CN109260586A - A kind of radioactive prospecting instrument operating robot - Google Patents
A kind of radioactive prospecting instrument operating robot Download PDFInfo
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- CN109260586A CN109260586A CN201810813514.7A CN201810813514A CN109260586A CN 109260586 A CN109260586 A CN 109260586A CN 201810813514 A CN201810813514 A CN 201810813514A CN 109260586 A CN109260586 A CN 109260586A
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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
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Radiology & Medical Imaging (AREA)
- Life Sciences & Earth Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The invention belongs to operating robot technical fields, provide a kind of radioactive prospecting instrument operating robot, comprising: puncture needle, real-time imaging link block, cartridge clip module, syringe needle push module, particle pushing module；Syringe needle push module includes the sliding block for driving cartridge clip module, particle pushing module and puncture needle, and sliding block is connected with the driving part for driving sliding block.Radioactive prospecting instrument operating robot further includes the force feedback module of suffered axial force when puncturing pin puncture for acquiring.A kind of radioactive prospecting instrument operating robot provided by the present invention; it can carry out forward operation to radioactive particle based on image-guidance; so as to realize that the puncture needle that ultrasound image guides in Inner irradiation is accurately positioned, the real-time force in puncture process perceives and the robot of feedback, radioactive particle promotes; operator is avoided to be endangered by particle radiation; not only positioning accuracy is high, strong flexibility; therapeutic efficiency, protection operator can also be improved, reliability and safety are good.
Description
Technical field
The invention belongs to operating robot technical fields more particularly to a kind of realtime graphic with force feedback to guide particle
Implant surgery 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, and reliability and safety be not good enough.
Summary of the invention
It is an object of the invention to overcome above-mentioned the deficiencies in the prior art, a kind of radioactive prospecting instrument surgical machine is provided
People, not only positioning accuracy is high, strong flexibility, can also improve therapeutic efficiency, protection operator, reliability and safety are good.
The invention is realized in this way a kind of radioactive prospecting instrument operating robot, comprising:
Puncture needle has particle push channel；
Real-time imaging link block, for connecting the image acquiring module for obtaining tissue real-time imaging；
Cartridge clip module, for accommodating particle；
Syringe needle push module, for pushing puncture needle；
Particle pushing module, for pushing the particle in cartridge clip module along the particle push channel of puncture needle；
The syringe needle push module includes the sliding block for driving the cartridge clip module, particle pushing module and puncture needle,
The sliding block is connected with the driving part for driving the sliding block；
The puncture needle is connected with the cartridge clip module, the real-time imaging link block be connected to the puncture needle or
It is set to the side of the puncture needle.
Specifically, the radioactive prospecting instrument operating robot further includes suffered axial direction when puncturing pin puncture for acquiring
The force feedback module of power.
Optionally, the force feedback module is fixed on the sliding block, and the puncture needle passes through in or be connected to the power
Feedback module.
Optionally, the driving part includes bracket, motor, lead screw, and the lead screw is rotationally connected with the bracket, described
Motor is connect with the lead screw；The bracket is fixedly connected with or integrally formed with linear guide, and the sliding block is slidably connected to
The linear guide, and the threads of lead screw is arranged in the sliding block.
Optionally, it is solid to be fixed with particle pushing module fixing piece, cartridge clip module fixing piece, force feedback sensor for the sliding block
Determine part, the particle pushing module fixing piece, cartridge clip module fixing piece, force feedback module fixing piece are along the sliding block forward slip
Direction set gradually；The particle pushing module is fixed on the particle pushing module fixing piece, and the cartridge clip module is fixed
In the cartridge clip module fixing piece, the force feedback module is fixed on the force feedback module fixing piece.
Optionally, the particle pushing module includes that at least front end protrudes into line handspike in the puncture needle and for driving
Move the driving assembly of the line handspike.
Optionally, the driving component includes driving motor, driving wheel and driven wheel, and the driving wheel and driven wheel rotate
The line handspike two sides are set to, and the line handspike is in contact with the driving wheel and driven wheel, the driving wheel connects
It is connected to the driving motor.
Optionally, the particle pushing module further includes push rod big envelope, the line handspike, the driving wheel and driven wheel
It is all set in the push rod big envelope.
Optionally, the real-time imaging link block is connected with ultrasonic probe.
Optionally, the real-time imaging link block includes pressing from both sides, using for clamping the ultrasonic handpiece of the ultrasonic probe
Relative angle is pressed from both sides in the syringe needle guide clip of the clamping puncture needle, for adjusting the syringe needle guide clip and the ultrasonic handpiece
The position identification point of guide clip angle adjustment sheet, for identification real-time imaging link block position, wherein the syringe needle is led
Xiang Jia, guide clip angle adjustment sheet, which cover, to be encapsulated in ultrasonic handpiece folder, and the position identification point and ultrasonic handpiece are clamping due to super
On the outside of sonic probe, the syringe needle guide clip is connected to the puncture needle.
A kind of radioactive prospecting instrument operating robot provided by the present invention, can be based on image-guidance to radioactivity grain
Son carries out forward operation, so as to realize that the puncture needle that ultrasound image guides in Inner irradiation is accurately positioned, in puncture process
The robot of real-time force perception and feedback, radioactive particle promotes, and avoids operator from being endangered by particle radiation, not only positioning accuracy
High, strong flexibility can also improve therapeutic efficiency, protection operator, and reliability and safety are good.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, letter will be made to attached drawing needed in the embodiment below
Singly introduce, it should be apparent that, drawings in the following description are only some embodiments of the invention, skill common for this field
For art personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of stereoscopic schematic diagram of radioactive prospecting instrument operating robot provided in an embodiment of the present invention；
Fig. 2 is the vertical of syringe needle push module in a kind of radioactive prospecting instrument operating robot provided in an embodiment of the present invention
Body schematic diagram；
Fig. 3 is the vertical of syringe needle push module in a kind of radioactive prospecting instrument operating robot provided in an embodiment of the present invention
Body schematic diagram；
Fig. 4 is the vertical of particle pushing module in a kind of radioactive prospecting instrument operating robot provided in an embodiment of the present invention
Body schematic diagram；
Fig. 5 is that a kind of the be hit by a bullet solid of clip module of radioactive prospecting instrument operating robot provided in an embodiment of the present invention is shown
It is intended to；
Fig. 6 is the solid of ultrasonic probe in a kind of radioactive prospecting instrument operating robot provided in an embodiment of the present invention
Schematic diagram；
Fig. 7 is the solid of ultrasonic probe in a kind of radioactive prospecting instrument operating robot provided in an embodiment of the present invention
Schematic diagram.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that it can be directly another when element is referred to as " being fixed on " or " being set to " another element
On one element or it may be simultaneously present centering elements.When an element is known as " being connected to " another element, it can
To be directly to another element or may be simultaneously present centering elements.
It is only relative concept each other it should also be noted that, the positional terms such as left and right, upper and lower in the embodiment of the present invention
It or is to refer to, and should not be regarded as restrictive with the normal operating condition of product.
As shown in Figures 1 to 7, a kind of radioactive prospecting instrument operating robot provided in an embodiment of the present invention, comprising: wear
Pricker 6, real-time imaging link block 5, cartridge clip module 3, syringe needle push module 11 and particle pushing module 22.Wherein:
Puncture needle 6, inside have particle push channel, i.e., puncture needle 6 is in hollow form, and the particle push of puncture needle 6 is logical
Road can be connected to cartridge clip module 3.In concrete application, the rear end of puncture needle 6 can be connect with cartridge clip module 3, in cartridge clip module 3
Radioactive particle can enter particle push channel.Puncture needle 6 can be punctured to tissue, the radioactivity in cartridge clip module 3
Particle can push to target position by particle pushing module 22 from the particle push channel of puncture needle 6.
