CN104114107B - 用于针对性干预措施的紧凑型针形操纵器 - Google Patents

用于针对性干预措施的紧凑型针形操纵器 Download PDF

Info

Publication number
CN104114107B
CN104114107B CN201380009220.4A CN201380009220A CN104114107B CN 104114107 B CN104114107 B CN 104114107B CN 201380009220 A CN201380009220 A CN 201380009220A CN 104114107 B CN104114107 B CN 104114107B
Authority
CN
China
Prior art keywords
shoulder
motor
joint
pitching
wrist
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.)
Active
Application number
CN201380009220.4A
Other languages
English (en)
Chinese (zh)
Other versions
CN104114107A (zh
Inventor
D·W·贝利
S·P·迪马奥
T·赵
L·N·维尔纳
A·E·洛
J·索尔热
B·M·斯凯纳
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Intuitive Surgical Operations Inc
Original Assignee
Intuitive Surgical Operations Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Intuitive Surgical Operations Inc filed Critical Intuitive Surgical Operations Inc
Publication of CN104114107A publication Critical patent/CN104114107A/zh
Application granted granted Critical
Publication of CN104114107B publication Critical patent/CN104114107B/zh
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J5/00—Manipulators mounted on wheels or on carriages
    • B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/04—Surgical instruments, devices or methods for suturing wounds; Holders or packages for needles or suture materials
    • A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
    • A61B17/062—Needle manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/10—Program-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/106—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links
    • B25J9/1065—Program-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00274—Prostate operation, e.g. prostatectomy, turp, bhp treatment
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3405—Needle locating or guiding means using mechanical guide means
    • A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
    • A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
    • A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
    • A61B18/14—Probes or electrodes therefor
    • A61B2018/1405—Electrodes having a specific shape
    • A61B2018/1425—Needle
    • 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
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2059—Mechanical position encoders
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3983—Reference marker arrangements for use with image guided surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
    • A61B2090/3987—Applicators for implanting markers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms
    • A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Robotics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Mechanical Engineering (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Manipulator (AREA)
CN201380009220.4A 2012-02-15 2013-02-15 用于针对性干预措施的紧凑型针形操纵器 Active CN104114107B (zh)

Applications Claiming Priority (5)

Application Number Priority Date Filing Date Title
US201261599339P 2012-02-15 2012-02-15
US61/599,339 2012-02-15
US13/767,856 US9314926B2 (en) 2012-02-15 2013-02-14 Compact needle manipulator for targeted interventions
US13/767,856 2013-02-14
PCT/US2013/026406 WO2013123372A1 (en) 2012-02-15 2013-02-15 Compact needle manipulator for targeted interventions

Publications (2)

Publication Number Publication Date
CN104114107A CN104114107A (zh) 2014-10-22
CN104114107B true CN104114107B (zh) 2016-11-09

Family

ID=48945677

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201380009220.4A Active CN104114107B (zh) 2012-02-15 2013-02-15 用于针对性干预措施的紧凑型针形操纵器

Country Status (6)

Country Link
US (1) US9314926B2 (https=)
EP (1) EP2814403B1 (https=)
JP (1) JP6203762B2 (https=)
KR (1) KR102114788B1 (https=)
CN (1) CN104114107B (https=)
WO (1) WO2013123372A1 (https=)

