CN104188693A - Portable circumferential friction spiral cutting biopsy and operation device controlled by microcomputer - Google Patents
Portable circumferential friction spiral cutting biopsy and operation device controlled by microcomputer Download PDFInfo
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- CN104188693A CN104188693A CN201410319672.9A CN201410319672A CN104188693A CN 104188693 A CN104188693 A CN 104188693A CN 201410319672 A CN201410319672 A CN 201410319672A CN 104188693 A CN104188693 A CN 104188693A
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Abstract
A portable circumferential friction spiral cutting biopsy and operation device controlled by a microcomputer is mainly characterized in that the device comprises a combined needle sleeve part and a microcomputer control combination assembly. A knife head of operation equipment is provided with a guide needle, and the guide needle searches for tumors under guide of B-ultrasound so that the tumors can be fixed. The knife head is provided with a knife edge capable of cutting transversely and capable of cutting tumor tissue open. The tumors are sucked into a cutting groove under the action of vacuum, the microcomputer controls two step motors to drive an inner sleeve and a middle sleeve to rotate, the circumference of the head portion of the inner sleeve is provided with a sharp knife edge which can cut the tumor tissue when rotating, the middle sleeve rotates to control the direction and the angle of the cutting groove, and the size of a cut can be controlled by rotating an outer sleeve. Doctors can set a cutting start angle and a finish angle through a button, the microcomputer automatically finishes rotating and cutting according to setting, specimen cutting or tumor cutting is finished once, and no dead angle exits. The device can not be matched by existing manual control operations.
Description
Technical field
The present invention relates to the minimally invasive medical procedures apparatus by microprocessor control, be specially adapted to biopsy or the circumferential automatic Wicresoft tumor soft tissue resection operation of tumor soft tissue in human body.
Background technology
The problem that prior art exists:
When Mai Motong peeling knife carries out breast tumor biopsy or operation, peeling knife is to perform the operation under the guiding of B ultrasonic by doctor is free-hand, if slightly large (> 10mm) just must repeated multiple times free-hand rotary cutting angle of the v-groove tumor resection for tumor body.Doctor is in repeated multiple times operating process, and the often movement of uncontrollable tumor body, therefore needs repeatedly to search, locate, and every partial application is all very big on the accuracy impact of remainder excision; Also because hand operation is difficult to accurately control cut direction and angle, be difficult to obtain the whole incisxal edges of lump, may cause Partial tumors residual.For tumor body is large, form is irregular, peplos is not obvious or the lump of multiple fusions, after cutting, the change of local hemorrhage and structure all can affect ultrasonic judgement several times, is difficult to accurately complete resection tumor.Prior art is owing to using hand operation, and in repeated multiple times cutting process, because tumor cognition is moved, hand operation is to quite difficulty of the control of excision completely, and the damage of repeated multiple times cutting process normal tissue is larger.
Summary of the invention
The present invention seeks to the shortcoming in order to overcome above-mentioned background technology, solve due to doctor apprentice hand-guided shortcoming.Be provided with guide needle at the tool bit part of operating theater instruments in the present invention, guide needle can be searched eaily tumor body and be made it fixing under the guiding of B ultrasonic.Tool bit part is also provided with the sharp edge of a knife of crosscut, makes the edge of a knife under the guiding of guide needle, cut tumor soma and enter tumor body, is then rotated by two step motor drive inner sleeves of computer control and middle cover.Inner sleeve rotates to be cutting tumor soma, middle cover Spin Control grooving direction and angle, and mobile overcoat can be controlled size incision.Without controlling grooving direction by free-hand direction of rotation, and can not stay dead angle at circumferencial direction, this is that manually control is incomparable.In cutting process, only need to keep handle motionless, microcomputer just can use according to doctor cutting start angle and the cutting of termination point auto-steering of button settings, disposablely completes specimen cutting, or whole tumor body, not residual tumor body.
In order to realize foregoing invention object, the invention provides the circumferential friction screw of a kind of portable microcomputer control and cut biopsy and operation device, be primarily characterized in that, described device comprises combination needle guard parts and microcomputer control combination parts, syringe needle, needle guard combiner are disposable product, and microcomputer control combination parts can Reusability.
Combination needle guard parts comprise:
1. guiding syringe needle, crosscut blade and blade bearing: the head of this guiding syringe needle is equipped with guide needle, and guide needle and crosscut blade are arranged on blade bearing, and whole cutter head is arranged on one end of middle trocar tube.The effect of guide needle is: doctor can cut with comparalive ease epidermis under B ultrasonic guiding, thrust tumor body, be conducive to search and the best surgery location of fixing tumor body, reduce in the damage of searching tumor body process normal tissue, can prevent that the movement of tumor body in operating process from causing the difficulty of subsequent procedures.
2. interior trocar tube: one end of needle tubing is ground to the sharp edge of a knife for cutting tumor soma, the other end is cut into certain angle for preset vacuum probe tube or vacuum sampling connection tube are installed.After the sampling of tumor sample body, under suction function, enter preset vacuum pipe.Driven pulley is equipped with in the middle rear end of inner sleeve, for the friction drive wheel matching of microcomputer control assembly.
3. trocar tube in: front end is equipped with guiding needle assembly, and open a sampling groove at front end.Driven gear is equipped with in rear end, and this gear and the matching of middle cover motor travelling gear, for controlling the opening direction of sampling groove.The handwheel of angle mark is equipped with at middle part, is used to indicate middle cover cutting process and state.
4. overcoat needle tubing: enter length in body for identifying needle tubing, control sampling groove opening length, facilitate indwelling tumor body cutting position mark.
5. preset vacuum probe tube: probe tube is preset vacuum state, organize cut after, tumor soma is inhaled in probe tube, extracts probe tube and can send biopsy by tissue, changing preset vacuum probe tube can repeated multiple timesly sample.
6. vacuum sampling connection tube: for connecting external vacuum pump and indwelling tumor soma sample, be applicable to repeatedly to cut tumor body compared with great Liu soma and use;
7. needle guard combiner shell: for Needle hub assembly is installed, this assembly is disposable product;
Microcomputer control combination parts:
1. transmission combination parts: inner sleeve actuated syringes motor, reductor and active friction drive wheel; Middle trocar tube drive stepping motor, reductor and travelling gear;
2. Control System of Microcomputer: microprocessor is for control step motor, and lithium battery is for Control System of Microcomputer power supply, and display is for human-computer interaction interface, and button is used for inputting biopsy or operation relevant parameters;
3. microcomputer control combination parts shell: for transmission combination parts and Control System of Microcomputer are installed
Needle guard combiner comprises:
Syringe needle part is by guide needle 1, crosscut blade 2, and blade bearing 3 forms, and syringe needle is arranged on the head of middle cover 4, and the position that is close to needle section in intermediate sleeve has tumor body sampling groove, and this sampling groove opening direction becomes 90 degree with axis.The handwheel 8 with angle mark is equipped with at the middle part of intermediate sleeve, and this handwheel can facilitate doctor to observe the implementation process in surface trimming process, rear end be equipped with driven gear 21 for cover drive motors decelerator on gear matching, the band disorder of internal organs change cut direction of upgrading professional title and rank by applying rules for other sectors.
The head of inner sleeve 5:
Inner sleeve 5 is equipped with in the middle part of middle cover, overcoat 6, and overcoat handwheel 7, middle cover handwheel 8, vacuum tube 12, needle guard combination shell 14, inner sleeve peeling knife driven pulley 17,
Microcomputer control combination parts comprise:
Implement body shell 9, action button 10, display 11, battery 13, Control System of Microcomputer plate 15, inner sleeve drive motors and reductor 16, active friction wheel 18, middle cover drive motors and reductor 19, driven wheel 20.
Principal character 1 of the present invention: the cutter head structure with guide needle: by guide needle 1, crosscut blade 2 and blade bearing 3 form, and guide needle 1 and crosscut blade 2 are arranged on blade base, whole cutter head puts in installing.The effect of guide needle is can cut with comparalive ease epidermis under B ultrasonic guiding, thrust tumor body, be conducive to search and the best surgery location of fixing tumor body, reduce in the damage of searching tumor body process normal tissue, can prevent that the movement of tumor body in operating process from causing the difficulty of subsequent procedures.
