CN106137342A - A kind of supersonic vibration punctures soft tissue device and method - Google Patents
A kind of supersonic vibration punctures soft tissue device and method Download PDFInfo
- Publication number
- CN106137342A CN106137342A CN201610641727.7A CN201610641727A CN106137342A CN 106137342 A CN106137342 A CN 106137342A CN 201610641727 A CN201610641727 A CN 201610641727A CN 106137342 A CN106137342 A CN 106137342A
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- Prior art keywords
- supersonic vibration
- puncture needle
- needle
- soft tissue
- inserting needle
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
Abstract
The present invention and medical instruments field, belong to medical science, machinery, acoustics cross discipline, is specifically related to a kind of supersonic vibration and punctures soft tissue device and method.The present invention uses piezoelectric-type ultrasonic vibrating mechanism, it is possible to achieve soft tissue high frequency punctures, and reduces the noise impact on medical environment；Use simultaneously dither, rotate inserting needle piercing method can the least puncture force, reduce the deformation of soft tissue and the deflection of pin, thus improve the positioning precision of puncture needle.
Description
Technical field
The present invention and medical instruments field, belong to medical science, machinery, acoustics cross discipline, is specifically related to a kind of supersonic vibration
Puncture soft tissue device and method.
Background technology
Can be by tissue and its interaction force when puncture needle enters tissue, this reciprocal force can cause two aspects to wear
The positioning precision error of pricker: the deformation of (1) soft tissue can cause tumor targets to drift about；(2) pin in piercing process
By tissue be applied to asymmetric, uneven load causes the rich song of pin, and the rich joint performance of quyi of pin makes needle point miss target spot position
Put.The different sting device of a lot of scholar's research and method reduce metaplasia and pin deflection, thus improve needle point in group
Knit interior positioning precision.
The Minhas etc. of Carnegie Mellon University of the U.S. have studied needle body and rotates inserting needle control device and method, the method energy
Enough skews reducing puncture path to a certain extent, but reducing puncture force is not clearly.The U.S.-Boston University
Mahvash proposes quick needle insertion can reduce crack propagation and the deformation of needle point tear soft tissue, reduces needle body skew and improves
Puncturing precision, shortcoming is that quick puncture exists safety issue.The Kong Xiangzhan of Beijing Institute of Technology have studied a kind of electromagnetism low frequency
Vibration sting device and method, this device frequency of vibration is relatively low, and during puncture, vibration noise is relatively big, and the reduction of puncture force is inconspicuous.
Summary of the invention
The present invention is in order to overcome existing soft tissue high accuracy sting device and the technological deficiency of method, and then provides one
Supersonic vibration punctures soft tissue device and method.
The present invention solves that above-mentioned technical problem is adopted the technical scheme that:
A kind of supersonic vibration of the present invention punctures soft tissue device and method, and its composition includes: inserting needle drive mechanism, rotation drive
Mechanism, supersonic vibration mechanism and piercing mechanism, described inserting needle drive mechanism is provided with slide unit, and described slide unit is provided with L-type machine
Frame,
The described affixed rotary drive mechanism of L-type frame, described rotary drive mechanism includes electric rotating machine, the output shaft of electric rotating machine
By shaft coupling affixed supersonic vibration mechanism, described supersonic vibration mechanism is provided with transducer, affixed piercing mechanism on transducer,
Described inserting needle drive mechanism, rotary drive mechanism, supersonic vibration mechanism and piercing mechanism are applied in combination, it is possible to achieve Under Ultrasonic Vibration
Dynamic, the piercing method of rotation inserting needle.
Further, described inserting needle drive mechanism includes inserting needle motor, and the affixed leading screw of output shaft of described inserting needle motor is described
Leading screw is connected by screw pair slide unit, and slide unit can move linearly on screw mandrel.
Further, described inserting needle drive mechanism includes L-type frame, and described frame also loads sextuple torque sensor, six
Dimension torque sensor is connected with controller.
Further, described rotary drive mechanism includes flange, affixed electric rotating machine on described flange, the output of electric rotating machine
Axle is by the axle head of the inversion Y type rod member of the affixed supersonic vibration mechanism of shaft coupling.
Further, described supersonic vibration mechanism includes that ultrasonic-frequency power supply, described ultrasonic-frequency power supply are connected with electrode slice, and electrode slice is pacified
Being contained in piezoelectric pile, ultrasonic-frequency power supply provides positive and negative alternating voltage alternately to piezoelectric pile.
Further, described supersonic vibration mechanism also includes rear end cap, and rear end cap is provided with piezoelectric pile, before piezoelectric pile is provided with
End cap, drive end bearing bracket is provided with pre-loading screw, can be with pretension rear end cap, piezoelectric pile and drive end bearing bracket by pre-loading screw, it is possible to execute
Adding the axial compressive force needed for piezoelectric pile, the front end on described rear end cap is connected with inversion Y type rod member, and the rear end on rear end cap is the most solid
Connecing transducer, transducer converts electrical energy into mechanical energy.
Further, described piercing mechanism includes puncture needle retaining device, and described puncture needle retaining device is fixing on the transducer, wears
Pricker clamper is provided with aperture, aperture is provided with puncture needle, described puncture needle retaining device is additionally provided with spring button, passes through
Spring button can the puncture needle of loading, unloading easily, the front end of described puncture needle is additionally provided with bracing frame, and bracing frame is provided with guiding
Set, described puncture needle and fairlead are set up and are slidably connected, and puncture needle it can be played support effect by fairlead.
Further, described inserting needle motor, electric rotating machine and ultrasonic-frequency power supply are all connected with controller.
Compared with prior art, the present invention has techniques below effect and an advantage:
The present invention uses piezoelectric-type ultrasonic vibrating mechanism, it is possible to achieve soft tissue high frequency punctures, and reduces noise to medical environment
Impact；Use simultaneously dither, rotate inserting needle piercing method can the least puncture force, reduce soft tissue deformation
With the deflection of pin, thus improve the positioning precision of puncture needle.
Accompanying drawing explanation
Fig. 1 overall structure schematic diagram.
Fig. 2 part-structure schematic diagram.
Fig. 3 supersonic vibration mechanism partial structurtes schematic diagram.
1. inserting needle drive mechanism in figure, 2. sextuple torque sensor, 3. rotary drive mechanism, 4. supersonic vibration mechanism, 5.
Piercing mechanism, 1-1. inserting needle motor, 1-2. leading screw, 1-3. slide unit, 1-4. L-type frame, 3-1. flange, 3-2. electric rotating machine, 3-
3. shaft coupling, 4-1. ultrasonic-frequency power supply, 4-2. rear end cap, 4-3. transducer, 4-4. axle head, 4-5. is inverted Y type rod member, before 4-6.
End cap, 4-7. pre-loading screw, 4-8. electrode slice, 4-9. piezoelectric pile, 5-1. bracing frame, 5-2. fairlead, 5-3. aperture, 5-4.
Puncture needle retaining device, 5-5. spring button, 5-6. puncture needle.
Detailed description of the invention
Below in conjunction with the accompanying drawings and be embodied as example a kind of supersonic vibration of the present invention is punctured soft tissue device and method
It is described in detail.
Seeing accompanying drawing 1, accompanying drawing 2, one supersonic vibration of the present invention punctures soft tissue device and method, including: inserting needle drives
Mechanism 1, rotary drive mechanism 3, supersonic vibration mechanism 4 and piercing mechanism 5, described inserting needle drive mechanism 1 is provided with slide unit 1-
3, described slide unit 1-3 are provided with L-type frame 1-4, the described affixed rotary drive mechanism of L-type frame 1-4 3, described rotary driving machine
Structure 3 includes electric rotating machine 3-2, and the output shaft of electric rotating machine 3-2 is by shaft coupling affixed supersonic vibration mechanism 4, described Under Ultrasonic Vibration
Motivation structure 4 is provided with transducer 4-3, affixed piercing mechanism 5 on transducer 4-3, described inserting needle drive mechanism 1, rotary driving machine
Structure 3, supersonic vibration mechanism 4 and piercing mechanism 5 are applied in combination, it is possible to achieve supersonic vibration, the piercing method of rotation inserting needle.
Seeing accompanying drawing 1, see accompanying drawing 3, described inserting needle drive mechanism 1 includes inserting needle motor 1-1, described inserting needle motor 1-1
Output shaft affixed leading screw 1-2, described leading screw 1-2 by screw pair connect have slide unit 1-3, when inserting needle motor 1-1 rotates
Time, drive leading screw 1-2 to make gyration, gyration is converted to the linear motion of slide unit 1-4 by leading screw 1-2, by inserting needle electricity
Machine 1-1 rotating speed adjust the control realizing puncturing speed, thus realize the piercing process of puncture needle 5-6 different rates, described in enter
Needle drive mechanism 1 also includes L-type frame 1-4, and described L-type frame 1-4 also loads sextuple torque sensor 2, and sextuple moment passes
Sensor 2 is connected with controller, when puncture needle 5-6 is when puncturing soft tissue, and the sextuple moment now installed in L-type frame 1-4 passes
Sensor 2 with Real-time Collection puncture force data, and can transfer data to controller and record.
Seeing accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, described rotary drive mechanism 3 includes flange 3-1, affixed on described flange 3-1
Electric rotating machine 3-2, the output shaft of electric rotating machine 3-2 is by the affixed inversion Y type rod member of supersonic vibration mechanism 4 of shaft coupling 3-3
The axle head 4-6 of 4-5, when electric rotating machine 3-2 rotates, drives the axle head of the inversion Y type rod member 4-5 of supersonic vibration mechanism 4
4-6 makees gyration, thus realizes puncture needle 5-6 rotary motion, realizes puncture needle 5-by the adjustment of electric rotating machine 3-2 rotating speed
The piercing process of 6 different rotary speed.
Seeing accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, described supersonic vibration mechanism 4 includes ultrasonic-frequency power supply 4-1, described ultrasonic-frequency power supply 4-
1 is connected with electrode slice 4-8, and electrode slice 4-8 is arranged in piezoelectric pile 4-9, and ultrasonic-frequency power supply 4-1 provides positive and negative friendship to piezoelectric pile 4-9
The alternating voltage replaced, described supersonic vibration mechanism 4 also includes that rear end cap 4-2, rear end cap 4-2 are provided with piezoelectric pile 4-9, piezoelectric pile
4-9 is provided with drive end bearing bracket 4-6, drive end bearing bracket 4-6 and is provided with pre-loading screw 4-7, can be with pretension rear end cap 4-by pre-loading screw 4-7
2, piezoelectric pile 4-9 and drive end bearing bracket 4-6, it is possible to apply the axial compressive force needed for piezoelectric pile 4-9, on described rear end cap 4-6 before
End is connected with inversion Y type rod member 4-5, and the rear end the most affixed transducer 4-3 on rear end cap 4-6, transducer 4-3 converts electrical energy into
Mechanical energy.
Seeing accompanying drawing 1, accompanying drawing 2, described piercing mechanism 5 includes puncture needle retaining device 5-4, described puncture needle retaining device 5-4
Being fixed on transducer 4-3, puncture needle retaining device 5-4 is provided with aperture 5-3, and aperture 5-3 is provided with puncture needle 5-6, described
Be additionally provided with spring button 5-5 on puncture needle retaining device 5-4, by spring button 5-5 can the puncture needle 5-6 of loading, unloading easily, institute
State the front end of puncture needle 5-6 to be additionally provided with bracing frame 5-1, bracing frame 5-1 and be provided with fairlead 5-2, described puncture needle 5-6 and guiding
Set 5-2 sets up and is slidably connected, and fairlead 5-2 can it plays support effect to puncture needle 5-6.
One supersonic vibration of the present invention punctures soft tissue device and method 2 kinds of working methods below in conjunction with the accompanying drawings introduce such as
Under:
Rotate inserting needle piercing method: inserting needle drive mechanism 1, rotary drive mechanism 3 are applied in combination with piercing mechanism 5, it is achieved rotate
Inserting needle piercing process, inserting needle motor 1-1 and electric rotating machine 3-2 moves simultaneously, and supersonic vibration mechanism 4 quits work, by adjusting
Inserting needle motor 1-1 and electric rotating machine 3-2 rotating speed, it is achieved puncture needle 5-6 inserting needle speed and the combination of rotary speed, use L-type machine
Wear under the sextuple torque sensor 2 Real-time Collection puncture needle 5-6 various inserting needle speed installed on frame 1-4 and the combination of rotary speed
Thorn force data, obtains inserting needle speed and the combination of rotary speed of less puncture force finally by repetitive measurement.
Supersonic vibration, rotate inserting needle piercing method: inserting needle drive mechanism 1, rotary drive mechanism 3, supersonic vibration mechanism 4 with
Piercing mechanism 5 is applied in combination, it is achieved supersonic vibration, rotation inserting needle piercing process, inserting needle motor 1-1 and electric rotating machine 3-2 is simultaneously
Motion, supersonic vibration mechanism 4 starts working, by adjusting inserting needle motor 1-1 and electric rotating machine 3-2 rotating speed and ultrasonic-frequency power supply 4-
In the change in voltage cycle of 1, it is achieved puncture needle 5-6 inserting needle speed, rotary speed and the combination of frequency of vibration, use L-type frame 1-4
Sextuple torque sensor 2 Real-time Collection puncture needle 5-6 various inserting needle speed, rotary speed and the combination of frequency of vibration of upper installation
Lower puncture force data, obtain the group of inserting needle speed, rotary speed and the frequency of vibration of less puncture force finally by repetitive measurement
Close.
Present embodiment is the exemplary illustration to this patent, does not limit its protection domain, people in the art
Its local can also be changed, as long as no the spirit beyond this patent, all in the protection domain of this patent by member.
Claims (5)
1. supersonic vibration punctures a soft tissue device and method, including: inserting needle drive mechanism (1), rotary drive mechanism (3),
Supersonic vibration mechanism (4) and piercing mechanism (5), described inserting needle drive mechanism (1) is provided with slide unit (1-3), described slide unit (1-
3) L-type frame (1-4), the affixed rotary drive mechanism of described L-type frame (1-4) (3), described rotary drive mechanism (3) are installed
Including electric rotating machine (3-2), the output shaft of electric rotating machine (3-2) passes through shaft coupling affixed supersonic vibration mechanism (4), described ultrasonic
Vibrating mechanism (4) is provided with transducer (4-3), the upper affixed piercing mechanism (5) of transducer (4-3), described inserting needle drive mechanism
(1), rotary drive mechanism (3), supersonic vibration mechanism (4) and piercing mechanism (5) are applied in combination, it is possible to achieve supersonic vibration,
Rotate the piercing method of inserting needle.
The most according to claim 1, a kind of supersonic vibration punctures soft tissue device and method, it is characterised in that: described inserting needle drives
Motivation structure (1) includes inserting needle motor (1-1), the affixed leading screw of the output shaft (1-2) of described inserting needle motor (1-1), described leading screw (1-
2) there is slide unit (1-3) by screw pair connection, when inserting needle motor (1-1) rotates, drive leading screw (1-2) to make revolution fortune
Dynamic, gyration is converted to the linear motion of slide unit (1-4) by leading screw (1-2), real by the adjustment of inserting needle motor (1-1) rotating speed
Now puncturing the control of speed, thus realize the piercing process of puncture needle (5-6) different rates, described inserting needle drive mechanism (1) is also
Including L-type frame (1-4), described L-type frame (1-4) also loads sextuple torque sensor (2), sextuple torque sensor (2)
It is connected with controller, when puncture needle (5-6) is when puncturing soft tissue, the now upper sextuple moment sensing installed of L-type frame (1-4)
Device (2) with Real-time Collection puncture force data, and can transfer data to controller and record.
The most according to claim 1, a kind of supersonic vibration punctures soft tissue device and method, it is characterised in that: described rotation is driven
Motivation structure (3) includes flange (3-1), the upper affixed electric rotating machine (3-2) of described flange (3-1), the output shaft of electric rotating machine (3-2)
By the axle head (4-6) of inversion Y type rod member (4-5) of shaft coupling (3-3) affixed supersonic vibration mechanism (4), work as electric rotating machine
(3-2), when rotating, the axle head (4-6) of inversion Y type rod member (4-5) of supersonic vibration mechanism (4) is driven to make gyration, from
And realize puncture needle (5-6) rotary motion, realize puncture needle (5-6) different rotary by the adjustment of electric rotating machine (3-2) rotating speed
The piercing process of speed.
The most according to claim 1, a kind of supersonic vibration punctures soft tissue device and method, it is characterised in that: described Under Ultrasonic Vibration
Motivation structure (4) includes that ultrasonic-frequency power supply (4-1), described ultrasonic-frequency power supply (4-1) are connected with electrode slice (4-8), and electrode slice (4-8) is installed
In piezoelectric pile (4-9), ultrasonic-frequency power supply (4-1) provides positive and negative alternating voltage alternately, described supersonic vibration to piezoelectric pile (4-9)
Mechanism (4) also includes that rear end cap (4-2), rear end cap (4-2) are provided with piezoelectric pile (4-9), and piezoelectric pile (4-9) is provided with drive end bearing bracket
(4-6), drive end bearing bracket (4-6) is provided with pre-loading screw (4-7), can be with pretension rear end cap (4-2), pressure by pre-loading screw (4-7)
Pile (4-9) and drive end bearing bracket (4-6), it is possible to apply the axial compressive force needed for piezoelectric pile (4-9), on described rear end cap (4-6)
Front end be connected with inversion Y type rod member (4-5), the most affixed transducer in the rear end (4-3) on rear end cap (4-6), transducer (4-3)
Convert electrical energy into mechanical energy.
The most according to claim 1, a kind of supersonic vibration punctures soft tissue device and method, it is characterised in that: described puncture machine
Structure (5) includes that puncture needle retaining device (5-4), described puncture needle retaining device (5-4) are fixed on transducer (4-3), and puncture needle presss from both sides
Holder (5-4) is provided with aperture (5-3), aperture (5-3) is provided with puncture needle (5-6), on described puncture needle retaining device (5-4)
Be additionally provided with spring button (5-5), by spring button (5-5) can the puncture needle of loading, unloading easily (5-6), described puncture needle (5-
6) front end is additionally provided with bracing frame (5-1), and bracing frame (5-1) is provided with fairlead (5-2), described puncture needle (5-6) and guiding
Set (5-2) is set up and is slidably connected, and fairlead (5-2) can it plays support effect to puncture needle (5-6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641727.7A CN106137342B (en) | 2016-08-08 | 2016-08-08 | A kind of ultrasonic vibration puncture soft tissue device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610641727.7A CN106137342B (en) | 2016-08-08 | 2016-08-08 | A kind of ultrasonic vibration puncture soft tissue device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106137342A true CN106137342A (en) | 2016-11-23 |
| CN106137342B CN106137342B (en) | 2019-02-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610641727.7A Expired - Fee Related CN106137342B (en) | 2016-08-08 | 2016-08-08 | A kind of ultrasonic vibration puncture soft tissue device |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106943180A (en) * | 2017-03-31 | 2017-07-14 | 王刚 | Ultrasound guides autoamtic boosting formula epidural puncture accessory system with sound wave |
| CN107184250A (en) * | 2017-07-13 | 2017-09-22 | 中国人民解放军第三军医大学第二附属医院 | A kind of adjustable scalpel and medical operation equipment |
| CN107320156A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The control device and micro-wound operation robot of a kind of ultrasound knife |
| CN107789041A (en) * | 2017-10-31 | 2018-03-13 | 嘉兴复尔机器人有限公司 | A kind of spinal puncture needling mechanism |
| CN108078616A (en) * | 2018-02-02 | 2018-05-29 | 李�浩 | A kind of arteriopuncture guide device and its application method |
| CN108433791A (en) * | 2018-04-26 | 2018-08-24 | 王燕青 | Adjustable needle angle sting device and its system and control method |
| CN108938062A (en) * | 2018-06-06 | 2018-12-07 | 四川大学华西第二医院 | A kind of obstetrics membrane breaking device |
| CN108992143A (en) * | 2018-08-22 | 2018-12-14 | 中国人民解放军陆军军医大学第二附属医院 | A kind of vein puncture device and venipuncture control method |
| CN109394316A (en) * | 2018-12-10 | 2019-03-01 | 济南大学 | A kind of percutaneous automatic vibration sting device |
| CN109846533A (en) * | 2019-02-12 | 2019-06-07 | 北京理工大学 | For fixing the device of puncture needle |
| CN110236647A (en) * | 2019-06-06 | 2019-09-17 | 南京航空航天大学 | A kind of prostate acupuncture mechanism and working method for inside magnetic resonance imager |
| CN111437011A (en) * | 2020-03-30 | 2020-07-24 | 中国科学院深圳先进技术研究院 | Puncture surgery robot system |
| CN111588447A (en) * | 2020-05-20 | 2020-08-28 | 梁雪菲 | Epidural puncture needle inserting device and method for anesthesia department |
| CN112057141A (en) * | 2020-08-19 | 2020-12-11 | 华南理工大学 | Intelligent feedback puncture needle holder |
| WO2021189220A1 (en) * | 2020-03-24 | 2021-09-30 | 中国科学院深圳先进技术研究院 | Ultrasonic puncture needle |
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106943180A (en) * | 2017-03-31 | 2017-07-14 | 王刚 | Ultrasound guides autoamtic boosting formula epidural puncture accessory system with sound wave |
| CN107184250A (en) * | 2017-07-13 | 2017-09-22 | 中国人民解放军第三军医大学第二附属医院 | A kind of adjustable scalpel and medical operation equipment |
| CN107320156A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The control device and micro-wound operation robot of a kind of ultrasound knife |
| CN107789041B (en) * | 2017-10-31 | 2024-03-19 | 嘉兴复尔机器人有限公司 | Spinal puncture needle insertion mechanism |
| CN107789041A (en) * | 2017-10-31 | 2018-03-13 | 嘉兴复尔机器人有限公司 | A kind of spinal puncture needling mechanism |
| CN108078616A (en) * | 2018-02-02 | 2018-05-29 | 李�浩 | A kind of arteriopuncture guide device and its application method |
| CN108433791A (en) * | 2018-04-26 | 2018-08-24 | 王燕青 | Adjustable needle angle sting device and its system and control method |
| CN108938062A (en) * | 2018-06-06 | 2018-12-07 | 四川大学华西第二医院 | A kind of obstetrics membrane breaking device |
| CN108992143A (en) * | 2018-08-22 | 2018-12-14 | 中国人民解放军陆军军医大学第二附属医院 | A kind of vein puncture device and venipuncture control method |
| CN109394316A (en) * | 2018-12-10 | 2019-03-01 | 济南大学 | A kind of percutaneous automatic vibration sting device |
| CN109846533A (en) * | 2019-02-12 | 2019-06-07 | 北京理工大学 | For fixing the device of puncture needle |
| CN110236647A (en) * | 2019-06-06 | 2019-09-17 | 南京航空航天大学 | A kind of prostate acupuncture mechanism and working method for inside magnetic resonance imager |
| WO2021189220A1 (en) * | 2020-03-24 | 2021-09-30 | 中国科学院深圳先进技术研究院 | Ultrasonic puncture needle |
| CN111437011A (en) * | 2020-03-30 | 2020-07-24 | 中国科学院深圳先进技术研究院 | Puncture surgery robot system |
| WO2021196633A1 (en) * | 2020-03-30 | 2021-10-07 | 中国科学院深圳先进技术研究院 | Surgical robot system for performing puncture |
| CN111588447A (en) * | 2020-05-20 | 2020-08-28 | 梁雪菲 | Epidural puncture needle inserting device and method for anesthesia department |
| CN111588447B (en) * | 2020-05-20 | 2021-07-23 | 青岛大学附属医院 | Epidural puncture needle inserting device for anesthesia department |
| CN112057141A (en) * | 2020-08-19 | 2020-12-11 | 华南理工大学 | Intelligent feedback puncture needle holder |
| CN112057141B (en) * | 2020-08-19 | 2021-08-10 | 华南理工大学 | Intelligent feedback puncture needle holder |
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