Families Citing this family (49)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11284869B2 (en) * 2011-09-16 2022-03-29 Hologic, Inc. Breast biopsy lateral arm system
ES2795416T3 (es) 2011-09-16 2020-11-23 Hologic Inc Sistema de brazo lateral para biopsia de mama
US12042134B2 (en) 2011-09-16 2024-07-23 Hologic, Inc. Breast biopsy lateral arm system
US9931167B2 (en) 2012-02-15 2018-04-03 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
DE102013220329B4 (de) * 2013-10-09 2026-02-19 Deutsches Zentrum für Luft- und Raumfahrt e.V. Repositionierbares Robotersystem
DE102014100206A1 (de) * 2014-01-09 2015-07-09 Dominik Niedenzu Sensoradapter, Sensorsystem und Messanordnung eines Infusionssystems
JP6548662B2 (ja) 2014-03-17 2019-07-24 インテュイティブ サージカル オペレーションズ， インコーポレイテッド 処置中再始動の間の器具制御入力位置／向きの回復
CN103919577A (zh) * 2014-04-13 2014-07-16 哈尔滨理工大学 悬臂式前列腺活检机器人
CN104440888A (zh) * 2014-12-23 2015-03-25 广西大学 一种六自由度可控机构式移动连杆机构
CN105616004B (zh) * 2015-12-09 2018-10-26 北京工业大学 一种放射性粒子介入治疗肿瘤的手术机器人系统及操作方法
GB201521811D0 (en) 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Drive assembly interface
US9808649B2 (en) * 2016-01-07 2017-11-07 Medical Tool & Technology, Llc Immobilization system to support an in vivo medical device
CN105832419A (zh) * 2016-05-06 2016-08-10 济南创泽生物医药科技有限公司 一种微操精准手术机器人
US10413373B2 (en) * 2016-08-16 2019-09-17 Ethicon, Llc Robotic visualization and collision avoidance
EP3579780B1 (en) * 2017-02-08 2024-07-17 Intuitive Surgical Operations, Inc. Repositioning system for a remotely controllable manipulator
CN107280764B (zh) * 2017-05-12 2020-11-06 上海交通大学 颅颌面整形外科手术机器人
US11904110B2 (en) * 2017-05-31 2024-02-20 Koninklijke Philips N.V. Transperineal stepper including a gearless linear movement
CN107775632B (zh) * 2017-09-07 2019-10-08 山东科技大学 一种前臂静脉穿刺机器人
AU2018330433A1 (en) * 2017-09-08 2020-03-19 Covidien Lp Energy disconnect for robotic surgical assemblies
JP7208237B2 (ja) 2017-12-08 2023-01-18 オーリス ヘルス インコーポレイテッド 医療手技を行うシステム及び医療機器
CN109129403B (zh) * 2018-07-27 2020-06-09 南京溧水高新创业投资管理有限公司 可预测性调整的液压轨道
AU2019326548B2 (en) * 2018-08-24 2023-11-23 Auris Health, Inc. Manually and robotically controllable medical instruments
KR102852843B1 (ko) 2018-09-28 2025-09-03 아우리스 헬스, 인코포레이티드 의료 기구를 도킹시키기 위한 시스템 및 방법
JP7536752B2 (ja) 2018-09-28 2024-08-20 オーリス ヘルス インコーポレイテッド 内視鏡支援経皮的医療処置のためのシステム及び方法
CN113226202B (zh) 2018-12-28 2024-12-03 奥瑞斯健康公司 用于机器人医疗系统的经皮护套和方法
KR102235895B1 (ko) * 2019-04-23 2021-04-05 주식회사 이지엔도서지컬 수술 로봇용 마스터 장치
CN110368040A (zh) * 2019-07-01 2019-10-25 中奕智创医疗科技有限公司 针刺微创机器人
KR20220050151A (ko) 2019-08-15 2022-04-22 아우리스 헬스, 인코포레이티드 다수의 굽힘 섹션을 갖는 의료 장치
KR20220123273A (ko) 2019-12-31 2022-09-06 아우리스 헬스, 인코포레이티드 해부학적 특징부 식별 및 표적설정
EP4084720A4 (en) 2019-12-31 2024-01-17 Auris Health, Inc. ALIGNMENT TECHNIQUES FOR PERCUTANEOUS ACCESS
CN114929148B (zh) 2019-12-31 2024-05-10 奥瑞斯健康公司 用于经皮进入的对准界面
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
US20210331310A1 (en) * 2020-04-28 2021-10-28 Ubtech Robotics Corp Ltd Neck mechanism for robot
US11877818B2 (en) * 2020-06-26 2024-01-23 Procept Biorobotics Corporation Integration of robotic arms with surgical probes
US11980426B2 (en) 2020-08-03 2024-05-14 Warsaw Orthopedic, Inc. System and method for preliminary registration
CN112494118B (zh) * 2020-12-04 2021-07-23 上海睿刀医疗科技有限公司 一种多针穿刺系统
JP7684108B2 (ja) * 2021-06-25 2025-05-27 ニデックインスツルメンツ株式会社 ロボットシステム及びその誤配線検出方法
US11839440B2 (en) 2021-07-30 2023-12-12 Corindus, Inc. Attachment for robotic medical system
JP2024543764A (ja) * 2021-11-30 2024-11-26 エンドクエスト ロボティクス インコーポレイテッド 患者コンソールの５つの自由度での位置決めシステム
CN114391966B (zh) * 2022-01-20 2023-09-29 天津大学 一种新型力反馈主手
KR102710040B1 (ko) * 2022-06-20 2024-09-25 재단법인 대구경북첨단의료산업진흥재단 생검 시술 로봇
CA3263359A1 (en) 2022-08-29 2024-03-07 Hologic, Inc. SYSTEMS AND METHODS FOR LATERAL BREAST TREATMENTS
CN116098710A (zh) * 2023-02-23 2023-05-12 之江实验室 俯仰机构及包括其的手术机器人
KR20260015183A (ko) * 2023-04-28 2026-02-02 프로맥소 인크. Mri-유도 시술에서의 로봇
EP4704753A1 (en) * 2023-04-28 2026-03-11 Promaxo, Inc. Mri-compatible biopsy robot
USD1107232S1 (en) 2023-08-29 2025-12-23 Hologic, Inc. Lateral adapter for biopsy system
USD1107233S1 (en) 2023-08-29 2025-12-23 Hologic, Inc. Biopsy system and controller
USD1107231S1 (en) 2023-08-29 2025-12-23 Hologic, Inc. Biopsy system and lateral adapter
CN118123863B (zh) * 2024-05-06 2024-07-02 派姆特科技(苏州)有限公司 基于激光扫描的关节臂测量装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6245028B1 (en) * 1999-11-24 2001-06-12 Marconi Medical Systems, Inc. Needle biopsy system
US20010013764A1 (en) * 1998-08-04 2001-08-16 Blumenkranz Steven J. Manipulator positioning linkage for robotic surgery
CN101242788A (zh) * 2005-09-30 2008-08-13 直观外科手术公司 外科手术附件夹具及系统
CN101703424A (zh) * 2003-05-23 2010-05-12 诺瓦尔外科系统公司 用于远程操纵外科手术或诊断工具的活动连接装置
CN102186396A (zh) * 2008-08-14 2011-09-14 M.S.T.医疗手术技术有限公司 N自由度腹腔镜操作系统