The head of inner sleeve 5 is ground to the sharp edge of a knife and sees Fig. 2; Inner sleeve rotary-cut driven pulley 17 is equipped with at the rear portion of inner sleeve; Afterbody is cut into certain angle, packs into from inner sleeve afterbody for preset vacuum probe tube 12.Inner sleeve 5 is arranged in middle cover 6, and the leading section of middle cover 6 has the sampling groove of a 10-60mm length, and the effect of sampling groove is that inner sleeve enters sampling groove in the effect Xia Shi of vacuum tumor soma while moving backward.When use, the front end edge of a knife of inner sleeve in middle cover foremost, seals with the blade bearing 3 of the head of middle cover.Inserting after tumor body soft tissue, the angle that the initial sum that can use 4 buttons 10 to set cutting ends, microcomputer rotates automatically controlling inner sleeve motor according to the angle of setting.The axis of active friction wheel 18 and driven pulley 17 axis have an angle, drive driven pulley 17 motion of spinning when the rotation of active friction wheel 18.Driven pulley and inner sleeve 5 are fixed together, and also just make the inner sleeve motion of spinning forward or backward.Move backward under the suction function of Shi Liu soma at vacuum tube in inner sleeve, the tissue of front end is inhaled in sampling groove, the distance microcomputer that inner sleeve 6 is moved backward can convert and obtain according to the step pitch of motor, and the size of step pitch has also determined the length of the tissue being inhaled into.Inner sleeve moves rearwards to after the distance of setting, microcomputer again control step motor makes the inner sleeve cutting movement of spinning forward, to tumor, soma cuts, all must in the situation that having negative pressure, carry out in whole process, the tissue being cut under the effect of negative pressure can enter in inner sleeve, under the effect that is organized in negative pressure of inner sleeve front end outside, can enter in inner sleeve again, move to cutter head position until inner sleeve is spinned forward.After inner sleeve is withstood cutter head, inner sleeve can only rotate, and this is that the tissue of cutting is thoroughly separated with in-vivo tissue.Receive inner sleeve at microcomputer stops operating after apical position.This just completes primary sample process.If carry out repeatedly cutting operation of circumferencial direction, microcomputer starts to carry out repeatedly cutting operation according to the initial angle setting, after each cutting, by overlapping in controlling, motor rotates microcomputer and rotate certain angle by driven wheel 20 with disorder of internal organs cover driven gear 21, carry out again cutting operation next time, until the end angle of setting.In whole operation process, after doctor only need search for the first time tumor body and guide needle is inserted in tumor body, and keep this apparatus motionless like this, operation will be completed by microcomputer surface trimming, avoid because hand operation causes cutting not exclusively.
In the sampling groove structure that puts: the front end of middle cover is equipped with guide needle 1, crosscut blade 2 and blade bearing 3, driven gear 21 is equipped with in rear end, the handwheel 8 with location recognition scale is equipped with in middle part, gear matching on the motor 19 of the middle cuff reductor on driven gear and main frame, by the step pitch of microcomputer-controlled step motor, the direction of overlapping the sampling groove of leading section in can controlling, to cut circumference respectively to tumor body.The long sampling groove of a 10-60mm is opened in cutter head and middle cover junction.Sampling groove adopts the different structure in rear and front end, and leading portion is vertical with middle cover axis, and rear end and axis are angled, and the sampling groove degree of depth is less than or equal to radius size.The advantage of this sampling groove structure is: when rear end is angled with axis, under suction function, tissue enters in groove and also presents same angle, is conducive to the inner sleeve edge of a knife and cuts.Front-end architecture can make the edge of a knife nearest apart from cutter head.Such structure can be carried out depth segmentation cutting to larger tumor body, and tumor body moved in fixing lower being difficult for of guide needle.Under microcomputer control, do after circumferencial direction cutting, then from depth direction segmentation cutting, can reach not residual tumor body.
The structure of overcoat 6: the handwheel 7 that a tape identification is equipped with at the rear portion of overcoat 6, on sleeve surface, be carved with the scale taking mm as unit, be used to indicate apparatus and enter the degree of depth in body.Overcoat has 3 effects: the 1st, and be used to indicate apparatus and enter the degree of depth in body; The 2nd, in operation process, need when sampling tissue and chemically examine, can overcoat to be detained in vivo removal equipment, to do not need again to search tumor body position while again performing the operation next time; The 3rd, for indwelling marker.
Sample collection preset vacuum pipe and vacuum tumor sample body indwelling tube:
Before gathering tissue samples, by the afterbody of preset vacuum pipe insertion apparatus inner sleeve, make generation negative pressure in inner sleeve.The reverse rotation of microcomputer control inner sleeve makes inner sleeve rotate towards handle orientations.Owing to there is negative pressure in inner sleeve, now tissue is sucked the movement along with inner sleeve in sampling groove by vacuum.When arriving after the sample length of setting, microcomputer control inner sleeve is done transport screw cutting movement, organizes cutting.
Control System of Microcomputer structured flowchart is as shown in Figure 3: control system is by display 11, operation push-button 10, embedded microprocessor panel 15, poly-lithium battery 13 formations such as grade.Control system block diagram is as shown in the figure: display and button are for the input and output of man-machine interaction, and doctor can use the relevant operating parameter of key-press input and operational order, and lithium battery and charging circuit provide power supply for control system.The parameter that microprocessor sets according to doctor, controls two motors and rotates, and rotates by gear and friction pulley.The rotation of intermediate sleeve is in order to change the direction of sampling groove, and friction pulley to rotate this be to drive inner sleeve to spin to retreat and forward travel, suck and cutting tumor soma to reach.
Beneficial effect of the present invention
The present invention contrasts prior art and has following innovative point:
1. adopt the needle assembly with guide needle, crosscut blade and tool-apron structure;
2. offer sampling groove in tool tip position nearby at the head of middle cover, sampling notch direction becomes 90 degree with needle tubing axis;
3. the use of overcoat needle tubing can be according to the length of tumorous size control sampling notch;
4. can adopt preset vacuum pipe and additional vacuum tube structure;
5. adopt friction screw drive method can make interior trocar tube spin to retreat suck tumor soma and forward cutting movement cut tumor soma; And can control the length of cutting tumor soma;
6. in, trocar tube can be done circumferencial direction 360 degree rotations under the driving of motor and gear train; Can make the tumor tissues of circumferencial direction excise completely;
7. adopt the Control System of Microcomputer with human-computer interaction function;
8. adopt two step motor drive trocars.
The present invention contrasts prior art and has following remarkable advantage:
1. needle assembly structure has significantly improved that doctor searches under the guiding of B ultrasonic and fixing tumor soma, disposable tumor body is excised completely, reduces patient's misery.
2. sampling fluting direction and middle sleeve axis become compared with the grooving method of 90 degree directions and prior art fluting direction and axis band angle, can reduce to greatest extent the damage of apparatus normal tissue.This structure can be at repeatedly cutting process of circumferencial direction, can to tumor body continuous whole cut, and reduce the damage of normal tissue.
The use of outer needle guard can change in the opening length of trocar tube, to reduce the damage of normal tissue, be also convenient to again subsequent procedures without again searching tumor body position.And provide convenience for indwelling mark.
4. interior needle guard angle can conveniently be installed the insertion of forevacuum probe tube, and can Shi Liu soma enter vacuum tube under the effect of negative pressure, can repeated multiple times replacing forevacuum pipe in operation process, and repeatedly sample or perform the operation.As use external vacuum probe tube can carry out continuously, repeatedly make continuously the larger tumor body of the complete disposable excision of circumferential operation.
5. this friction screw drive method is simple in structure; Adopt motor and reductor can realize by the step pitch of control step motor the control of Cutting Length.The cutting movement of spinning, for tumor soma, is just similar to the effect that kitchen knife is cut sth. askew.
6. in, the effect of 360 of trocar tube degree rotations is the directions of overlapping sampling groove for changing, also just change the tumor soma of cutting circumferencial direction, do exactly after a cutting movement, after middle cover turns an angle, again cut, until complete the initial angle setting to end angle.So just can excise larger tumor soma, make to reach residual without tumor.
7. Control System of Microcomputer adopts the power supply of lithium battery as control system, therefore installs flexible operation, convenience.The present invention, in biopsy procedure, can adopt preset vacuum sample collection pipe, and without connecting vacuum pump, doctor is simple, flexible, convenient in biopsy operating process, reduces patient's misery.Doctor, implementing in tumor resection process, only need find tumor body and puncture after the success of tumor body under the guiding of B ultrasonic, as long as free-hand this device fuselage of stablizing, the cutting of tumor body is completed automatically by microcomputer control.Microcomputer according to the parameter of setting do circumferential, intactly cut tumor soma.