Real-time imaging link block 5, for connecting the image acquiring module for obtaining tissue real-time imaging, image capturing
Module 7 can be the imaging device of the available tissue images such as ultrasonic probe；Real-time imaging link block 5 can be connected with
Image acquiring module, real-time imaging link block 5 can be located at puncture needle 6 or be set to the side of puncture needle 6, concrete application
In, real-time imaging link block 5, image acquiring module 7 can be arranged close to the front end of puncture needle 6, and realization is led based on image
The precise positioning of boat, operation.
Syringe needle push module 11 punctures puncture needle 6 to target body tissue for pushing puncture needle 6.
Particle pushing module 22, for pushing to the particle in cartridge clip module 3 along the particle push channel of puncture needle 6
Target position, particle pushing module 22 may connect to cartridge clip module 3 and puncture needle 6.
Specifically, syringe needle push module 11 includes for driving cartridge clip module 3, particle pushing module 22 and puncture needle 6
Sliding block 1104, sliding block 1104 are connected with the driving part for driving sliding block 1104；Under the driving of sliding block 1104, cartridge clip module
3, particle pushing module 22 and puncture needle 6 can be with synchronous slides, when the front end of puncture needle 6 is penetrated to tissue target position
When, particle push channel of the particle pushing module 22 by the radioactive particle in cartridge clip module 3 along puncture needle 6 pushes to puncture needle
The tissue target position of 6 front end.Above-mentioned radioactive prospecting instrument operating robot can be radiated based on image-guidance
Property seeds implanted, avoid operator from being endangered by particle radiation, not only positioning accuracy is high, strong flexibility, can also improve treatment effect
Rate, protection operator, reliability and safety are good.
Specifically, the driving part of syringe needle push module 11 includes bracket 1108, motor 1101, lead screw (also referred to as screw rod)
1103, lead screw 1103 is rotationally connected with bracket 1108, and motor 1101 is by shaft coupling 1102 or retarder or directly and lead screw
1103 connections；Bracket 1108 is fixedly connected with or integrally formed with linear guide 1109, and sliding block 1104 is slidably connected to straight line and leads
Rail 1109, and lead screw 1103 and linear guide 1109 are arranged in parallel and screw thread is arranged in sliding block 1104.Motor 1101 can drive
Lead screw 1103 rotates, and lead screw 1103 is slided with movable slider 1104 along linear guide 1109, and kinematic accuracy is high.Lead screw 1103 can be
Ball-screw 1103.It will of course be understood that ground, driving part can also use other straight line driving mechanisms, such as lead screw transmission
Mechanism, linear motor, gear and rack teeth mechanism etc..
Specifically, the bracket 1108 in syringe needle push module 11 may include bottom plate and the end face for being fixedly connected on bottom plate both ends
Plate, the both ends of the lead screw 1103 can be connected to the end plates at bottom plate both ends by ball bearing rotational.Linear guide 1109
It can be set on bottom plate.The basal sliding of sliding block 1104 is connected to linear guide 1109.Linear guide 1109 can be held from below
It holds in the palm in sliding block 1104, sliding block 1104 runs more stable, and lead screw 1103 will not deform, and reliability is more preferably.In concrete application, straight line is led
The section of rail 1109 can in T shape, swallow-tail form etc..The bottom of sliding block 1104 can be correspondingly provided with T-slot, dovetail groove etc.,
Certainly, in concrete application, bracket 1108, linear guide 1109, sliding block 1104 can also be using other suitable structures etc..
Specifically, particle pushing module 22 includes that at least front end protrudes into line handspike 2201 in puncture needle 6 and for driving
The driving assembly of dynamic line handspike 2201, line handspike 2201 can be coaxially disposed with puncture needle 6.In the present embodiment, line handspike
2201 front end passes through cartridge clip module 3 and protrudes into the particle push channel of puncture needle 6 from rear end.Driving assembly can drive straight line
Push rod 2201 slides back and forth along particle push channel.Syringe needle push module 11 drives puncture needle 6, and puncture needle 6 is sent to specific bit
It sets；Particle pushing module 22 pushes line handspike 2201, and by the particle in cartridge clip module 3, along syringe needle internal channel, (particle is pushed
Channel) it pushes to forward behind target position to rear reset, and repeatedly, until completing particle push；Syringe needle push module 11
1104 counter motion of sliding block, puncture needle 6 is extracted into destination organization, the progress of work terminates.
Specifically, the driving assembly of particle pushing module 22 includes driving motor 2204, driving wheel 2202 and driven wheel
2203, driving motor 2204 can be fixedly connected on sliding block 1104 (22 fixing piece of particle pushing module).Driving wheel 2202 and from
Driving wheel 2203 is rotatably dispose in 2201 two sides of line handspike, and line handspike 2201 connects with driving wheel 2202 and driven wheel 2203
Touching, line handspike 2201 is located between driving wheel 2202 and driven wheel 2203, and line handspike 2201 along driving wheel 2202, from
The tangent line of driving wheel 2203 is arranged.Driving wheel 2202 is connected to driving motor 2204.When driving wheel 2202 and driven wheel 2203 rotate,
Driving motor 2204 drives driving wheel 2202 to make rotating motion, under the circumferential frictional force of driving wheel 2202 and driven wheel 2203,
Line handspike 2201 is moved in a straight line along the rolling tangential direction of driving wheel 2202.It will of course be understood that ground, driving assembly
It can be using other straight line driving mechanisms, such as lead-screw drive mechanism, linear motor, gear and rack teeth mechanism etc..
Specifically, radioactive prospecting instrument operating robot further includes for acquiring suffered axial force when puncture needle 6 punctures
Force feedback module 4, force feedback module 4 may connect to sliding block 1104, force feedback module 4, cartridge clip module 3, particle pushing module
22 and puncture needle 6 can be with synchronous slide.Force feedback module 4 includes force feedback sensor, by acquiring axial direction during the work time
Then mechanical information is passed along main hand operating side by mapping model, in concrete application, if puncture needle 6 to realize that power perceives
By axial force beyond preset range or when increasing suddenly, it can be prompted by modes such as sound, image, light, text, vibrations
Operator, to realize force feedback.Operator passes through obtained force feedback information, adjusts between puncture needle 6 and histoorgan in real time
Active force, avoid occurring the excessive phenomenon of active force in implementation process, thus to reach preferable implementation result, i.e., by pushing away
Into the real-time force detecting sensor and feedback technique of mechanism (syringe needle push module 11), the telepresenc and safety of puncture procedure are improved
Property.
Specifically, force feedback module 4 is fixed on sliding block 1104, and puncture needle 6 passes through in or be connected to force feedback module 4.
Specifically, sliding block 1104 is respectively fixed with particle pushing module fixing piece 1105, cartridge clip module fixing piece 1106, power
Feedback transducer fixing piece 1107, particle pushing module fixing piece 1105, cartridge clip module fixing piece 1106, force feedback sensor are solid
Determine part 1107 to be independently arranged, in order to install, safeguard, debug.It is solid that particle pushing module 22 is fixed on particle pushing module
Determine part 1105, cartridge clip module 3 is fixed on cartridge clip module fixing piece 1106, and it is fixed that force feedback module 4 is fixed on force feedback module 4
Part.Specifically, particle pushing module fixing piece 1105, cartridge clip module fixing piece 1106,4 fixing piece of force feedback module can be along sliding blocks
The direction of 1104 forward slips is set gradually；Particle pushing module 22, cartridge clip module 3 and force feedback module 4 can also be accordingly along cunnings
The direction of 1104 forward slip of block is set gradually.Wherein, locating slot, bullet has can be set in the upper end of cartridge clip module fixing piece 1106
The lower end of clip module 3 can insert in the locating slot.
Certainly, as an alternative, particle pushing module fixing piece 1105, cartridge clip module fixing piece 1106, force feedback pass
Sensor fixing piece 1107 can also use integral structure, i.e., be fixedly connected with or be wholely set the peace of monoblock type on sliding block 1104
Loading board.Or multiple groups is set directly on sliding block 1104, hole location, particle pushing module 22, cartridge clip module 3 and force feedback mould are installed
Block 4 can be directly connected in corresponding installation hole location respectively.
Specifically, particle pushing module 22 further includes push rod big envelope 2205, line handspike 2201, driving wheel 2202 and driven
Wheel 2203 is all set in push rod big envelope 2205, of good reliability.
Specifically, real-time imaging link block 5 is connected with ultrasonic probe (i.e. image acquiring module 7), and certainly, image obtains
Modulus block 7 or other kinds of imaging device.
Specifically, real-time imaging link block 5 includes for the ultrasonic handpiece folder 701 of clamping ultrasonic probe, for pressing from both sides
The syringe needle guide clip 702 of tight puncture needle 6 presss from both sides the guide clip of 701 relative angles for adjusting syringe needle guide clip 702 and ultrasonic handpiece
The position identification point 704 of angle adjustment sheet 703, for identification 5 position of real-time imaging link block, position identification point 704 can be by
Four bead compositions.Four beads can be connected to guide clip angle adjustment sheet 703 by connecting shaft respectively.Wherein syringe needle is oriented to
Folder 702, guide clip angle adjustment sheet 703, which cover, to be encapsulated in ultrasonic handpiece folder 701, position identification point 704 and ultrasonic handpiece folder 701
It is fixed on the outside of ultrasonic probe, syringe needle guide clip 702 is connected to puncture needle 6, in order to the operation of operator.
A kind of radioactive prospecting instrument operating robot provided by the embodiment of the present invention, in concrete application, operator will
Syringe needle (puncture needle 6) is mounted on syringe needle socket；Guide clip passes through syringe needle, and adjusts the angle；Ultrasonic peripheral hardware is clamped in syringe needle
In guide clip 702；The driving wheel 2202 of particle pushing module 22 is inserted on the axis of its driving motor 2204, is integrally attached to outer
On shell bracket 1108；So far whole installment works terminate, and mechanism can start operation.The above-mentioned radioactive particle of operator's real-time control
Implant surgery robot works, and realizes advance and rotation, push of particle etc..When operation starts, above-mentioned radioactive particle
The ultrasonic peripheral hardware and CT alignment by union of implant surgery robot, and body surface projection is carried out by NDI, so that it is determined that target position；It is fixed
After position, syringe needle push module 11 makes puncture needle 6 be fed to target position；Then, particle pushing module 22 works, by cartridge clip
Particle in module 3 pushes to forward behind target position along syringe needle internal channel (particle push channel) to rear reset, and so
Repeatedly, until completing particle push；Puncture needle 6 is extracted destination organization, work by the sliding counter motion of syringe needle push module 11
Process terminates.
A kind of radioactive prospecting instrument operating robot provided by the embodiment of the present invention, can be based on image-guidance to putting
Penetrating property particle carries out forward operation, and operator is avoided to be endangered by particle radiation, and not only positioning accuracy is high, strong flexibility, can be with
Therapeutic efficiency, protection operator are improved, reliability and safety are good.And by setting force feedback module 4, it can be achieved that puncture needle 6
Real-time force perception and feedback, so that telepresenc and the safety of puncture procedure can be improved.
The above is merely preferred embodiments of the present invention, be not intended to limit the invention, it is all in spirit of the invention and
Made any modification, equivalent replacement or improvement etc., should all be included in the protection scope of the present invention within principle.
Claims (10)
1. a kind of radioactive prospecting instrument operating robot characterized by comprising
Puncture needle has particle push channel；
Real-time imaging link block, for connecting the image acquiring module for obtaining tissue real-time imaging；
Cartridge clip module, for accommodating particle；
Syringe needle push module, for pushing puncture needle；
Particle pushing module, for pushing the particle in cartridge clip module along the particle push channel of puncture needle；
The syringe needle push module includes the sliding block for driving the cartridge clip module, particle pushing module and puncture needle, described
Sliding block is connected with the driving part for driving the sliding block；
The puncture needle is connected with the cartridge clip module, and the real-time imaging link block is connected to the puncture needle or setting
In the side of the puncture needle.
2. a kind of radioactive prospecting instrument operating robot according to claim 1, which is characterized in that the radioactivity grain
Sub- implant surgery robot further includes the force feedback module of suffered axial force when puncturing pin puncture for acquiring.
3. a kind of radioactive prospecting instrument operating robot according to claim 2, which is characterized in that the force feedback mould
Block is fixed on the sliding block, and the puncture needle passes through in or be connected to the force feedback module.
4. a kind of radioactive prospecting instrument operating robot according to claim 1, which is characterized in that the driving part
Including bracket, motor, lead screw, the lead screw is rotationally connected with the bracket, and the motor is connect with the lead screw；The bracket
It is fixedly connected with or integrally formed with linear guide, the sliding block is slidably connected to the linear guide, and the threads of lead screw
It is arranged in the sliding block.
5. a kind of radioactive prospecting instrument operating robot according to claim 2, which is characterized in that the sliding block is fixed
There are particle pushing module fixing piece, cartridge clip module fixing piece, force feedback sensor fixture, the particle pushing module is fixed
Part, cartridge clip module fixing piece, force feedback module fixing piece are set gradually along the direction of the sliding block forward slip；The particle pushes away
Module is sent to be fixed on the particle pushing module fixing piece, the cartridge clip module is fixed on the cartridge clip module fixing piece, described
Force feedback module is fixed on the force feedback module fixing piece.
6. a kind of radioactive prospecting instrument operating robot according to any one of claim 1 to 5, which is characterized in that
The particle pushing module includes at least line handspike that protrudes into the puncture needle of front end and for driving the line handspike
Driving assembly.
7. a kind of radioactive prospecting instrument operating robot according to claim 6, which is characterized in that the driving component
Including driving motor, driving wheel and driven wheel, the driving wheel and driven wheel are rotatably dispose in the line handspike two sides, and institute
It states line handspike to be in contact with the driving wheel and driven wheel, the driving wheel is connected to the driving motor.
8. a kind of radioactive prospecting instrument operating robot according to any one of claim 1 to 5, which is characterized in that
The particle pushing module further includes push rod big envelope, and the line handspike, the driving wheel and driven wheel are all set in described push away
In bar big envelope.
9. a kind of radioactive prospecting instrument operating robot according to any one of claim 1 to 5, which is characterized in that
The real-time imaging link block is connected with ultrasonic probe.
10. a kind of radioactive prospecting instrument operating robot according to claim 9, which is characterized in that the real-time shadow
As link block includes the syringe needle guiding pressed from both sides for clamping the ultrasonic handpiece of the ultrasonic probe, for clamping the puncture needle
Folder, the guide clip angle adjustment sheet, for identification for adjusting the syringe needle guide clip and ultrasonic handpiece folder relative angle
The position identification point of real-time imaging link block position, wherein the syringe needle guide clip, guide clip angle adjustment sheet cover
It is encapsulated in ultrasonic handpiece folder, the position identification point and ultrasonic handpiece are clamping on the outside of ultrasonic probe, the syringe needle guiding
Folder is connected to the puncture needle.
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| CN201810813514.7A CN109260586A (en) | 2018-07-23 | 2018-07-23 | A kind of radioactive prospecting instrument operating robot |
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| CN201810813514.7A CN109260586A (en) | 2018-07-23 | 2018-07-23 | A kind of radioactive prospecting instrument operating robot |
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| 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 |
| WO2023165578A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Radioactive source implantation device facilitating disinfection and isolation |
| WO2023165303A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Friction-actuated particle or particle chain implantation device |
| WO2023165542A1 (en) * | 2022-03-03 | 2023-09-07 | 杭州大士科技有限公司 | Flexible radioactive source implantation system and method for using same |
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