CN110179537A - A kind of conformal ablation needle of multijaw active having magnetic force control - Google Patents
A kind of conformal ablation needle of multijaw active having magnetic force control Download PDFInfo
- Publication number
- CN110179537A CN110179537A CN201910352164.3A CN201910352164A CN110179537A CN 110179537 A CN110179537 A CN 110179537A CN 201910352164 A CN201910352164 A CN 201910352164A CN 110179537 A CN110179537 A CN 110179537A
- Authority
- CN
- China
- Prior art keywords
- needle
- multijaw
- main needle
- active
- electromagnet coil
- 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.)
- Granted
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1422—Hook
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1465—Deformable electrodes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1467—Probes or electrodes therefor using more than two electrodes on a single probe
Abstract
The invention discloses a kind of conformal ablation needles of multijaw active for having magnetic force control, belong to the field of medical instrument technology, it include: flexible ablating electrode, electromagnet coil, main needle and magnetic part, the quantity of the flexibility ablating electrode and electromagnet coil is N number of, N >=2, N number of flexibility ablating electrode is circumferentially distributed around main needle, and each electromagnet coil is wrapped on a flexible ablating electrode, and magnetic part is fixed on main needle.At work, power and the direction in the magnetic field formed around it can be controlled respectively by size of current in control electromagnet coil and current direction, to control the magnetic force size and Orientation between electromagnet coil and magnetic part, electromagnet coil close to main needle or far from main needle or keeps stablizing with flexible ablating electrode；Thus the motion profile of the conformal ablation needle of control multijaw active, solving the prior art there is technical issues that be unable to control.
Description
Technical field
The invention belongs to the field of medical instrument technology, actively suitable more particularly, to a kind of multijaw for having magnetic force control
Shape ablation needle.
Background technique
In urological cancer, prostate cancer, kidney morbidity and mortality with higher.In global malignant tumour
In, the disease incidence of prostate cancer accounts for male 2, and the death rate accounts for 8, and kidney disease incidence accounts for 11, and the death rate accounts for 17, sternly
Human health is endangered again.Percutaneous transthoracic needle biopsy and ablation are the important technologies of diagnosing and treating prostate cancer and kidney, have damage
Hurt advantage small, that recovery is fast, be concerned in recent years, in the country such as America and Europe by first-line treatment mode.Percutaneous puncture operation
It can effectively improve operation safety, validity compared to artificial puncture, but time-consuming and ablation areas can not for surgical procedure
It controls, inevitably damage adjacent normal tissue.
Percutaneous puncture surgical instrument has a wide range of applications in urinary system operation, and wherein puncture needle includes beveled tip needle, list
Pre- looper in face etc., ablating electrode include polymer electrode, tubular pole etc..However the movement of existing ablating electrode within the organization
Track is unable to control, and is easy to damage adjacent tissue, and make operation have certain difficulty, operation time-consuming.
It can be seen that the prior art there is technical issues that be unable to control.
Summary of the invention
Aiming at the above defects or improvement requirements of the prior art, the present invention provides a kind of multijaw masters for having magnetic force control
Conformal ablation needle is moved, thus solving the prior art there is technical issues that be unable to control.
To achieve the above object, the present invention provides a kind of conformal ablation needles of multijaw active for having magnetic force control, comprising:
Flexible ablating electrode, electromagnet coil, main needle and magnetic part,
The quantity of the flexibility ablating electrode and electromagnet coil is N number of, N >=2, and N number of flexibility ablating electrode circumferentially divides
It is distributed in around main needle, each electromagnet coil is wrapped on a flexible ablating electrode, and magnetic part is fixed on main needle.
Further, the conformal ablation needle of multijaw active further include: connector, the connector are located at below magnetic part,
Connector is fixed on main needle, and the conducting wire at electromagnet coil both ends passes through the pore structure of connector, and flexible ablating electrode, which passes through, to be connected
The latch structure of fitting.
Further, the conformal ablation needle of multijaw active further include: the rigid outer sheath with cannulated sleeve structure, the electromagnetism
The conducting wire at iron coil both ends, flexible ablating electrode and main needle both pass through rigid outer sheath.
Further, the material of flexible ablating electrode is alloy material, semiconductor material or composite material.
Further, the material of main needle is alloy material, and the structure of main needle is capillary hollow structure.
Further, multijaw actively conformal ablation needle at work, the conducting wire and adjustable current source at electromagnet coil both ends
It is connected, the size and Orientation of electric current in electromagnet coil is controlled by adjustable current source, to control electromagnet coil and magnetism
Magnetic force size and Orientation between component so that electromagnet coil with flexible ablating electrode close to main needle or far from main needle or
Person keeps stablizing.
Further, actively at work, the one end of main needle far from magnetic part and radio frequency occur conformal ablation needle multijaw
Device connection generates needed for ablation for causing ion motion electrically charged in the tissue around main needle by radio-frequency signal generator
Temperature.
Further, actively at work, the one end of main needle far from magnetic part drives conformal ablation needle multijaw with first
Motor and the connection of the second driving motor rotate in a circumferential direction to the torsion realization of main needle by the first driving motor, pass through the second driving
Motor moves forward and backward the push-and-pull realization of main needle, at this point, rigid outer sheath is to maintain motionless, main needle and the opposite fortune of rigid outer sheath
It is dynamic.
Further, rigid outer sheath is fined away close to one end of magnetic part, and the outer surface of rigid outer sheath has insulating layer.
Further, multijaw actively conformal ablation needle at work, rigid outer sheath one end and third far from magnetic part
Driving motor connection moves forward and backward the push-and-pull realization of rigid outer sheath by third driving motor, at this point, passing through the second driving electricity
Machine makes winner's needle and rigid outer sheath keep opposing stationary the push-and-pull of main needle.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, can obtain down and show
Beneficial effect:
(1) the present invention provides a kind of conformal ablation needles of multijaw active for having magnetic force control, comprising: flexibility ablation electricity
Pole, electromagnet coil, main needle and magnetic part, at work, by control electromagnet coil in size of current and direction can
The magnetic field formed around it is controlled, to control the magnetic force size and Orientation between electromagnet coil and magnetic part, electromagnetism
Iron coil close to main needle or far from main needle or keeps stablizing with flexible ablating electrode；Thus control multijaw is actively conformal disappears
Melt the motion profile of needle, solving the prior art there is technical issues that be unable to control.
(2) material that flexible ablating electrode of the invention is moderate by rigidity, electric conductivity is good and will not be magnetized is constituted, and is wrapped
Alloy (marmem etc.), semiconductor material, composite material etc. are included, deformation can be generated under external force, is removed outer
Original-shape can be restored to after power.
(3) it is moved forward and backward by the push-and-pull realization to rigid outer sheath and main needle, to adjust the depth punctured；By adjusting electricity
Size of current in magnet coil adjusts the bending amplitude of flexible ablating electrode to change its X deflection angle；By to main needle
The torsion realization of tail end rotates in a circumferential direction.Thus illustrate that actively conformal ablation needle can realize that front and back is axially moved to multijaw of the invention,
Horizontal deflection, rotate in a circumferential direction equal multi-motions.
Detailed description of the invention
Fig. 1 is the local detail structural schematic diagram of the conformal ablation needle of multijaw active provided in an embodiment of the present invention；
Fig. 2 is the overall structure diagram of the conformal ablation needle of multijaw active provided in an embodiment of the present invention；
In all the appended drawings, identical appended drawing reference is used to denote the same element or structure, in which:
1 is the first flexible ablating electrode, and 2 be the first electromagnet coil, and 3 be main needle, and 4 be magnetic part, and 5 be the second electromagnetism
Iron coil, 6 be the second flexible ablating electrode, and 7 be third flexibility ablating electrode, and 8 be third electromagnet coil, and 9 be connector, 10
For rigid outer sheath.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
Not constituting a conflict with each other can be combined with each other.
As shown in Figure 1, a kind of conformal ablation needle of multijaw active for having magnetic force control, comprising: flexible ablating electrode, electromagnetism
Iron coil, main needle 3, magnetic part 4, connector 9 and rigid outer sheath 10.
The material that flexible ablating electrode is moderate by rigidity, electric conductivity is good and will not be magnetized is constituted, including alloy (shape
Memorial alloy etc.), semiconductor material, composite material etc., deformation can be generated under external force, can be restored to after removing external force
Original-shape.
The particular number of flexible ablating electrode can be drafted according to actual needs, the length of every flexible ablating electrode, pre-
Deformed shape, institute can be inconsistent around electromagnet coil circle number, and flexible ablating electrode is circumferentially distributed on main needle.
Electromagnet coil is wrapped on flexible ablating electrode, and connector and magnetic part are fixed on main needle, magnetic part
Above connector, flexible ablating electrode passes through the latch structure of connector, and electromagnet coil both ends conducting wire passes through connector
Pore structure, main needle pass through rigid outer sheath.Rigid outer sheath is the suitable cannulated sleeve of size, can be by materials such as alloys (stainless steel)
Material is constituted, and one end needs to fine away convenient for being pierced into tissue, and surface need to do insulation processing, and main needle can be inserted in rigid outer sheath, and can
Axially movable.Electromagnet coil can be attracted or be repelled each other by magnetic part, make after the controllable electric current of logical upper size and Orientation
Flexible ablating electrode is close to main needle or far from main needle or keeps stablizing.The main needle of original state actually at work is close
One end of magnetic part, flexible ablating electrode are all received in rigid outer sheath.Flexible ablating electrode is received in rigid outer sheath
When can generate deformation, state is close to main needle.
Specifically, flexible ablating electrode includes that the first flexible ablating electrode 6 of flexible ablating electrode 1, second and third are flexible
Ablating electrode 7, electromagnet coil include the first electromagnet coil 2, the second electromagnet coil 5 and third electromagnet coil 8, first
Electromagnet coil is wound on the first flexible ablating electrode, and the second electromagnet coil is wound on the second flexible ablating electrode, third electricity
Magnet coil is wound on third flexibility ablating electrode.Main needle and flexible ablating electrode are made by titanium-based alloy material, and main needle is heavily fortified point
Tough capillary hollow.Its core of electromagnet coil is red copper material, and outer package electro-insulating rubber winds around flexible ablating electrode
Appropriate location.Magnetic part is made by permanent magnet ndfeb alloy material, is hollow cylindric.Rigid outer sheath, by stainless steel
The hollow sleeve that material is made into, one end are fined away, and can be pierced into tissue, while its surface need to do insulation processing, main needle and connection
Flexible ablating electrode on main needle can be inserted in rigid outer sheath, and can be along the axial movement of rigid outer sheath.
As shown in Fig. 2, electromagnet coil both ends conducting wire stretches out rigid outer sheath close to main needle, it is connected with adjustable current source；When
When electromagnet coil is connected, it is can be controlled in the magnetic field formed around it by changing size of current and direction, to control electromagnetism
Magnetic force size and Orientation between iron coil and magnetic part, electromagnet coil is with flexible ablating electrode close to main needle or remote
From main needle or keep stablizing；Size of current and direction on different flexibility ablating electrodes need to be separately controlled.Main backshank end with penetrate
Frequency generator is connected, for causing ion motion electrically charged in tissue, temperature needed for generating ablation；Its main backshank end and
Rigid outer sheath is connected with driving motor respectively.
It is moved forward and backward by the push-and-pull realization to rigid outer sheath and flexible ablating electrode, to adjust the depth punctured；Pass through
It adjusts the size of current in electromagnet coil and adjusts the bending amplitude of flexible ablating electrode to change its X deflection angle；Pass through
It rotates in a circumferential direction to the torsion realization at main backshank end.
The present invention relates to a kind of for carrying out the surgical instrument of tumour ablation treating, and what is proposed has the more of magnetic force control
Actively conformal ablation needle can be by the course of surgery, when to the complete active accommodation of its flexible ablating electrode to adapt to operation for pawl
The different demands of ablation improve accuracy and the safety of operation, reduce the difficulty and time-consuming of operation.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should all include
Within protection scope of the present invention.
Claims (10)
1. a kind of conformal ablation needle of multijaw active for having magnetic force control characterized by comprising flexible ablating electrode, electromagnetism
Iron coil, main needle and magnetic part,
The flexibility ablating electrode and the quantity of electromagnet coil are N number of, N >=2, N number of flexibility ablating electrode it is circumferentially distributed in
Around main needle, each electromagnet coil is wrapped on a flexible ablating electrode, and magnetic part is fixed on main needle.
2. a kind of conformal ablation needle of multijaw active for having magnetic force control as described in claim 1, which is characterized in that described more
The conformal ablation needle of pawl active further include: connector, the connector are located at below magnetic part, and connector is fixed on main needle,
The conducting wire at electromagnet coil both ends passes through the pore structure of connector, and flexible ablating electrode passes through the latch structure of connector.
3. a kind of conformal ablation needle of multijaw active for having magnetic force control as claimed in claim 2, which is characterized in that described more
Pawl actively conformal ablation needle further include: the rigid outer sheath with cannulated sleeve structure, it is the conducting wire at the electromagnet coil both ends, soft
Property ablating electrode and main needle both pass through rigid outer sheath.
4. a kind of conformal ablation needle of multijaw active for having magnetic force control a method according to any one of claims 1-3, which is characterized in that
The material of the flexibility ablating electrode is alloy material, semiconductor material or composite material.
5. a kind of conformal ablation needle of multijaw active for having magnetic force control a method according to any one of claims 1-3, which is characterized in that
The material of the main needle is alloy material, and the structure of main needle is capillary hollow structure.
6. a kind of conformal ablation needle of multijaw active for having magnetic force control a method according to any one of claims 1-3, which is characterized in that
Actively at work, the conducting wire at electromagnet coil both ends is connected conformal ablation needle the multijaw with adjustable current source, by adjustable
Current source controls the size and Orientation of electric current in electromagnet coil, to control the magnetic force between electromagnet coil and magnetic part
Size and Orientation, so that electromagnet coil close to main needle or far from main needle or keeps stablizing with flexible ablating electrode.
7. a kind of conformal ablation needle of multijaw active for having magnetic force control a method according to any one of claims 1-3, which is characterized in that
Actively at work, main needle is connect far from one end of magnetic part with radio-frequency signal generator conformal ablation needle the multijaw, for leading to
It crosses radio-frequency signal generator and causes ion motion electrically charged in tissue around main needle, temperature needed for generating ablation.
8. a kind of conformal ablation needle of multijaw active for having magnetic force control a method according to any one of claims 1-3, which is characterized in that
Actively at work, the one end of main needle far from magnetic part and the first driving motor and second drive conformal ablation needle the multijaw
Motor connection rotates in a circumferential direction to the torsion realization of main needle by the first driving motor, is pushed away by the second driving motor to main needle
Realization is drawn to move forward and backward.
9. a kind of conformal ablation needle of multijaw active for having magnetic force control as claimed in claim 8, which is characterized in that described more
Actively at work, the one end of rigid outer sheath far from magnetic part is connect pawl with third driving motor for conformal ablation needle, by the
Three driving motors move forward and backward the push-and-pull of rigid outer sheath realization, at this point, by the second driving motor to the push-and-pull of main needle so that
Main needle and rigid outer sheath keep opposing stationary.