Family Cites Families (24)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE4202922A1 (de) * 1992-02-01 1993-08-05 Zeiss Carl Fa Motorisches stativ
US5737500A (en) * 1992-03-11 1998-04-07 California Institute Of Technology Mobile dexterous siren degree of freedom robot arm with real-time control system
JPH10505286A (ja) * 1995-06-20 1998-05-26 シン ング、ワン 医療処置のための関節アーム
US9050119B2 (en) * 2005-12-20 2015-06-09 Intuitive Surgical Operations, Inc. Cable tensioning in a robotic surgical system
US20060045672A1 (en) * 1997-07-22 2006-03-02 Maynard Michael D Rail carriage and rail carriage system
AU1525400A (en) * 1998-11-18 2000-06-05 Microdexterity Systems, Inc. Medical manipulator for use with an imaging device
WO2000030557A1 (en) * 1998-11-23 2000-06-02 Microdexterity Systems, Inc. Surgical manipulator
WO2001026865A1 (fr) * 1999-10-08 2001-04-19 Kabushiki Kaisha Yaskawa Denki Manipulateur articule horizontal
DE10030507C2 (de) * 2000-06-28 2003-04-24 Karlsruhe Forschzent Manipulator für interventionelle und operative Eingriffe unter CT/MRT-Kontrolle
US8123697B2 (en) * 2002-02-14 2012-02-28 Koninklijke Philips Electronics N.V. Method and apparatus for MR-guided biopsy
JP3792587B2 (ja) * 2002-03-13 2006-07-05 株式会社日立製作所 手術用マニピュレータ
CA2437286C (en) * 2002-08-13 2008-04-29 Garnette Roy Sutherland Microsurgical robot system
JP2007130485A (ja) * 2004-03-30 2007-05-31 Toshiba Corp マニピュレータ装置
US8160205B2 (en) * 2004-04-06 2012-04-17 Accuray Incorporated Robotic arm for patient positioning assembly
WO2007005976A1 (en) * 2005-07-01 2007-01-11 Hansen Medical, Inc. Robotic catheter system
WO2007106558A2 (en) * 2006-03-14 2007-09-20 The Johns Hopkins University Apparatus for insertion of a medical device within a body during a medical imaging process and devices and methods related thereto
US8409234B2 (en) * 2007-05-25 2013-04-02 Hansen Medical, Inc. Rotational apparatus system and method for a robotic instrument system
US20080314181A1 (en) * 2007-06-19 2008-12-25 Bruce Schena Robotic Manipulator with Remote Center of Motion and Compact Drive
US8280485B2 (en) * 2008-06-18 2012-10-02 Engineering Services Inc. Medical robot for use in a MRI
US8126114B2 (en) * 2008-09-12 2012-02-28 Accuray Incorporated Seven or more degrees of freedom robotic manipulator having at least one redundant joint
JP2010082189A (ja) * 2008-09-30 2010-04-15 Olympus Corp 手術マニピュレータシステムにおけるマニピュレータのキャリブレーション方法
US20100198052A1 (en) * 2009-01-28 2010-08-05 Kimble Jenkins Mri-compatible articulating arms and related systems and methods
CA2772679C (en) * 2009-09-09 2017-12-05 Andrew A. Goldenberg Manual instrumented medical tool system
US20130211422A1 (en) 2012-02-15 2013-08-15 Intuitive Surgical Operations, Inc. Compact rotary actuator with internal planetary