Brief description of the drawings
Fig. 1 is overall structure figure of the present invention
Guide needle 1, crosscut blade 2, blade bearing 3, middle cover 4, inner sleeve 5, overcoat 6, overcoat handwheel 7, middle cover handwheel 8, implement body shell 9, button 10, display 11, external vacuum tube interface 12, battery 13, apparatus base shell 14, computer control board 15, inner sleeve drive motors and reductor 16, inner sleeve peeling knife driven pulley 17, active friction wheel 18, middle cover drive motors and reductor 19, driven wheel 20, middle cover driven gear 21, middle grip assembly 22, internal sleeve assembly 23, outer jacket member 24, external vacuum tube 25, preset vacuum pipe 26.
Fig. 2 is the enlarged drawing of device syringe needle part
Fig. 3 is the theory diagram of Control System of Microcomputer
Microcomputer control section comprises: 1. lithium cell charging control circuit; 2. lithium battery provides power supply for control system; 3. display shows range of operation and operation process is set for man-machine interaction; 4. embedded microprocessor is control system primary processor; 5. button is for man-machine interaction input surgical parameters; 6. in, overlap stepper motor driving circuit; 7. inner sleeve stepper motor driving circuit; 8. the middle cover motor with reductor; 9. the inner sleeve motor with reductor.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.Wherein same or analogous drawing reference numeral represents same or analogous parts.Following explanation is the explanation to design of the present invention, and can not be interpreted as the one restriction to the present invention's protection.
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described; but these explanations can not be understood to limit scope of the present invention; protection scope of the present invention is limited by the claims of enclosing, and any change on the claims in the present invention basis is all protection scope of the present invention.
Set-up of control system button, initial sum termination point and the input of inputting cutting tumor body for doctor start surface trimming instruction.Display is used for the man-machine display interface between device and doctor, display setting angular range and in real time demonstration mode of operation.The guiding of use B ultrasonic, percutaneous needle inserts tissue, and focus center is aimed at sampling groove center.Coordinate high-speed friction spiral cutter to obtain tissue specimen by vacuum aided technology, interior, domestic and abroad needle guard and apparatus base shell part are disposable product, when use, needle guard are contained on the main frame of apparatus.Microprocessor control inner sleeve spin advance or setback, control in interplanting circumferencial direction move to change excision direction.
The head of inner sleeve is ground to the sharp edge of a knife and sees Fig. 2; Inner sleeve rotary-cut driven pulley is equipped with at the rear portion of inner sleeve; Afterbody is cut into certain angle, packs into from inner sleeve afterbody for preset vacuum probe tube, and inner sleeve is arranged in middle cover.
The leading section of middle cover has a sampling groove, and the effect of sampling groove is that inner sleeve enters sampling groove in the effect Xia Shi of vacuum tumor soma while moving backward.When use the front end edge of a knife of inner sleeve in middle cover foremost, with the blade bearing sealing of the head of middle cover.Inserting after tumor body soft tissue the angle that can use the initial sum of 4 button settings cuttings to end.Microcomputer rotates automatically controlling inner sleeve motor according to the angle of setting.The axis of active friction wheel and driven pulley axis have an angle, drive the driven pulley motion of spinning when the rotation of active friction wheel.Driven pulley and inner sleeve are fixed together, and also just make the inner sleeve motion of spinning forward or backward.Move backward under the suction function of Shi Liu soma at vacuum tube at quilt cover, the tissue of front end is inhaled in sampling groove, the distance microcomputer that inner sleeve is moved backward can convert and obtain according to the step pitch of motor, and the size of step pitch has also determined the length of the tissue being inhaled into.Inner sleeve moves rearwards to after the distance of setting, and microcomputer again control step motor makes the inner sleeve cutting movement of spinning forward.To tumor, soma cuts, all must in the situation that having negative pressure, carry out in whole process, the tissue being cut under the effect of negative pressure can enter in inner sleeve, under the effect that is organized in negative pressure of inner sleeve front end outside, can enter in inner sleeve again, move to cutter head position until inner sleeve is spinned forward.After inner sleeve is withstood cutter head, inner sleeve can only rotate, and this is that resection organization is thoroughly separated with in-vivo tissue.Receive inner sleeve at microcomputer and after apical position, stop operating, this just completes primary sample process.If carry out repeatedly cutting operation of circumferencial direction, microcomputer starts to do according to the initial angle that sets and repeatedly carries out repeatedly cutting operation, after each cutting, by overlapping in controlling, motor rotates microcomputer and rotate certain angle by driven wheel band disorder of internal organs cover driven gear, carry out again cutting operation next time, until the end angle of setting.In whole operation process, after doctor only need search for the first time tumor body and guide needle is inserted in tumor body, and keep this apparatus motionless like this, operation will be completed by microcomputer surface trimming, avoid because hand operation causes cutting not exclusively.
Content described in this description embodiment is only enumerating of way of realization to inventive concept; protection scope of the present invention should not be regarded as only limiting to the concrete form that embodiment states, protection scope of the present invention is also and conceive the equivalent technologies means that can expect according to the present invention in those skilled in the art.
Claims (10)
1. the circumferential friction-driven spiral of portable microcomputer control is cut biopsy and an operation device, is primarily characterized in that: described device comprises combination needle guard parts and microcomputer control combination parts.Combination needle guard parts are arranged on microcomputer control combination parts and could use.
2. combination needle guard parts according to claim 1 comprise: guiding needle assembly, interior trocar tube assembly, middle trocar tube assembly, overcoat needle tubing assembly, external vacuum sampling connection tube (or preset vacuum probe tube), needle guard combiner shell.
3. guiding needle assembly according to claim 2 comprises: guide needle, crosscut blade and blade bearing composition.The head of this guiding syringe needle is equipped with guide needle, and guide needle and crosscut blade are arranged on blade bearing, and whole cutter head is arranged on one end of middle trocar tube.
4. interior trocar tube assembly according to claim 2 comprises: one end of needle tubing is ground to the sharp edge of a knife for cutting and organizing, and the other end is cut into certain angle for preset vacuum probe tube or vacuum sampling connection tube are installed.
5. middle trocar tube assembly according to claim 2 comprises: the front end of middle cover is equipped with guide needle assembly, middle trocar tube has in installation guide needle one end the sampling groove that becomes 90 degree length 10-60mm long with axis, the handwheel with station location marker scale is equipped with in middle part, on needle tubing, being carved with length represents, driven gear is equipped with in rear end, the middle cover driven wheel matching of driven gear and microcomputer control combination parts.
6. overcoat needle tubing assembly according to claim 2 comprises: overcoat needle tubing and handwheel composition, be carved with length mark on needle tubing.
7. microcomputer control combination parts according to claim 1 comprise: Embedded System assembly, middle trocar tube drive motors assembly, inner sleeve actuated syringes electric machine assembly lithium battery and charge controller, microcomputer Control Component shell.
8. comprise according to the middle trocar tube drive motors assembly described in claims 7: motor, reductor and gear.Step motor shaft is connected with reductor, and gear is installed on speed reducer output shaft.Gear matching on gear and overcoat needle tubing assembly.
9. comprise according to the inner sleeve actuated syringes electric machine assembly described in claims 7: motor, reductor and friction drive wheel.Step motor shaft is connected with reductor, and friction drive wheel is installed on speed reducer output shaft.Friction pulley matching on friction drive wheel and interior trocar tube assembly.The axis of two friction pulleys forms an angle, the needle guard friction pulley motion of spinning in friction drive wheel when rotation drives.
10. comprise according to the Embedded System assembly described in claims 7: embedded microprocessor, lithium battery, display, button, lithium battery charging circuit.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410319672.9A CN104188693A (en) | 2014-07-04 | 2014-07-04 | Portable circumferential friction spiral cutting biopsy and operation device controlled by microcomputer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410319672.9A CN104188693A (en) | 2014-07-04 | 2014-07-04 | Portable circumferential friction spiral cutting biopsy and operation device controlled by microcomputer |
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| CN104814769A (en) * | 2015-03-31 | 2015-08-05 | 刘素娟 | Living body sampling and submitting device for oncology department |
| CN105796135A (en) * | 2016-03-03 | 2016-07-27 | 上海导向医疗系统有限公司 | Vacuum-assisted mammary gland sample biopsy and rotary cutting system |
| CN106175843A (en) * | 2016-09-30 | 2016-12-07 | 杭州思客医学科技有限公司 | A kind of rotary-cut pin with prevention needle track implantation |
| CN106236153A (en) * | 2016-09-30 | 2016-12-21 | 杭州思客医学科技有限公司 | The needle head structure of a kind of rotary-cut pin and rotary-cut pin thereof |
| CN106388875A (en) * | 2016-11-30 | 2017-02-15 | 重庆西山科技股份有限公司 | Rotary cutting operation assembly |
| CN106618646A (en) * | 2016-11-30 | 2017-05-10 | 重庆西山科技股份有限公司 | Rotary cut surgical knife control method and system |
| CN107184255A (en) * | 2017-07-11 | 2017-09-22 | 哈尔滨理工大学 | A kind of ultrasonic per rectum prostate biopsy mechanism |
| CN110799101A (en) * | 2017-06-19 | 2020-02-14 | 云氏医疗有限公司 | Biopsy needle assembly for reducing start load when switching motor direction |
| WO2020093635A1 (en) * | 2018-11-09 | 2020-05-14 | 上海导向医疗系统有限公司 | Biopsy rotary cutting device |
| CN113208703A (en) * | 2021-07-08 | 2021-08-06 | 上海导向医疗系统有限公司 | Mammary gland rotary-cut system and self-adaptive motor cutting control system thereof |
| WO2022143980A1 (en) * | 2020-12-31 | 2022-07-07 | The Chinese University Of Hong Kong | Device and method for brain biopsy |
| CN115607199A (en) * | 2022-10-24 | 2023-01-17 | 江苏邦士医疗科技有限公司 | Rotary-cut mammary gland biopsy system |
| WO2023087657A1 (en) * | 2021-11-16 | 2023-05-25 | 重庆西山科技股份有限公司 | Window opening size adjustment method for sampling window of biopsy surgical device and control device |
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- 2014-07-04 CN CN201410319672.9A patent/CN104188693A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104814769A (en) * | 2015-03-31 | 2015-08-05 | 刘素娟 | Living body sampling and submitting device for oncology department |
| CN105796135A (en) * | 2016-03-03 | 2016-07-27 | 上海导向医疗系统有限公司 | Vacuum-assisted mammary gland sample biopsy and rotary cutting system |
| CN106175843A (en) * | 2016-09-30 | 2016-12-07 | 杭州思客医学科技有限公司 | A kind of rotary-cut pin with prevention needle track implantation |
| CN106236153A (en) * | 2016-09-30 | 2016-12-21 | 杭州思客医学科技有限公司 | The needle head structure of a kind of rotary-cut pin and rotary-cut pin thereof |
| CN106388875A (en) * | 2016-11-30 | 2017-02-15 | 重庆西山科技股份有限公司 | Rotary cutting operation assembly |
| CN106618646A (en) * | 2016-11-30 | 2017-05-10 | 重庆西山科技股份有限公司 | Rotary cut surgical knife control method and system |
| CN110799101B (en) * | 2017-06-19 | 2022-05-13 | 云氏医疗有限公司 | Biopsy needle assembly for reducing start load when switching motor direction |
| CN110799101A (en) * | 2017-06-19 | 2020-02-14 | 云氏医疗有限公司 | Biopsy needle assembly for reducing start load when switching motor direction |
| CN107184255A (en) * | 2017-07-11 | 2017-09-22 | 哈尔滨理工大学 | A kind of ultrasonic per rectum prostate biopsy mechanism |
| CN107184255B (en) * | 2017-07-11 | 2023-07-21 | 哈尔滨理工大学 | Ultrasonic transrectal prostate puncture mechanism |
| WO2020093635A1 (en) * | 2018-11-09 | 2020-05-14 | 上海导向医疗系统有限公司 | Biopsy rotary cutting device |
| WO2022143980A1 (en) * | 2020-12-31 | 2022-07-07 | The Chinese University Of Hong Kong | Device and method for brain biopsy |
| CN113208703B (en) * | 2021-07-08 | 2021-09-28 | 上海导向医疗系统有限公司 | Mammary gland rotary-cut system and self-adaptive motor cutting control system thereof |
| CN113208703A (en) * | 2021-07-08 | 2021-08-06 | 上海导向医疗系统有限公司 | Mammary gland rotary-cut system and self-adaptive motor cutting control system thereof |
| WO2023087657A1 (en) * | 2021-11-16 | 2023-05-25 | 重庆西山科技股份有限公司 | Window opening size adjustment method for sampling window of biopsy surgical device and control device |
| CN115607199A (en) * | 2022-10-24 | 2023-01-17 | 江苏邦士医疗科技有限公司 | Rotary-cut mammary gland biopsy system |
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