10. a kind of conformal ablation needle of multijaw active for having magnetic force control as described in claim 3 or 9, which is characterized in that institute
It states rigid outer sheath to fine away close to one end of magnetic part, the outer surface of rigid outer sheath has insulating layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910352164.3A CN110179537B (en) | 2019-04-28 | 2019-04-28 | Multi-claw active conformal ablation needle with magnetic control |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910352164.3A CN110179537B (en) | 2019-04-28 | 2019-04-28 | Multi-claw active conformal ablation needle with magnetic control |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110179537A true CN110179537A (en) | 2019-08-30 |
| CN110179537B CN110179537B (en) | 2020-12-08 |
Family
ID=67715297
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910352164.3A Active CN110179537B (en) | 2019-04-28 | 2019-04-28 | Multi-claw active conformal ablation needle with magnetic control |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110179537B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111584061A (en) * | 2020-04-30 | 2020-08-25 | 北京航空航天大学 | Multi-claw needle automatic puncture control device and method based on model-free adaptive algorithm |
| CN112168343A (en) * | 2020-10-09 | 2021-01-05 | 杭州埃杜医疗科技有限公司 | Disposable RF plasma operation electrode |
| CN113317823A (en) * | 2021-04-22 | 2021-08-31 | 华中科技大学 | Suction cutting type multipoint sampling needle with active deformation function |
| CN114376723A (en) * | 2022-03-25 | 2022-04-22 | 北京微刀医疗科技有限公司 | Irreversible electroporation ablation needle, needle channel ablation device and ablation device |
| WO2023024261A1 (en) * | 2021-08-25 | 2023-03-02 | 浙江大学 | Three-dimensional wireless magnetic robot and control method therefor |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020019655A1 (en) * | 2000-05-22 | 2002-02-14 | Moshe Ein-Gal | Electrosurgical system |
| CN1525839A (en) * | 2001-05-10 | 2004-09-01 | ҽ������ϵͳ����˾ | RF tissue ablation apparatus and method |
| CN1529569A (en) * | 2001-01-19 | 2004-09-15 | ����ҽ����е�ɷݹ�˾ | Device for electrothermal treatment of human or animal body |
| US20080077126A1 (en) * | 2006-09-22 | 2008-03-27 | Rassoll Rashidi | Ablation for atrial fibrillation |
| CN101919730A (en) * | 2009-06-12 | 2010-12-22 | 王兴林 | Ablating electrode |
| CN202113165U (en) * | 2011-06-27 | 2012-01-18 | 北京畅想天行医疗技术有限公司 | Radio-frequency ablation electrode needle |
| US20120197100A1 (en) * | 2011-01-05 | 2012-08-02 | Mehdi Razavi | Guided Ablation Devices, Systems, And Methods |
| CN102885649A (en) * | 2012-08-29 | 2013-01-23 | 中国人民解放军第三军医大学第一附属医院 | Radio frequency cable controlled ablation catheter system for removing sympathetic nerve from kidney |
| WO2015120325A1 (en) * | 2014-02-06 | 2015-08-13 | Acublate, Inc. | Apparatus and method for self-guided ablation |
| CN204734548U (en) * | 2015-06-26 | 2015-11-04 | 么文博 | Magnetic orientation radio frequency melts needle |
| CN105232148A (en) * | 2007-09-14 | 2016-01-13 | 拉热尔技术有限公司 | Prostate cancer ablation |
| CN108433807A (en) * | 2018-03-19 | 2018-08-24 | 华中科技大学 | A kind of flexible ablating electrode having active deformation function and puncture ablation needle |
-
2019
- 2019-04-28 CN CN201910352164.3A patent/CN110179537B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020019655A1 (en) * | 2000-05-22 | 2002-02-14 | Moshe Ein-Gal | Electrosurgical system |
| CN1529569A (en) * | 2001-01-19 | 2004-09-15 | ����ҽ����е�ɷݹ�˾ | Device for electrothermal treatment of human or animal body |
| CN1525839A (en) * | 2001-05-10 | 2004-09-01 | ҽ������ϵͳ����˾ | RF tissue ablation apparatus and method |
| US20080077126A1 (en) * | 2006-09-22 | 2008-03-27 | Rassoll Rashidi | Ablation for atrial fibrillation |
| CN105232148A (en) * | 2007-09-14 | 2016-01-13 | 拉热尔技术有限公司 | Prostate cancer ablation |
| CN101919730A (en) * | 2009-06-12 | 2010-12-22 | 王兴林 | Ablating electrode |
| US20120197100A1 (en) * | 2011-01-05 | 2012-08-02 | Mehdi Razavi | Guided Ablation Devices, Systems, And Methods |
