CN107981872A - The image-guided intervention medical robotic system of multiple degrees of freedom - Google Patents
The image-guided intervention medical robotic system of multiple degrees of freedom Download PDFInfo
- Publication number
- CN107981872A CN107981872A CN201810004331.0A CN201810004331A CN107981872A CN 107981872 A CN107981872 A CN 107981872A CN 201810004331 A CN201810004331 A CN 201810004331A CN 107981872 A CN107981872 A CN 107981872A
- Authority
- CN
- China
- Prior art keywords
- guide rail
- turntable
- pin
- image
- multiple degrees
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000012544 monitoring process Methods 0.000 claims abstract description 10
- 239000002407 tissue scaffold Substances 0.000 claims abstract description 9
- 239000000203 mixture Substances 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 7
- 230000009286 beneficial effect Effects 0.000 claims 1
- 238000003384 imaging method Methods 0.000 claims 1
- 230000003902 lesion Effects 0.000 claims 1
- 238000013152 interventional procedure Methods 0.000 abstract description 5
- 208000027418 Wounds and injury Diseases 0.000 description 4
- 239000008280 blood Substances 0.000 description 4
- 210000004369 blood Anatomy 0.000 description 4
- 230000006378 damage Effects 0.000 description 4
- 208000014674 injury Diseases 0.000 description 4
- 238000010241 blood sampling Methods 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 3
- 230000036544 posture Effects 0.000 description 3
- 210000003462 vein Anatomy 0.000 description 2
- 238000001467 acupuncture Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000001802 infusion Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/153—Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/15—Devices for taking samples of blood
- A61B5/150007—Details
- A61B5/150748—Having means for aiding positioning of the piercing device at a location where the body is to be pierced
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/062—Measuring instruments not otherwise provided for penetration depth
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
Abstract
The invention discloses a kind of image-guided intervention medical robotic system of multiple degrees of freedom, including：Bottom plate, guide rail fixed feet, guide rail 1, guide rail guide rail cross connectivity kit, guide rail 2, the T-shaped connector of guide rail guide rail, guide rail 3, guide rail turntable connecting plate, turntable, turntable turntable connecting plate, turntable guide rail connectivity kit, guide rail 4, fixed block, sensor connecting pole, force snesor, pin tightening column, pin, tissue scaffold seat, tissue, infrared camera, infrared projector, supporting rod；The image-guided intervention medical robotic system of multiple degrees of freedom of the present invention has 6 frees degree, the three-dimensional space position of intervention pin can be changed, and the pitching of pin, and infrared binocular camera image guiding, and energy force feedback so that pin can carry out interventional procedure to the target point of different angle, diverse location.Image monitoring can be operated more precisely, and application field is more extensive.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of image-guided intervention medical robot system of multiple degrees of freedom
System.
Background technology
Realize that the operations such as infusion and blood sampling are one of phenomenons the most universal in current clinical treatment by venipuncture,
But present most of medical spaces still rely on medical staff to complete to puncture and work of taking a blood sample.So, the success of blood sampling
Rate will greatly depend on the experience technical ability of medical staff and the physiological characteristic of patient.The blood sampling person to lack experience is often by pin
Pipe pricks wrong position and medical injury is caused to patient, even and veteran medical staff, they in face of more fat or
When being old young patient, blood collection procedure also can be with higher mortality.According to the relevent statistics, the vein haemospasia process of 20-25%
First pin is failure, it is necessary to the second pin can just be extracted into blood, meanwhile, there are about 2,000,000 to cause acupuncture because of blood drawing every year
The report of injury, also has 40%-75% not report.In this context, intelligentized vein puncture device demand is very
Urgently, research also has important clinical value.
The content of the invention
The image-guided intervention medical robotic system of multiple degrees of freedom of the present invention has 6 frees degree, thus it is possible to vary intervention pin
Three-dimensional space position, and the pitching of pin, and infrared binocular camera image guiding, and can force feedback so that pin can be into
Row different angle, the target point of diverse location carry out interventional procedure.Image monitoring can be operated more precisely, and application field is more
Add extensively.
A kind of multiple degrees of freedom is image-guided to intervene medical robotic system bottom plate, guide rail fixed feet, guide rail 1, guide rail-guide rail
Cross connectivity kit, guide rail 2, the T-shaped connector of guide rail-guide rail, guide rail 3, guide rail-turntable connecting plate, turntable, turntable-turntable connect
Fishplate bar, turntable-guide rail connectivity kit, guide rail 4, fixed block, sensor connecting pole, force snesor, pin tightening column, pin, tissue branch
Support seat, tissue, infrared camera, infrared projector, supporting rod.
A kind of image-guided intervention medical robotic system of multiple degrees of freedom is by position portion, adjusting part, puncture feedback section
Point, monitoring and controlling part, operating platform form.Position portion by guide rail 1, guide rail-guide rail cross connectivity kit, guide rail 2, lead
The T-shaped connector of rail-guide rail, guide rail 3 are sequentially connected composition and are used to adjust needle position, make needle position be conducive to puncture successfully；
Adjust part and be sequentially connected form by, turntable 1, turntable-turntable connecting plate, turntable 2, turntable-guide rail connectivity kit and be used to adjust
Pin angle, influence of the analytic angle to puncture force；Puncture feedback fraction by guide rail 4 (4), fixed block (17), force snesor (16),
Pin tightening column (15), pin (14) are sequentially connected composition, and the rectilinear movement for being used for realization pin punctures, and punctures adopting for force data
Collection；Monitoring and controlling part is made of supporting rod (1), infrared projector (2), infrared camera (3), for monitoring intervention situation, and
System is controlled；Operating platform is made of bottom plate (11), tissue scaffold seat (12) and the tissue (13) that is operated,
It is used to support system and operation object.
The advantage of the invention is that：
1st, the pitch angle and deviation angle of system control pin so that puncturing interventional procedure accurately can smoothly enter tissue
Blood vessel；
2nd, the system is 6DOF system, and the tissue of the different postures in the range of larger space can be handled；
3rd, the system can obtain the data of force snesor in piercing process, obtain the stressing conditions of needle point in real time to protect
Protect injury of the tissue from overvoltage；
4th, the system can puncture speed by controlling, and pin is entered tissue with optimal dynamics；
5th, camera can follow the trail of the position of syringe needle in real time, calculate syringe needle and the range difference of target location, feed back to control
System processed, so as to determine control method.
Brief description of the drawings
Aspect of the present invention and/or additional and advantage will become from the following description of the accompanying drawings of embodiments
Substantially and it is readily appreciated that, wherein：
Fig. 1 is the structure diagram of the image-guided intervention medical robotic system of multiple degrees of freedom of the present invention；
Wherein, in figure：1- supporting rods, 2- infrared projectors, 3- infrared cameras, 4- guide rails 4,5- turn the connection of-platform-turntable
Plate, 6- turntables 2,7- turntables 1,8- guide rails 3,9- guide rails 2,10- guide rails 1,11- bottom plates, 12- tissue scaffolds seat, 13- tissues, 14-
Pin, 15- pin tightenings column, 16- force snesors, 17- fixed blocks, 18- turntables-guide rail connectivity kit, the 19- guide rails-T-shaped connection of guide rail
Part, 20- guide rails-guide rail cross connectivity kit.
Embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention is a kind of image-guided intervention medical robotic system of multiple degrees of freedom, as shown in Figure 1, supporting rod (1), red
Outer projection's instrument (2), infrared camera (3), guide rail 4 (4), turntable-turntable connecting plate (5), turntable 2 (6), turntable 1 (7), guide rail 3
(8), guide rail 2 (9), guide rail 1 (10), bottom plate (11), tissue scaffold seat (12), tissue (13), pin (14), pin tightening column (15),
Force snesor (16), fixed block (17), turntable-guide rail connectivity kit (18), guide rail-the T-shaped connector of guide rail (19), guide rail-are led
Rail cross connectivity kit (20)..
A kind of image-guided intervention medical robotic system of multiple degrees of freedom is by position portion, adjusting part, puncture feedback section
Point, monitoring and controlling part, operating platform form.Position portion by guide rail 1 (10), guide rail-guide rail cross connectivity kit (20), lead
Rail 2 (9), the T-shaped connector of guide rail-guide rail (19), guide rail 3 (8) are sequentially connected composition and are used to adjust needle position, make needle position
Be conducive to puncture successfully；Adjust part by, turntable 1 (7), turntable-turntable connecting plate (5), turntable 2 (6), turntable-guide rail connect
External member (18) is sequentially connected composition and is used for metering needle angle, influence of the analytic angle to puncture force；Feedback fraction is punctured by guide rail 4
(4), fixed block (17), force snesor (16), pin tightening column (15), pin (14) are sequentially connected composition, are used for realization the straight line of pin
It is mobile to puncture, and puncture the collection of force data；Monitoring and controlling part is by supporting rod (1), infrared projector (2), infrared camera
(3) form, be controlled for monitoring intervention situation, and to system；Operating platform by bottom plate (11), tissue scaffold seat (12),
And tissue (13) composition operated, it is used to support system and operation object.
The image-guided intervention medical robotic system of the multiple degrees of freedom can guide the space for changing pin according to image
Position, posture, speed, complete automatic interventional procedure.
The guide rail 4,8,9,10 can adjust length according to actual size of the space.
The guide rail type of drive can select variety classes, servomotor, the stepper motor of different model according to demand
Deng replacement.
It is the supporting rod 1, turntable-turntable connecting plate 5, bottom plate 11, tissue scaffold seat 12, pin 14, pin tightening column 15, solid
Determining the T-shaped connector 19 of block 17, turntable-guide rail connectivity kit 18, guide rail-guide rail, guide rail-guide rail cross connectivity kit 20 can basis
Demand changes its shape and size, can guarantee that its connection function.
The infrared camera 3, infrared projector 2 can select different capacity, different frequency light source according to tissue characteristics.
The force snesor 16 can select variety classes, the force snesor of different model according to the property of operation object.
The course of work
Operation object is placed on tissue scaffold seat.The hot spot pair that infrared binocular camera is irradiated by infrared projector
Operation object carries out three-dimensionalreconstruction, feeds back to master controller.6 servomotors are connected on 6 drivers, and driver meets 20v
Power supply.After the power is turned on, all directly controlled by controller, three servomotor driving guide rails 1, guide rail 2, guide rails 3, into the space of the hand-manipulating of needle
Position adjustment.After appropriate location is reached, servomotor driving turntable 1, turntable 2 rotate, and adjust the spatial attitude of pin, make pin with
It is maintained at same plane between blood vessel, and into an appropriate angle.Servomotor driving guide rail 4 is punctured, and in the mistake of puncture
The size of real-time reception puncture force in journey, to ensure to puncture security and success rate.Force feedback and image feedback during and
Double loop system is formed, is that system is more safe and reliable.
According to an embodiment of the invention, has the following advantages：
1st, the pitch angle and deviation angle of system control pin so that puncturing interventional procedure accurately can smoothly enter tissue
Blood vessel；
2nd, the system is 6DOF system, and the tissue of the different postures in the range of larger space can be handled；
3rd, the system can obtain the data of force snesor in piercing process, obtain the stressing conditions of needle point in real time to protect
Protect injury of the tissue from overvoltage；
4th, the system can puncture speed by controlling, and pin is entered tissue with optimal dynamics；
5th, camera can follow the trail of the position of syringe needle in real time, calculate syringe needle and the range difference of target location, feed back to control
System processed, so as to determine control method.
Claims (5)
1. a kind of image-guided intervention medical robotic system of multiple degrees of freedom, it is characterised in that including supporting rod (1), infrared throwing
Shadow instrument (2), infrared camera (3), guide rail 4 (4), turntable-turntable connecting plate (5), turntable 2 (6), turntable 1 (7), guide rail 3 (8), lead
Rail 2 (9), guide rail 1 (10), bottom plate (11), tissue scaffold seat (12), tissue (13), pin (14), pin tightening column (15), power sensing
Device (16), fixed block (17), turntable-guide rail connectivity kit (18), the T-shaped connector of guide rail-guide rail (19), guide rail-guide rail cross
Connectivity kit (20).
A kind of image-guided intervention medical robotic system of multiple degrees of freedom is by position portion, adjusting part, puncture feedback fraction, prison
Survey control section, operating platform is formed.Position portion is by guide rail 1 (10), guide rail-guide rail cross connectivity kit (20), guide rail 2
(9), the T-shaped connector of guide rail-guide rail (19), guide rail 3 (8) are sequentially connected composition and are used to adjust needle position, there is needle position
Beneficial to puncturing successfully；Adjust part by, turntable 1 (7), turntable-turntable connecting plate (5), turntable 2 (6), turntable-guide rail connector sleeve
Part (18) is sequentially connected composition and is used for metering needle angle, influence of the analytic angle to puncture force；Feedback fraction is punctured by guide rail 4
(4), fixed block (17), force snesor (16), pin tightening column (15), pin (14) are sequentially connected composition, are used for realization the straight line of pin
It is mobile to puncture, and puncture the collection of force data；Monitoring and controlling part is by supporting rod (1), infrared projector (2), infrared camera
(3) form, be controlled for monitoring intervention situation, and to system；Operating platform by bottom plate (11), tissue scaffold seat (12),
And tissue (13) composition operated, it is used to support system and operation object.
2. the image-guided intervention medical robotic system of multiple degrees of freedom according to claim 1, it is characterised in that described
The image-guided intervention medical robotic system of multiple degrees of freedom, binocular is formed by infrared projector (2), two infrared cameras (3)
Imaging system, monitors operating process in real time and is controlled.
3. the image-guided intervention medical robotic system of multiple degrees of freedom according to claim 1, it is characterised in that the system
There are 6 frees degree, the lesion of different spatial, different pitch angles, the different deviations angle can be handled.
4. the image-guided intervention medical robotic system of multiple degrees of freedom according to claim 1, it is characterised in that pass through control
The movement of guide rail 1 (10), guide rail 2 (9), guide rail 3 (8) processed makes pin (14) to be operated to the target of diverse location.
5. the image-guided intervention medical robotic system of multiple degrees of freedom according to claim 1, it is characterised in that be connected to
Force snesor (5) can detect the received power of syringe needle in real time, and different tissues density is different, so that the power to syringe needle is not yet
Together, it may determine that syringe needle reaches which position of tissue according to the change of power.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2017107674282 | 2017-08-31 | ||
| CN201710767428 | 2017-08-31 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107981872A true CN107981872A (en) | 2018-05-04 |
Family
ID=62040772
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810004331.0A Pending CN107981872A (en) | 2017-08-31 | 2018-01-03 | The image-guided intervention medical robotic system of multiple degrees of freedom |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107981872A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110432956A (en) * | 2019-07-26 | 2019-11-12 | 深圳市人民医院 | Vein puncture device |
| CN111671441A (en) * | 2020-04-15 | 2020-09-18 | 杭州杭睿科技有限公司 | Robot draws blood |
| TWI782709B (en) * | 2021-09-16 | 2022-11-01 | 財團法人金屬工業研究發展中心 | Surgical robotic arm control system and surgical robotic arm control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030167061A1 (en) * | 2000-07-01 | 2003-09-04 | Wolfgang Schlegel | Medical device for stereotaxis and patient positioning |
| CN1709205A (en) * | 2004-06-17 | 2005-12-21 | 冯威健 | Image tomograph puncture, biopsy and injection guide device |
| CN102335017A (en) * | 2011-07-12 | 2012-02-01 | 中国科学院深圳先进技术研究院 | Interventional therapy auxiliary mechanical arm |
| CN202821303U (en) * | 2012-08-15 | 2013-03-27 | 王庆源 | Infrared vein display device |
| CN104523230A (en) * | 2014-12-29 | 2015-04-22 | 华中科技大学 | Positioning device for vein puncture needle position |
-
2018
- 2018-01-03 CN CN201810004331.0A patent/CN107981872A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20030167061A1 (en) * | 2000-07-01 | 2003-09-04 | Wolfgang Schlegel | Medical device for stereotaxis and patient positioning |
| CN1709205A (en) * | 2004-06-17 | 2005-12-21 | 冯威健 | Image tomograph puncture, biopsy and injection guide device |
| CN102335017A (en) * | 2011-07-12 | 2012-02-01 | 中国科学院深圳先进技术研究院 | Interventional therapy auxiliary mechanical arm |
| CN202821303U (en) * | 2012-08-15 | 2013-03-27 | 王庆源 | Infrared vein display device |
| CN104523230A (en) * | 2014-12-29 | 2015-04-22 | 华中科技大学 | Positioning device for vein puncture needle position |
Non-Patent Citations (4)
| Title |
|---|
| A. CHEN, K. NIKITCZUK, J. NIKITCZUK, T. MAGUIRE, AND M. L. YARMU: "Portable robot for autonomous venipuncture using 3D near infrared image guidance", 《TECHNOLOGY》 * |
| MAX L. BALTER ; ALVIN I. CHEN ; TIMOTHY J. MAGUIRE ; MARTIN L. Y: "The System Design and Evaluation of a 7-DOF Image-Guided Venipuncture Robot", 《IEEE TRANSACTIONS ON ROBOTICS》 * |
| 修雯雯: "经皮穿刺手术辅助机器人系统研究", 《中国优秀硕士学位论文全文数据库》 * |
| 郭菁莘，高德东，李丽荣: "针穿刺软组织实验与穿刺力力学建模", 《青海大学学报(自然科学版)》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110432956A (en) * | 2019-07-26 | 2019-11-12 | 深圳市人民医院 | Vein puncture device |
| CN110432956B (en) * | 2019-07-26 | 2020-08-18 | 深圳市人民医院 | Venipuncture device |
| CN111671441A (en) * | 2020-04-15 | 2020-09-18 | 杭州杭睿科技有限公司 | Robot draws blood |
| TWI782709B (en) * | 2021-09-16 | 2022-11-01 | 財團法人金屬工業研究發展中心 | Surgical robotic arm control system and surgical robotic arm control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11571258B2 (en) | Path planning method with artificial potential field based on obstacle classification and medical system for steering flexible needle | |
| JP7065593B2 (en) | Systems and methods for inserting surgical tools using multiaxial forces and moment feedback | |
| CN107981872A (en) | The image-guided intervention medical robotic system of multiple degrees of freedom | |
| US11576746B2 (en) | Light and shadow guided needle positioning system and method | |
| JP2019018018A (en) | System and method for surgical tool insertion using multiaxis force and moment feedback | |
| KR101758741B1 (en) | Guiding method of interventional procedure using medical images and system for interventional procedure for the same | |
| CN104997549A (en) | Intelligent bone drill for orthopedic robot | |
| CN111920524A (en) | Remote control stepping puncture robot system and operation method | |
| CN111035437A (en) | Blood vessel auxiliary puncture system, robot, method and storage medium | |
| KR101758740B1 (en) | Guiding method of interventional procedure using medical images and system for interventional procedure for the same | |
| WO2018113617A1 (en) | Nerve block injection device | |
| CN110624152A (en) | Intelligent puncturing device and puncturing method for venous trocar | |
| CN104771232A (en) | Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system | |
| CN108324353B (en) | Surgical robot and puncture point indicating device thereof | |
| CN109758214A (en) | Visual anesthetic puncture drill autofeeder | |
| CN112603498A (en) | Automatic puncture needle placing system | |
| CN106691469A (en) | Puncture mechanism and puncture method | |
| CN102048573B (en) | Double-cross-surface laser-directional minimally-invasive cranial drill | |
| CN113069112A (en) | Automatic blood sampling system | |
| CN107951577A (en) | A kind of auxiliary positioning and mobile monitoring device and method based on dual camera | |
| WO2020142338A1 (en) | Needle insertion into subcutaneous target | |
| CN201624721U (en) | Double-crossed surface laser directed microinvasive cranial drill | |
| CN110404156A (en) | Target control system and method that the clinic sense of seeds implanted robot mechanics reproduces | |
| CN110575235A (en) | puncture surgery system, puncture surgery performing tip, and computer-readable storage medium | |
| WO2023019479A1 (en) | Robot puncture positioning method and apparatus for biliary tract puncture |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20210126 Address after: 100089 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Applicant after: Beijing Kemai Qiyuan Technology Co.,Ltd. Address before: 100876 Beijing city Haidian District Xitucheng Road No. 10 Applicant before: Beijing University of Posts and Telecommunications |
|
| TA01 | Transfer of patent application right | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180504 |
|
| RJ01 | Rejection of invention patent application after publication |