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010013764A1 (en) * 1998-08-04 2001-08-16 Blumenkranz Steven J. Manipulator positioning linkage for robotic surgery
US6245028B1 (en) * 1999-11-24 2001-06-12 Marconi Medical Systems, Inc. Needle biopsy system
CN101703424A (zh) * 2003-05-23 2010-05-12 诺瓦尔外科系统公司 用于远程操纵外科手术或诊断工具的活动连接装置
CN101242788A (zh) * 2005-09-30 2008-08-13 直观外科手术公司 外科手术附件夹具及系统
CN102186396A (zh) * 2008-08-14 2011-09-14 M.S.T.医疗手术技术有限公司 N自由度腹腔镜操作系统

Also Published As

Publication number Publication date
KR102114788B1 (ko) 2020-05-25
WO2013123372A1 (en) 2013-08-22
EP2814403A4 (en) 2015-10-21
US9314926B2 (en) 2016-04-19
CN104114107A (zh) 2014-10-22
EP2814403A1 (en) 2014-12-24
JP2015512666A (ja) 2015-04-30
US20130209208A1 (en) 2013-08-15
KR20140125398A (ko) 2014-10-28
JP6203762B2 (ja) 2017-09-27
EP2814403B1 (en) 2018-10-17

Similar Documents

Publication Publication Date Title
CN104114107B (zh) 用于针对性干预措施的紧凑型针形操纵器
US20240090881A1 (en) Apparatus and methods for mri-compatible haptic interface
US9554779B2 (en) Method and device for MRI-guided breast interventions
CN103200877B (zh) 用于医学图像扫描和图像引导定位的运动机器人遥控中心
JP6866382B2 (ja) 可搬型医用撮像システム
Cleary et al. Interventional robotic systems: Applications and technology state‐of‐the‐art
Nycz et al. Mechanical validation of an MRI compatible stereotactic neurosurgery robot in preparation for pre-clinical trials
JP4361797B2 (ja) インターベンショナル手法のためのロボットシステムを案内されたｃｔ画像における触覚フィードバック及び表示
JP2023533449A (ja) 患者処置において使用されるプローブの可動域を画定および修正するためのシステムおよび方法
JP2018110841A (ja) 外科用システムのための位置合わせをチェックするシステム及び方法
EP2561821A1 (en) Tool positioning system
WO2022060793A1 (en) Medical imaging device and methods
JP2019146959A (ja) ビームスキャニングコリメータを備えたポータブル医療用撮像システム
CN113180830B (zh) 绳驱动并联可重构手术导航定位机器人
Cole et al. Design of a robotic system for MRI-guided deep brain stimulation electrode placement
US12207976B2 (en) System for performing robot-assisted surgery
US11013402B2 (en) Forward-imaging optical coherence tomography probe
US20240081915A1 (en) Instrument presence and rotational offset sensing in flexible system
CN211534704U (zh) 介入穿刺系统及具有其的诊疗设备
Su et al. Active needle steering system for percutaneous prostate intervention in high-field MRI
US20220142592A1 (en) 3d laser-assisted positioning system

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant