CN104814800B - A kind of infrared rays navigation instrument - Google Patents
A kind of infrared rays navigation instrument Download PDFInfo
- Publication number
- CN104814800B CN104814800B CN201510244517.XA CN201510244517A CN104814800B CN 104814800 B CN104814800 B CN 104814800B CN 201510244517 A CN201510244517 A CN 201510244517A CN 104814800 B CN104814800 B CN 104814800B
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- support
- board
- perspective board
- fixed
- perspective
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- 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
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
The invention discloses a kind of infrared rays navigation instrument, including support, the two pieces of orthogonal perspective boards, the infrared ray projector equipment that are fixed on support.Infrared ray projector equipment includes two supporting with two pieces of perspective boards respectively RF transmitters.In puncturing operation, two pieces of perspective boards are respectively parallel to the sagittal plane and coronal-plane of patient body.Medical personnel is using C arm machine in normotopia and projection of the mark target puncture line on two pieces of perspective boards respectively of side position, then according to the intersecting principle for determining a straight line in two sides, straight line is formed in vitro using infrared ray projector equipment, afterwards, medical personnel fixes trocar sleeve using sleeve fixed support and overlapped with the straight line, trocar sleeve is fixed using sleeve fixed support, can prevent from deviateing when operation technique.
Description
Technical field
The present invention relates to technical field of medical instruments, led in particular to a kind of infrared ray for puncturing operation
Boat instrument.
Background technology
In medicine technology field, when medical personnel carries out puncturing operation to patient, need to repeatedly it be had an X-rayed with C arm machine,
To determine to puncture line position, not only troublesome poeration, punctures line position inaccurately, moreover, perspective causes ray exposed amount big repeatedly,
Both patient is endangered, doctor is also injured.
The content of the invention
Technical problem solved by the invention：By existing medical technology, when medical personnel carries out puncturing operation to patient,
Need to repeatedly it be had an X-rayed with C arm machine, to determine to puncture line position, not only troublesome poeration, punctures line position inaccurately, moreover, instead
Multiple perspective causes ray exposed amount big, both endangers patient, also injures doctor.
The present invention provides following technical scheme：
A kind of infrared rays navigation instrument, including perspective board, support, infrared ray projector equipment；
The perspective board includes the first perspective board and the second perspective board, and the first perspective board and the second perspective board are fixed on support
On, the first perspective board is located at the top of operating table and parallel with operation table surface, the second perspective board be located at by the side of operation table surface and
Vertical with operation table surface, first perspective board and the second perspective board are mutually perpendicular to；The infrared ray projector equipment includes first
RF transmitter and the second RF transmitter, the first RF transmitter are located at the top of the first perspective board, and first is infrared
The perspective board of infrared ray directive first of line transmitter transmitting and perpendicular to the first perspective board, the second RF transmitter is located at second
By the side of perspective board, the second RF transmitter and operation table surface divide the both sides for being listed in the second perspective board, the second infrared emitting
Device transmitting the perspective board of infrared ray directive second and perpendicular to the second perspective board.
By above-mentioned technical proposal, in puncturing operation, patient couches on operation table surface, the first perspective board and the second perspective
Plate is respectively parallel to the sagittal plane and coronal-plane of patient body.Medical personnel is marked respectively using C arm machine in normotopia and side position
Target punctures projection of the line on the first perspective board and the second perspective board, then according to the intersecting principle for determining a straight line in two sides,
Straight line is formed in vitro using infrared ray projector equipment, and specifically, the first RF transmitter is by the first perspective board
Projection emission infrared ray, the second RF transmitter is by the projection emission infrared ray on the second perspective board, the first infrared emitting
The infrared ray of device transmitting intersects with the infrared ray that the second RF transmitter is launched, in the external formation straight line of patient（Phase
Intersection）.Afterwards, medical personnel fixes trocar sleeve using sleeve fixed support and overlapped with the straight line, and branch is fixed using sleeve
Frame fixes trocar sleeve, can prevent from deviateing when operation technique.
By above-mentioned technical proposal, infrared rays navigation instrument of the present invention utilizes geometrical principle completion work, sheet
Invention has advantages below：
First, simple to operate, directive property is good, although infrared rays navigation instrument of the present invention, which still needs, uses C arm machine,
But as long as positioning number of times 1-2 time is just reached, therefore, using this infrared rays navigation instrument can greatly simplify operation puncturing program and when
Between, as long as marking puncture line projection position to be assured that puncture line, it is not necessary to which C arm machine is had an X-rayed repeatedly, while also abandoning
The influence factors such as ob esity's position；
Second, using fixes sleeve, it is accurate to puncture line position, the problem of will not be because of hand strength or doctors experience, hair
It is raw to puncture the phenomenon that line deviates；
3rd, ray exposed amount greatly reduces, and not only improves patient, is also beneficial to protect doctor.
Described first is infrared to be illustrated to infrared emitting projector equipment and a kind of of perspective board structural relation as the present invention
Line transmitter is arranged on the first perspective board by infrared ray position indicator, and second RF transmitter is positioned by infrared ray
Instrument is arranged on the second perspective board；The infrared ray position indicator includes pedestal, fixed support, travel(l)ing rest, fixed ball, rotation
Ball, a pair of clamping plates, clamp screws；The pedestal is fixed on perspective board, and the support bracket fastened bottom is fixed on pedestal,
Fixed support is vertical with perspective board, and the fixed ball is fixed on support bracket fastened top, and the pair of clamping plate is oppositely arranged, a pair
Clamping plate opens up two pairs of manholes being oppositely arranged, and the fixed ball is clamped in a pair of manholes, the screw quilt
It is clamped in another pair manhole, the clamp screw connects a pair of clamping plates, one end of the travel(l)ing rest and screw
It is fixedly connected, the first RF transmitter or the second RF transmitter is installed on the other end of travel(l)ing rest.As described above,
Infrared ray position indicator is rotated to realize the first RF transmitter in two pairs of manholes respectively by fixed ball and screw
With the universal rotational of the second RF transmitter.
Infrared emitting projector equipment and a kind of of supporting structure relation are illustrated as the present invention, the infrared line projection
Equipment also includes the first power supply being connected with the first RF transmitter, the second source being connected with the second RF transmitter；
The support is provided with the first power pack, the second source box for laying second source for being used for laying the first power supply.
One kind of perspective board is illustrated as the present invention, the perspective board is acrylic board；First perspective board includes
Two piece of first acrylic board, two piece of first acrylic board is provided with magnet, and two piece of first acrylic board is by magnet adsorption one
Rise, opaque scale film is clamped between two piece of first acrylic board；Second perspective board includes two piece of second acrylic
Plate, two piece of second acrylic board is provided with magnet, two piece of second acrylic board by magnet adsorption together, two piece second sub- gram
Opaque scale film is clamped between power plate.Above-mentioned magnet is located at the first acrylic board and by crisscross arrangement mode
On two acrylic boards, as a preferred embodiment, any acrylic board is provided with nine magnet.
As a modification of the present invention, infrared rays navigation instrument of the present invention also includes fixture, and the fixture includes
First clamping part and the second clamping part；First clamping part includes slide unit, is fixed on the fixing clip and slide unit of slide unit one end
The movable clip block that is slidably matched, one end are articulated in the first clamping screw that in fixing clip and the other end and movable clip block are spirally connected；
Second clamping part includes fixed chuck, the connection curved bar that one end is connected with fixed chuck, is fixedly connected with the curved bar other end
Bearing piece, the second clamping screw, the active chuck installed in the second clamping screw top, the active chuck that are spirally connected with bearing piece
It is oppositely arranged with fixed chuck；First retaining part is on the top of the second clamping part, the slide unit bottom surface of the first clamping part
Provided with tubular pivotally connected set, the top surface of the fixed chuck of the second clamping part is provided with columned pivot joint block, the pivot joint block pivot joint
In pivotally connected set；The support is clamped between fixing clip and movable clip block by fixture.As described above, the first clamping part is used
In the support of clamping infrared rays navigation instrument, the second clamping part is clamped in immobilising device（Such as operating table）On, with fixed whole red
Outside line navigational tool, between the first clamping part and the second clamping part can 360 degree rotation, with facilitate clamping and position.
The support, which includes first support, second support, the 3rd support, to be illustrated to one kind of support as the present invention；Institute
State first support vertical with second support, second support and the 3rd support vertical, first support are parallel with the 3rd support, first
Frame and the 3rd support are connected to the two ends of second support, and first support and the 3rd support are located at the two of second support respectively
Side；First perspective board is fixed in first support, and second perspective board is fixed on the secondary support bracket, the 3rd support
It is clamped in by fixture between fixing clip and movable clip block.
Brief description of the drawings：
The present invention is described further below in conjunction with the accompanying drawings：
Fig. 1 is a kind of structural representation of infrared rays navigation instrument of the invention；
Fig. 2 is the structural representation in Fig. 1 from upper left side obtained by the infrared rays navigation instrument；
Fig. 3 is the structural representation of fixture 60 in Fig. 2；
Fig. 4 is the structural representation of Fig. 1 middle infrared (Mid-IR)s position indicator 40.
It is symbol description in figure below：
10-support；11-first support；12-second support；13-the three support；
21-the first perspective board；22-the second perspective board；200-magnet；
31-the first RF transmitter；32-the second RF transmitter；
40-infrared ray position indicator；41-pedestal；42-fixed support；43-travel(l)ing rest；44-fix ball；45-rotation
Turn ball；46-a pair of clamping plates；47-clamp screw；
51-the first power pack；52-second source box；
60-fixture；61-the first clamping part；611-slide unit；612-fixing clip；613-movable clip block；614-the
One clamping screw；62-the second clamping part；621-fixed chuck；622-connection curved bar；623-bearing piece；624-the second clamps
Screw rod；625-active chuck；63-pivotally connected set；64-pivot joint block；
90-operating table.
Embodiment：
Such as Fig. 1, a kind of infrared rays navigation instrument, including perspective board, support 10, infrared ray projector equipment, fixture 60；Its
In, the perspective board includes the first perspective board 21 and the second perspective board 22, and the infrared ray projector equipment includes the first infrared ray
The RF transmitter 32 of transmitter 31 and second.
With reference to Fig. 1, Fig. 2, the support 10 includes first support 11, second support 12, the 3rd support 13；Described first
Frame is vertical with second support, and second support and the 3rd support vertical, first support are parallel with the 3rd support, first support and the 3rd
Support is connected to the two ends of second support, and first support and the 3rd support are located at the both sides of second support respectively.
With reference to Fig. 1, Fig. 2, first perspective board 21 is fixed in first support, and second perspective board 22 is fixed on
On two supports.First perspective board is located at the top of operating table 90 and parallel with operation table surface, and the second perspective board is located at operation table surface
Side by and it is vertical with operation table surface, first perspective board and the second perspective board are mutually perpendicular to.Wherein, the perspective board is Asia
Gram force plate；First perspective board 21 includes two piece of first acrylic board, and two piece of first acrylic board is provided with magnet 200, two
The acrylic board of block first together, is clamped with opaque scale film by magnet adsorption between two piece of first acrylic board；Institute
Stating the second perspective board 22 includes two piece of second acrylic board, and two piece of second acrylic board is provided with magnet 200, two piece second sub- gram
Power plate together, is clamped with opaque scale film by magnet adsorption between two piece of second acrylic board.
With reference to Fig. 1, Fig. 2, the first RF transmitter 31 is located at the top of the first perspective board 21, the first RF transmitter
The perspective board of infrared ray directive first of transmitting and perpendicular to the first perspective board, the second RF transmitter 32 is located at the second perspective board
By 22 side, the second RF transmitter and operation table surface divide the both sides for being listed in the second perspective board, the second RF transmitter hair
The perspective board of infrared ray directive second penetrated and perpendicular to the second perspective board.Wherein, first RF transmitter 31 is by red
Outside line position indicator 40 is arranged on the first perspective board 21, and second RF transmitter is arranged on by infrared ray position indicator 40
On second perspective board 22；Such as Fig. 4, the infrared ray position indicator includes pedestal 41, fixed support 42, travel(l)ing rest 43, fixed ball
44th, screw 45, a pair of clamping plates 46, clamp screws 47；The pedestal is fixed on perspective board, the support bracket fastened bottom
It is fixed on pedestal, fixed support is vertical with perspective board, the fixed ball is fixed on support bracket fastened top, the pair of clamping plate
It is oppositely arranged, a pair of clamping plates open up two pairs of manholes being oppositely arranged, the fixed ball is clamped in a pair of manholes,
The screw is clamped in another pair manhole, and the clamp screw connects a pair of clamping plates, the travel(l)ing rest
One end is fixedly connected with screw, and the first RF transmitter or the second infrared emitting are installed on the other end of travel(l)ing rest
Device.
In addition to the above-mentioned RF transmitter 32 of first RF transmitter 31 and second, the infrared ray projector equipment is also wrapped
Include the first power supply being connected with the first RF transmitter 31, the second source being connected with the second RF transmitter 32；It is described
Support 10 is provided with the first power pack 51, the second source box 52 for laying second source for being used for laying the first power supply.
With reference to Fig. 1, Fig. 2, the 3rd support 13 of the clamp bracket 10 of fixture 60.Such as Fig. 3, the fixture includes the first folder
Hold the clamping part 62 of portion 61 and second；First clamping part include slide unit 611, be fixed on slide unit one end fixing clip 612, with
Movable clip block 613 that slide unit is slidably matched, one end are articulated in fixing clip and the first folder that the other end and movable clip block are spirally connected
Tight screw rod 614；Second clamping part includes fixed chuck 621, the connection curved bar 622 of one end and fixed chuck connection, with connecting
The second clamping screw 624 for connect bearing piece 623 that the curved bar other end is fixedly connected, being spirally connected with bearing piece, installed in the second clamping screw
The active chuck 625 on top, the active chuck is oppositely arranged with fixed chuck；First retaining part is in the second clamping part
Top, the slide unit bottom surface of the first clamping part is provided with tubular pivotally connected set 63, the top surface of the fixed chuck of the second clamping part and set
There is columned pivot joint block 64, the pivot joint block is articulated in pivotally connected set；3rd support 13 of the support 10 is pressed from both sides by fixture 60
Hold between fixing clip 612 and movable clip block 613.
In puncturing operation, patient couches on operation table surface, and the first perspective board 21 distinguishes parallel with the second perspective board 22
In the sagittal plane and coronal-plane of patient body.Medical personnel marks target to puncture line respectively using C arm machine in normotopia and side position
Projection on the first perspective board 21 and the second perspective board 22, then according to the intersecting principle for determining a straight line in two sides, using red
Outside line projector equipment forms straight line in vitro, specifically, and the first RF transmitter 31 is by the throwing on the first perspective board 21
Shadow launches infrared ray, and the second RF transmitter 32 is by the projection emission infrared ray on the second perspective board 22, the first infrared ray hair
The infrared ray that emitter 31 is launched intersects with the infrared ray that the second RF transmitter 32 is launched, straight in the external formation one of patient
Line intersecting lens.Afterwards, medical personnel fixes trocar sleeve using sleeve fixed support and overlapped with the straight line, is fixed using sleeve
Support fixes trocar sleeve, can prevent from deviateing when operation technique.
In practice infrared rays navigation instrument of the present invention, it is necessary to which the key issue that emphasis is solved is infrared ray throwing
Hachure will be controlled in thinner degree, it is impossible to excessively thick, and accuracy can be slightly influenceed excessively；Second is to need to ensure the problem of needing and solve
On the vertical plane, this is solved using 90 ° of division indicators for infrared ray trend of purchasing and body and acrylic board；3rd needs to solve
The problem of be that this navigational tool is to determine to puncture line using the intersecting principle for determining a straight line in two sides, and the two faces are exactly
The perspective plane of line is punctured, so the point determined after C arm machine perspective is needed in body same level, this utilizes acrylic board
Edge graduation mark is solved.
Above content is only the better embodiment of the present invention, for one of ordinary skill in the art, according to the present invention
Thought, will change in specific embodiments and applications, this specification content should not be construed as to this hair
Bright limitation.
Claims (6)
1. a kind of infrared rays navigation instrument, including perspective board, support（10）, infrared ray projector equipment；It is characterized in that：It is described
Include the first perspective board depending on plate（21）With the second perspective board（22）, the first perspective board and the second perspective board be fixed on support, and
One perspective board is located at operating table（90）Top and parallel with operation table surface, the second perspective board be located at by the side of operation table surface and with
Operation table surface is vertical, and first perspective board and the second perspective board are mutually perpendicular to；It is red that the infrared ray projector equipment includes first
Outside line transmitter（31）With the second RF transmitter（32）, the first RF transmitter is located at the top of the first perspective board, the
The perspective board of infrared ray directive first of one RF transmitter transmitting and perpendicular to the first perspective board, the second RF transmitter position
By the side of the second perspective board, the second RF transmitter and operation table surface divide the both sides for being listed in the second perspective board, and second is infrared
Line transmitter transmitting the perspective board of infrared ray directive second and perpendicular to the second perspective board.
2. a kind of infrared rays navigation instrument as claimed in claim 1, it is characterised in that：First RF transmitter（31）
Pass through infrared ray position indicator（40）Installed in the first perspective board（21）On, second RF transmitter is positioned by infrared ray
Instrument（40）Installed in the second perspective board（22）On；The infrared ray position indicator includes pedestal（41）, fixed support（42）, activity branch
Frame（43）, fixed ball（44）, screw（45）, a pair of clamping plates（46）, clamp screw（47）；The pedestal is fixed on perspective board
On, the support bracket fastened bottom is fixed on pedestal, and fixed support is vertical with perspective board, and the fixed ball is fixed on fixed branch
The top of frame, the pair of clamping plate is oppositely arranged, and a pair of clamping plates open up two pairs of manholes being oppositely arranged, the fixed ball quilt
It is clamped in a pair of manholes, the screw is clamped in another pair manhole, the clamp screw connection one
To clamping plate, one end of the travel(l)ing rest is fixedly connected with screw, and the first infrared ray hair is installed on the other end of travel(l)ing rest
Emitter or the second RF transmitter.
3. a kind of infrared rays navigation instrument as claimed in claim 1, it is characterised in that：The infrared ray projector equipment also includes
With the first RF transmitter（31）First power supply of connection and the second RF transmitter（32）The second source of connection；Institute
State support（10）It is provided with the first power pack for being used for laying the first power supply（51）, second source box for laying second source
（52）.
4. a kind of infrared rays navigation instrument as claimed in claim 1, it is characterised in that：The perspective board is acrylic board；Institute
State the first perspective board（21）Including two piece of first acrylic board, two piece of first acrylic board is provided with magnet（200）, two piece first
Acrylic board together, is clamped with opaque scale film by magnet adsorption between two piece of first acrylic board；Described second
Perspective board（22）Including two piece of second acrylic board, two piece of second acrylic board is provided with magnet（200）, two piece of second acrylic
Plate together, is clamped with opaque scale film by magnet adsorption between two piece of second acrylic board.
5. a kind of infrared rays navigation instrument as claimed in claim 1, it is characterised in that：Also include fixture（60）, the fixture
Including the first clamping part（61）With the second clamping part（62）；First clamping part includes slide unit（611）, be fixed on slide unit one end
Fixing clip（612）And the movable clip block that slide unit is slidably matched（613）, one end be articulated in fixing clip and the other end with
The first clamping screw that movable clip block is spirally connected（614）；Second clamping part includes fixed chuck（621）, one end and geometrical clamp
The connection curved bar of head connection（622）, with being connected the bearing piece that the curved bar other end is fixedly connected（623）And the second folder that bearing piece is spirally connected
Tight screw rod（624）, active chuck installed in the second clamping screw top（625）, the active chuck and fixed chuck are opposite
Set；First retaining part is provided with tubular pivotally connected set in the top of the second clamping part, the slide unit bottom surface of the first clamping part
（63）, the top surface of the fixed chuck of the second clamping part is provided with columned pivot joint block（64）, the pivot joint block is articulated in pivot joint
In set；The support（10）It is clamped in by fixture between fixing clip and movable clip block.
6. a kind of infrared rays navigation instrument as claimed in claim 5, it is characterised in that：The support（10）Including first support
（11）, second support（12）, the 3rd support（13）；The first support is vertical with second support, second support and the 3rd support
Vertically, first support is parallel with the 3rd support, and first support and the 3rd support are connected to the two ends of second support, first
Frame and the 3rd support are located at the both sides of second support respectively；First perspective board（21）It is fixed in first support, described
Two perspective boards（22）Fix on the secondary support bracket, the 3rd support is by fixture（60）It is clamped in fixing clip（612）And activity
Fixture block（613）Between.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510244517.XA CN104814800B (en) | 2015-05-13 | 2015-05-13 | A kind of infrared rays navigation instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510244517.XA CN104814800B (en) | 2015-05-13 | 2015-05-13 | A kind of infrared rays navigation instrument |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104814800A CN104814800A (en) | 2015-08-05 |
| CN104814800B true CN104814800B (en) | 2017-08-29 |
Family
ID=53725463
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510244517.XA Expired - Fee Related CN104814800B (en) | 2015-05-13 | 2015-05-13 | A kind of infrared rays navigation instrument |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104814800B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108042202A (en) * | 2017-12-06 | 2018-05-18 | 上海波城医疗科技有限公司 | Surgery mechanical arm alignment system |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105232122B (en) * | 2015-11-18 | 2017-11-10 | 贺石生 | A kind of detachable assembling operation precise positioning equipment |
| CN105916463B (en) * | 2015-07-02 | 2018-06-12 | 贺石生 | Detachably assemble arc-shaped precise positioning equipment |
| CN107303196A (en) * | 2016-04-19 | 2017-10-31 | 陈德路 | A kind of tumor-localizing puncture instrument |
| CN113576663B (en) * | 2021-07-30 | 2023-06-27 | 武汉联影智融医疗科技有限公司 | Probe device for contact positioning and positioning system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7169155B2 (en) * | 2001-12-14 | 2007-01-30 | Scimed Life Systems, Inc. | Methods and apparatus for guiding a needle |
| CN2587369Y (en) * | 2002-08-15 | 2003-11-26 | 刘道平 | Electromagnetic operation navigation apparatus based on C type X-ray unit |
| CN2676831Y (en) * | 2003-10-09 | 2005-02-09 | 江苏富科思科技有限公司 | Radiation therapy infrared location system |
| CN100493471C (en) * | 2006-01-26 | 2009-06-03 | 清华大学深圳研究生院 | Puncture guiding system of computer aided PCNL |
| CN201505132U (en) * | 2009-09-02 | 2010-06-16 | 何滨 | Surgery positioning navigation device |
| US8758263B1 (en) * | 2009-10-31 | 2014-06-24 | Voxel Rad, Ltd. | Systems and methods for frameless image-guided biopsy and therapeutic intervention |
| JP2012115535A (en) * | 2010-12-02 | 2012-06-21 | Kochi Univ | Medical implement that emits near-infrared fluorescence and medical implement position confirmation system |
| CN202776560U (en) * | 2012-09-11 | 2013-03-13 | 王峰 | CT (Computed tomography) guided puncture combination directional device |
| CN204655119U (en) * | 2015-05-13 | 2015-09-23 | 范国明 | A kind of infrared rays navigation instrument |
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2015
- 2015-05-13 CN CN201510244517.XA patent/CN104814800B/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108042202A (en) * | 2017-12-06 | 2018-05-18 | 上海波城医疗科技有限公司 | Surgery mechanical arm alignment system |
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| CN104814800A (en) | 2015-08-05 |
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