of radion implant surgery robot, including puncture needle propulsion die, radion pushing module, feature exist
In further including ultrasonic contrast module；The puncture needle propulsion die includes propelling track, promoting slider and puncture needle, described to push away
It is movably arranged on the propelling track into sliding block, the end of the puncture needle is fixed in the promoting slider, described
Ultrasonic contrast module is arranged on the puncture needle, and radion pushing module is fixedly installed in the promoting slider.
2. radion implant surgery as described in claim 1 robot, which is characterized in that it further include force feedback module, institute
Stating has force feedback sensor fixture in promoting slider, the force feedback sensor fixture is described perpendicular to promoting slider
With on the force feedback sensor fixture, the puncture needle is fixed at the force feedback module for force feedback module installation
On.
3. radion implant surgery as claimed in claim 2 robot, which is characterized in that the puncture needle propulsion die is also
Including screw rod, the screw rod, which is located at, to be promoted on sliding rail, and is arranged in parallel with sliding rail is promoted；One end activity of the screw rod is fixed
On bracket, the bracket is fixed on the one end for promoting sliding rail, and the promoting slider is set on the screw rod, and the screw rod is logical
Shaft coupling is crossed to connect with first motor.
4. radion implant surgery as claimed in claim 3 robot, which is characterized in that also set up in the promoting slider
There is radion pushing module fixing piece, the radion pushing module fixing piece is for fixing the radion push mould
Block.
5. radion implant surgery as claimed in claim 4 robot, which is characterized in that the radion pushing module
Including protecting crust and the line handspike, the second motor, driving wheel and the driven wheel that are arranged in protecting crust；Second motor is vertical
Promoting slider is simultaneously fixed on radion pushing module fixing piece, and the driving wheel is connect with second motor, institute
It states driven wheel to be close to the driving wheel, the line handspike is between driving wheel and driven wheel.
6. radion implant surgery as claimed in claim 5 robot, which is characterized in that also set up in the promoting slider
There is cartridge clip module fixing piece, the cartridge clip module fixing piece is for fixing the cartridge clip module；The cartridge clip module is located at straight line
Between push rod and puncture needle, the radion in cartridge clip module is pushed in puncture needle by line handspike.
7. radion implant surgery as claimed in claim 6 robot, which is characterized in that further include syringe needle guide clip, institute
It states syringe needle guide clip to be located on the puncture needle, the ultrasonic contrast module is fixed in the syringe needle guide clip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155861.1A CN109200486A (en) | 2018-09-30 | 2018-09-30 | A kind of radioactive prospecting instrument operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811155861.1A CN109200486A (en) | 2018-09-30 | 2018-09-30 | A kind of radioactive prospecting instrument operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109200486A true CN109200486A (en) | 2019-01-15 |
Family
ID=64982465
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811155861.1A Pending CN109200486A (en) | 2018-09-30 | 2018-09-30 | A kind of radioactive prospecting instrument operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109200486A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109793573A (en) * | 2019-02-12 | 2019-05-24 | 北京理工大学 | Arm end device and the lung puncture robot for using the device |
| CN110141317A (en) * | 2019-05-21 | 2019-08-20 | 天津大学 | A kind of tumour radiotherapy seeds implanted treatment spininess automatic puncturing device |
| CN112274225A (en) * | 2020-05-11 | 2021-01-29 | 肩并肩智能技术(北京)有限公司 | A terminal puncture mechanism and puncture surgical robot for medical surgical robot |
| CN112494118A (en) * | 2020-12-04 | 2021-03-16 | 上海睿刀医疗科技有限公司 | Multi-needle puncture system |
| CN112569461A (en) * | 2020-11-26 | 2021-03-30 | 哈尔滨理工大学 | Pneumatic prostate particle implantation mechanism |
| CN112790837A (en) * | 2021-01-26 | 2021-05-14 | 姜伟 | Puncture device for anesthesia clinic |
| CN113116518A (en) * | 2021-03-09 | 2021-07-16 | 珠海横乐医学科技有限公司 | Force feedback sensing module group similar to interventional physician tactile perception |
| CN113331875A (en) * | 2021-05-28 | 2021-09-03 | 上海交通大学 | Prostate biopsy puncture robot based on ultrasound image guidance |
| CN113941082A (en) * | 2021-09-30 | 2022-01-18 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle support |
| CN114041880A (en) * | 2021-11-24 | 2022-02-15 | 电子科技大学 | Medical treatment surgical robot's end puncture executive device |
| CN114191091A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Supporting device and interventional operation robot with same |
| WO2023050342A1 (en) * | 2021-09-30 | 2023-04-06 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle stents |
| CN117426844A (en) * | 2023-11-07 | 2024-01-23 | 赛诺威盛医疗科技(扬州)有限公司 | Puncture needle feeding device and puncture robot |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109793573A (en) * | 2019-02-12 | 2019-05-24 | 北京理工大学 | Arm end device and the lung puncture robot for using the device |
| CN110141317A (en) * | 2019-05-21 | 2019-08-20 | 天津大学 | A kind of tumour radiotherapy seeds implanted treatment spininess automatic puncturing device |
| CN110141317B (en) * | 2019-05-21 | 2024-03-29 | 天津大学 | Multi-needle automatic puncture device for tumor radioactive particle implantation treatment |
| CN112274225A (en) * | 2020-05-11 | 2021-01-29 | 肩并肩智能技术(北京)有限公司 | A terminal puncture mechanism and puncture surgical robot for medical surgical robot |
| CN112569461A (en) * | 2020-11-26 | 2021-03-30 | 哈尔滨理工大学 | Pneumatic prostate particle implantation mechanism |
| WO2022116449A1 (en) * | 2020-12-04 | 2022-06-09 | 上海睿刀医疗科技有限公司 | Multi-needle puncture system |
| CN112494118B (en) * | 2020-12-04 | 2021-07-23 | 上海睿刀医疗科技有限公司 | Multi-needle puncture system |
| CN112494118A (en) * | 2020-12-04 | 2021-03-16 | 上海睿刀医疗科技有限公司 | Multi-needle puncture system |
| CN112790837A (en) * | 2021-01-26 | 2021-05-14 | 姜伟 | Puncture device for anesthesia clinic |
| CN113116518A (en) * | 2021-03-09 | 2021-07-16 | 珠海横乐医学科技有限公司 | Force feedback sensing module group similar to interventional physician tactile perception |
| CN113331875A (en) * | 2021-05-28 | 2021-09-03 | 上海交通大学 | Prostate biopsy puncture robot based on ultrasound image guidance |
| CN113331875B (en) * | 2021-05-28 | 2023-02-10 | 上海交通大学 | Prostate biopsy puncture robot based on ultrasound image guidance |
| CN113941082A (en) * | 2021-09-30 | 2022-01-18 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle support |
| WO2023050342A1 (en) * | 2021-09-30 | 2023-04-06 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle stents |
| CN113941082B (en) * | 2021-09-30 | 2023-11-14 | 中国科学院深圳先进技术研究院 | Robot system for releasing cavity particle support |
| CN114191091A (en) * | 2021-11-09 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Supporting device and interventional operation robot with same |
| CN114041880B (en) * | 2021-11-24 | 2023-06-16 | 电子科技大学 | End puncture execution device of medical surgical robot |
| CN114041880A (en) * | 2021-11-24 | 2022-02-15 | 电子科技大学 | Medical treatment surgical robot's end puncture executive device |
| CN117426844A (en) * | 2023-11-07 | 2024-01-23 | 赛诺威盛医疗科技(扬州)有限公司 | Puncture needle feeding device and puncture robot |
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Application publication date: 20190115 |