| CN202113165U (en) * | 2011-06-27 | 2012-01-18 | 北京畅想天行医疗技术有限公司 | Radio-frequency ablation electrode needle |
| CN102885649A (en) * | 2012-08-29 | 2013-01-23 | 中国人民解放军第三军医大学第一附属医院 | Radio frequency cable controlled ablation catheter system for removing sympathetic nerve from kidney |
| WO2015120325A1 (en) * | 2014-02-06 | 2015-08-13 | Acublate, Inc. | Apparatus and method for self-guided ablation |
| CN204734548U (en) * | 2015-06-26 | 2015-11-04 | 么文博 | Magnetic orientation radio frequency melts needle |
| CN108433807A (en) * | 2018-03-19 | 2018-08-24 | 华中科技大学 | A kind of flexible ablating electrode having active deformation function and puncture ablation needle |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111584061A (en) * | 2020-04-30 | 2020-08-25 | 北京航空航天大学 | Multi-claw needle automatic puncture control device and method based on model-free adaptive algorithm |
| CN111584061B (en) * | 2020-04-30 | 2022-05-03 | 北京航空航天大学 | Multi-claw needle automatic puncture control device and method based on model-free adaptive algorithm |
| CN112168343A (en) * | 2020-10-09 | 2021-01-05 | 杭州埃杜医疗科技有限公司 | Disposable RF plasma operation electrode |
| CN112168343B (en) * | 2020-10-09 | 2023-05-16 | 杭州埃杜医疗科技有限公司 | Disposable radio frequency plasma operation electrode |
| CN113317823A (en) * | 2021-04-22 | 2021-08-31 | 华中科技大学 | Suction cutting type multipoint sampling needle with active deformation function |
| WO2023024261A1 (en) * | 2021-08-25 | 2023-03-02 | 浙江大学 | Three-dimensional wireless magnetic robot and control method therefor |
| CN114376723A (en) * | 2022-03-25 | 2022-04-22 | 北京微刀医疗科技有限公司 | Irreversible electroporation ablation needle, needle channel ablation device and ablation device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110179537B (en) | 2020-12-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110179537A (en) | A kind of conformal ablation needle of multijaw active having magnetic force control | |
| US11478261B2 (en) | System for treating thrombus in body lumens | |
| US7115124B1 (en) | Device and method for tissue ablation using bipolar radio-frequency current | |
| CN1125620C (en) | Multiple electrode ablation apparatus | |
| US8348940B2 (en) | Methods and systems for focused bipolar tissue ablation | |
| CN105125245A (en) | Auxiliary device used for minimally invasive surgeries and control method of auxiliary device | |
| KR101029256B1 (en) | Medical treatment tool and medical treatment equipment comprising it | |
| US20150182282A1 (en) | Electrode Geometries and Method for Applying Electric Field Treatment to Parts of the Body | |
| US8216232B2 (en) | Ablation probe with echogenic insulative sheath | |
| CN110179538B (en) | Multi-claw conformal ablation needle with nested structure | |
| US10314648B2 (en) | Coaxial ablation probe and method and system for real-time monitoring of ablation therapy | |
| EP2851024B1 (en) | Combined cauterization and stent operation device | |
| WO2006047193A1 (en) | Apparatus for focused bipolar tissue ablation using an insulated shaft | |
| CN101198288A (en) | Device and method for thermal ablation of biological tissue using spherical ablation patterns | |
| CN103442652A (en) | Devices and methods for forming a fistula | |
| US6979330B2 (en) | System for indirectly ablating tissue using implanted electrode devices | |
| JP6014754B2 (en) | Superposition type bipolar electrode for high frequency heat treatment | |
| JP2017521121A (en) | Human body insertion electrode position sensing device and method | |
| CN211750039U (en) | Ablation catheter with mark | |
| CN108433807A (en) | A kind of flexible ablating electrode having active deformation function and puncture ablation needle | |
| CN106821494B (en) | Plasma operation electrode | |
| JP5122442B2 (en) | Apparatus for forming spherical damage | |
| CN203183032U (en) | Bipolar operation electrode apparatus | |
| CN102198016A (en) | Microwave ablation system based on phased array technology | |
| CN210019637U (en) | Magnetic compatible dipole microwave ablation needle |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |