CN110292402B - Prostate puncture device - Google Patents
Prostate puncture device Download PDFInfo
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- CN110292402B CN110292402B CN201910691344.4A CN201910691344A CN110292402B CN 110292402 B CN110292402 B CN 110292402B CN 201910691344 A CN201910691344 A CN 201910691344A CN 110292402 B CN110292402 B CN 110292402B
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- support
- prostate
- rod
- inner rod
- supporting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
- A61B10/0233—Pointed or sharp biopsy instruments
- A61B10/0241—Pointed or sharp biopsy instruments for prostate
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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
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- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
- A61B90/17—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins for soft tissue, e.g. breast-holding devices
Abstract
The invention discloses a prostate puncture device, which relates to the field of medical equipment, and adopts the technical scheme that the prostate puncture device comprises a base, wherein a sliding chute is arranged on the base, the upper side of the base is sequentially connected with a prostate support mechanism and a puncture needle in a sliding manner through the sliding chute, the prostate support mechanism is positioned on the front side of a needle point of the puncture needle, and the prostate support mechanism and the puncture needle are respectively connected with the sliding chute in a sliding manner through a support rod; the prostate supporting mechanism comprises an outer cylinder, the outer cylinder is a hollow cylinder with openings at two ends, and an inner component is sleeved in the outer cylinder; the rear side end of the supporting component is hinged with the front side end of the inner rod. The invention has the beneficial effects that: the device is simple to use, does not have complicated operation steps, the smoother outer cylinder of the device can enter the anus of a patient more easily, and the supporting component of the device can be unfolded after the device enters a human body, so that the pain of a patient is relieved, and the sufficient supporting area and supporting force for the prostate are ensured.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a prostate puncture device.
Background
Prostate cancer is one of common cancers of old men, seriously harms human health, and recent statistics show that the incidence rate of prostate cancer is the sixth most common malignant tumor (new occurrence) and the third most common malignant tumor in men; along with the improvement of the life expectancy of people in China, the change of living structures and the increase of the attention degree of people to the prostate cancer, the attention degree of the prostate cancer is increased, and the disease incidence and the detection rate of the prostate cancer in China are also obviously increased; today, aspiration biopsy of the prostate is the final standard and best-defined method for diagnosing prostate cancer; there are two ways of performing prostate needle biopsy, one through the perineum and the other through the rectum.
Among them, the perineal route predominance: 1, safety. The incidence of serious infection is close to 0%, and no complications of rectal bleeding exist. 2, the tumor of the prostate front tip is easy to detect, the puncture needle enters from the prostate tip, and the blind area of biopsy through the rectum is easy to reach. 3, under the guidance of multi-parameter MRI and transrectal ultrasound, the prostate puncture biopsy is performed by perineum route, which may be a "gold standard" for prostate puncture biopsy.
In perineal puncture, a doctor usually inserts a finger from the anus of a patient, bends the finger in the anus to abut against the prostate through the rectum, and then pierces the puncture needle from the perineum. In order to ensure the stable support of the prostate gland by the doctor, at least two to three fingers are required to extend into the anus, and the process brings great pain to the patient.
Disclosure of Invention
In order to solve the technical problems, the invention provides a prostate puncture device.
The technical scheme includes that the device comprises a base, wherein a sliding groove is formed in the base, the upper side of the base is sequentially connected with a prostate support mechanism and a puncture needle in a sliding mode through the sliding groove, the prostate support mechanism is located on the front side of a needle point of the puncture needle, the prostate support mechanism and the puncture needle are respectively connected with the sliding groove in a sliding mode through a support rod, a sliding block corresponding to the sliding groove is fixedly arranged at the bottom end of the support rod, and the top end of the support rod is connected with the bottom end of; the fixing rings of the two support rods are respectively fixedly sleeved with the prostate support mechanism and the puncture needle;
the prostate supporting mechanism comprises an outer cylinder, the outer cylinder is a hollow cylinder with openings at two ends, and an inner component is sleeved in the outer cylinder; the inner component comprises an inner rod, a support component is arranged at the front side end of the inner rod, namely the end far away from the needle point of the puncture needle, and the rear side end of the support component is hinged with the front side end of the inner rod; the upper surface of the supporting component is hinged with one end of a pull rod, and the other end of the pull rod is hinged with the upper surface of the sleeve rod; the loop bar is sleeved on the periphery of the rear part of the inner rod, and the loop bar is in threaded connection with the rod body of the inner rod.
Preferably, the support assembly comprises a support block hinged to the end portion of the inner rod, the support block is far away from the side surface of the inner rod, a support plate is vertically and fixedly arranged, two sides of the end portion of the support plate are respectively hinged to one end of one support rod, the two support rods are connected through an air bag, an air inlet end of the air bag is arranged at one end, close to the support block, of each support rod, an air pipe penetrates through the inner rod, one end of the air pipe penetrates through the support block and is connected with the air inlet end of the air bag, and the other end of the air pipe extends to one end, close to the puncture needle, of the inner rod and is communicated with an air outlet of the air pump.
Preferably, the airbag comprises fixing parts which are symmetrically and fixedly connected with the two support rods, and a fan-shaped part arranged between the two fixing parts, wherein the fan-shaped part is a folding body with a plurality of grooves formed in two fan-shaped surfaces; the fixed part is communicated with the sector.
Preferably, each support rod is a semicircular strip-shaped cylinder, the circle centers of the two support rods are arranged oppositely, the fixing part of the air bag is in a strip shape, and the two fixing parts are respectively and fixedly arranged in the cylinders of the support rods; the end parts of the two fixing parts are provided with the air inlet ends;
preferably, the cylinder wall of the support rod is provided with a through groove along the axial direction, the air bag further comprises an outer air bag arranged on the outer side of the arc-shaped surface of the support rod, the outer air bag is in a flat strip shape slightly larger than the area of the outer side surface of the support rod, and the outer air bag is communicated with the inside of the fixing part.
Preferably, the side of the outer airbag facing the support bar is fixedly connected to the outer side surface of the support bar, and bonding may be selected here.
Preferably, the inner wall of the outer barrel is symmetrically provided with long grooves, the long grooves are arranged along the axial direction of the outer barrel, the end part of the inner rod is provided with a limiting boss corresponding to the long grooves, the limiting boss is connected with the long grooves in a sliding manner, and the boss plays a role in limiting the inner rod;
the sleeve rod comprises a front part and a rear part which are connected in a rotating way, an upper lug boss is fixedly arranged on the upper side surface of the front part of the sleeve rod, and the sleeve rod is hinged with the end part of the pull rod through the upper lug boss; the rear end of the front part is rotationally connected with the front end surface of the rear part, the rear part of the loop bar is provided with internal threads, and the rear part of the inner bar is correspondingly provided with external threads;
and a rotary handle is fixedly arranged on the periphery of the rear end of the loop bar.
Preferably, a limiting plate is sleeved on the rod body of the loop bar, and the limiting plate comprises an annular ring sleeved outside the loop bar and a baffle arranged in the radial direction of the annular ring; the annular ring is provided with a locking bolt, and the distance from the outer side edge of the baffle to the circular shape of the annular ring is larger than or equal to the radius of the outer barrel.
Preferably, the rear end of the outer barrel is provided with a rear boss, the rear boss and the baffle of the limiting plate are both provided with threaded holes, and the rear boss and the limiting plate are locked through bolts. The limiting plate is used for limiting the length of the inner assembly extending into the outer barrel, and the purpose is achieved through the limiting inner rod, so that the inner assembly is prevented from excessively extending into a human body to cause injury due to misoperation. The inner component and the outer cylinder can be locked into a whole during operation through the bolt locking, and the operation can be omitted for an experienced doctor.
The technical scheme provided by the embodiment of the invention has the following beneficial effects: the device is simple to use, does not have complicated operation steps, the smoother outer cylinder of the device can enter the anus of a patient more easily, and the supporting component of the device can be unfolded after the device enters a human body, so that the pain of a patient is relieved, and the sufficient supporting area and supporting force for the prostate are ensured.
Drawings
Fig. 1 is a schematic overall structure diagram of an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a prostate support mechanism according to an embodiment of the present invention.
Fig. 3 is a top view of fig. 2.
Fig. 4 is a sectional view taken along line a-a of fig. 3.
FIG. 5 is a schematic view of an airbag according to an embodiment of the present invention.
Wherein the reference numerals are: 1. a prostate support mechanism; 101. an outer cylinder; 110. an inner component; 111. an inner rod; 112. a support assembly; 113. a pull rod; 114. a loop bar; 1121. a support block; 1122. a first support bar; 1123. an air bag; 1124. an air tube; 113. a pull rod; 114. a loop bar; 115. turning a handle; 116. a limiting plate; 2. puncturing needle; 3. a first support bar; 31. and (4) fixing the ring.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. Of course, the specific embodiments described herein are merely illustrative of the invention and are not intended to be limiting.
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings, which are merely for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be construed as limiting the invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, the meaning of "a plurality" is two or more unless otherwise specified.
In the description of the invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted", "connected" and "connected" are to be construed broadly, e.g. as being fixed or detachable or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the creation of the present invention can be understood by those of ordinary skill in the art through specific situations.
Example 1
Referring to fig. 1 to 5, the invention provides a prostate puncturing device, wherein a sliding groove is arranged on a base, the upper side of the base is sequentially connected with a prostate supporting mechanism 1 and a puncture needle 2 in a sliding manner through the sliding groove, the prostate supporting mechanism 1 is positioned at the front side of the needle point of the puncture needle 2, the prostate supporting mechanism 1 and the puncture needle 2 are respectively connected with the sliding groove in a sliding manner through a first supporting rod 3, the bottom end of the first supporting rod 3 is fixedly provided with a sliding block corresponding to the sliding groove, and the top end of the first supporting rod is connected with the bottom end of a fixing ring 31 in a spherical hinge manner; the fixing rings 31 of the two first supporting rods 3 are respectively fixedly sleeved with the prostate supporting mechanism 1 and the puncture needle 2;
the prostate supporting mechanism 1 comprises an outer cylinder 101, wherein the outer cylinder 101 is a hollow cylinder with two open ends, and an inner component 110 is sleeved in the outer cylinder 1; the inner component 110 comprises an inner rod 111, and a support component 112 is arranged at the front side end of the inner rod 111, namely, the end far away from the needle point of the puncture needle 2; the rear side end of the support component 112 is hinged with the front side end of the inner rod 111; the upper surface of the supporting component 112 is hinged with one end of a pull rod 113, and the other end of the pull rod 113 is hinged with the upper surface of the loop bar 114; the loop bar 114 is sleeved on the periphery of the rear part of the inner rod 111, and the loop bar 114 is in threaded connection with the rod body of the inner rod 111.
The support component 112 includes a support block 1121 articulated with the end of the inner rod 111, the support block 1121 is away from the side of the inner rod 111, a support plate is vertically and fixedly arranged, two sides of the end of the support plate are respectively articulated with one end of a second support rod 1122, the two second support rods 1122 are connected through an air bag 1123, the air inlet end of the air bag 1123 is arranged at one end of the second support rod 1122 close to the support block 1121, an air pipe 1124 is arranged in the inner rod 111 in a penetrating manner, one end of the air pipe 1124 passes through the support block 1122 and is connected with the air inlet end of the air bag 1123, and the other end of the air pipe 1124 extends to one end of the inner rod 111 close to the puncture needle 2 and is communicated with the air outlet of the air pump.
The airbag 1123 comprises fixing parts which are symmetrically and fixedly connected with the two second supporting rods 1122, and a fan-shaped part which is arranged between the two fixing parts, wherein the fan-shaped part is a folding body with a plurality of grooves formed on two fan-shaped surfaces; the fixed part and the sector are communicated with each other.
Each second support rod 1122 is a semicircular strip-shaped cylinder, the circle centers of the two second support rods 1122 are arranged oppositely, the fixing part of the air bag 1123 is strip-shaped, and the two fixing parts are respectively fixedly arranged in the cylinders of the second support rods 1122; the end parts of the two fixing parts are provided with air inlet ends;
the wall of the second support rod 1122 has a through-slot along its axial direction, and the airbag 1123 further includes an outer airbag disposed outside the arc-shaped surface of the second support rod 1122, the outer airbag being in the form of a flat strip slightly larger than the area of the outer side surface of the second support rod 1122, and the outer airbag being communicated with the inside of the fixing portion. The outer bladder functions to elasticize the outer portion of the distal end and reduce discomfort of the hard second support rod 1122 to the human body.
The side of the outer airbag facing the second support bar 1122 is fixedly connected to the outer side of the second support bar 1122, and may be optionally bonded thereto.
The inner wall of the outer barrel 101 is symmetrically provided with long grooves which are arranged along the axial direction of the outer barrel 101, the end part of the inner rod 111 is provided with a limiting boss corresponding to the long grooves, the limiting boss is connected with the long grooves in a sliding manner, and the boss plays a role in limiting the inner rod 111;
the sleeve rod 114 comprises a front part and a rear part which are connected in a rotating way, an upper lug boss is fixedly arranged on the upper side surface of the front part of the sleeve rod 114 and is hinged with the end part of the pull rod 113 through the upper lug boss; the rear end of the front part is rotationally connected with the front end surface of the rear part, the rear part of the loop bar 114 is provided with internal threads, and the rear part of the inner bar 111 is correspondingly provided with external threads;
a rotary handle 115 is fixedly arranged on the periphery of the rear end of the loop bar 114.
When the device is used, air in the air bag 1123 is pumped out in the initial state of the device, at the moment, because the air does not exist in the air bag, the two second supporting rods 1122 are folded, the relative positions of the inner rod 111 and the loop bar 114 are changed by rotating the rear part of the loop bar 114, and therefore the second supporting rods 1122 and the inner rod 111 are approximately positioned on the same straight line under the action of the pull rod 113, and the supporting component 112 is conveniently collected into the outer cylinder 101. In this state, a disposable isolation diaphragm body is wrapped around the whole device. When the outer cylinder 101 is inserted into the anus of a patient and reaches a proper position, the sleeve rod 114 is pushed, the support component 112 at the end of the inner rod 111 extends out from the end of the outer cylinder 101 under the driving of the sleeve rod 114, the rotary handle 115 is rotated, so that the sleeve rod 114 rotates relative to the inner rod 111 and moves backwards, the support block 1121 is lifted upwards under the action of the pull rod 113, namely the second support rod 1122 is lifted, air is injected into the air sac 1123 through the air pipe 1124, and the second support rod 1122 and the air sac 1123 are unfolded, so that the prostate can be supported from the inside of the rectum of a human body. At this time, the puncture needle 2 is inserted into the perineum, and the prostate puncture can be completed. After the operation is finished, the air pump is controlled to pump out the air in the air bag, and the device can be taken out of the human body after the support assembly 112 returns to the initial state.
Example 2
On the basis of the embodiment 1, different from the embodiment 1, a limiting plate 116 is sleeved on the rod body of the loop bar 114, and the limiting plate 116 comprises an annular ring sleeved outside the loop bar 114 and a baffle arranged in the radial direction of the annular ring; the annular ring is provided with a locking bolt, and the distance from the outer side edge of the baffle to the circular shape of the annular ring is more than or equal to the radius of the outer cylinder 101.
The rear end of the outer cylinder 101 is provided with a rear boss, the rear boss and the baffle of the limiting plate 116 are provided with threaded holes, and the rear boss and the limiting plate 116 are locked by bolts. The limiting plate 116 is used for limiting the length of the inner component 110 extending into the outer barrel 101, and the purpose is achieved through the limiting inner rod 111, so that the inner component is prevented from excessively extending into a human body to cause injury due to misoperation. The inner assembly 110 and the outer cylinder 101 can be locked together by the bolt, but it is not necessary for an experienced doctor to perform this operation.
Example 3
The device can also be used for providing a vision component at the end part of the supporting component 112 on the basis of the prior art, so that the use of medical personnel is more convenient.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A prostate puncture device comprises a base, wherein a sliding chute is arranged on the base, the upper side of the base is sequentially connected with a prostate support mechanism (1) and a puncture needle (2) in a sliding manner through the sliding chute, the prostate support mechanism (1) is positioned at the front side of a needle point of the puncture needle (2), and the prostate puncture device is characterized in that the prostate support mechanism (1) and the puncture needle (2) are respectively connected with the sliding chute in a sliding manner through a first support rod (3), a sliding block corresponding to the sliding chute is fixedly arranged at the bottom end of the first support rod (3), and the top end of the first support rod is connected with the bottom end of a fixing ring (31) in a spherical hinge manner; the fixing rings (31) of the two first supporting rods (3) are respectively fixedly sleeved with the prostate supporting mechanism (1) and the puncture needle (2);
the prostate supporting mechanism (1) comprises an outer cylinder (101), the outer cylinder (101) is a hollow cylinder with openings at two ends, and an inner component (110) is sleeved in the outer cylinder (101); the inner component (110) comprises an inner rod (111), a support component (112) is arranged at the front side end of the inner rod (111), and the rear side end of the support component (112) is hinged with the front side end of the inner rod (111); the upper surface of the supporting component (112) is hinged with one end of a pull rod (113), and the other end of the pull rod (113) is hinged with the upper surface of a sleeve rod (114); the loop bar (114) is sleeved on the periphery of the rear part of the inner rod (111), and the loop bar (114) is in threaded connection with the rod body of the inner rod (111).
2. The prostate puncturing device according to claim 1, wherein the support member (112) comprises a support block (1121) hinged to the end of the inner rod (111), a support plate is vertically and fixedly arranged on the side surface of the support block (1121) far away from the inner rod (111), two sides of the end part of the support plate are respectively hinged with one end of a second support rod (1122), the two second support rods (1122) are connected through an air bag (1123), the air inlet end of the air bag (1123) is arranged at one end, close to the support block (1121), of the second support rod (1122), an air pipe (1124) penetrates through the inner rod (111), one end of the air pipe (1124) penetrates through the supporting block (1121) and is connected with the air inlet end of the air bag (1123), and the other end of the air pipe (1124) extends to one end, close to the puncture needle (2), of the inner rod (111) and is communicated with an air outlet of the air pump.
3. The prostate puncture device according to claim 2, wherein the balloon (1123) comprises two fixed portions symmetrically and fixedly connected to the two second support rods (1122), and a sector portion disposed between the two fixed portions, wherein the sector portion is a folding body with a plurality of grooves formed on two sector surfaces; the fixed part is communicated with the sector.
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CN201910691344.4A CN110292402B (en) | 2019-07-29 | 2019-07-29 | Prostate puncture device |
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CN201910691344.4A CN110292402B (en) | 2019-07-29 | 2019-07-29 | Prostate puncture device |
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CN110292402B true CN110292402B (en) | 2021-08-24 |
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Citations (9)
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CN101632596A (en) * | 2008-07-25 | 2010-01-27 | 哈尔滨理工大学 | Robot for aspiration biopsy of prostatic gland |
FR2980683A1 (en) * | 2011-09-30 | 2013-04-05 | Univ Paris Curie | DEVICE FOR GUIDING A MEDICAL INSTRUMENT INSERTED IN A NATURAL PATH OR AN ARTIFICIAL PATH OF A PATIENT |
CN104720853A (en) * | 2015-04-15 | 2015-06-24 | 三爱医疗科技(深圳)有限公司 | Automatic ultrasonic-guidance prostate biopsy particle implanting system and acupuncture method |
CN204951093U (en) * | 2015-08-25 | 2016-01-13 | 中国人民解放军第三〇七医院 | Two location auxiliary device of prostate puncture |
CN106061417A (en) * | 2014-02-27 | 2016-10-26 | 皇家飞利浦有限公司 | Registration apparatus for interventional procedure |
CN107280712A (en) * | 2017-08-02 | 2017-10-24 | 三爱医疗科技(深圳)有限公司 | Biplane prostate biopsy and seeds implanted system |
CN108135572A (en) * | 2015-07-07 | 2018-06-08 | Zmk医疗技术股份有限公司 | The needle guiding of Perineal approach |
CN207979711U (en) * | 2017-06-26 | 2018-10-19 | 扬州市第一人民医院 | Option of prostate biopsy guided by transrectal ultrasound device |
CN109223056A (en) * | 2018-11-21 | 2019-01-18 | 天津工业大学 | A kind of new type auto prostate biopsy robot with remote center's movement |
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2019
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Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101632596A (en) * | 2008-07-25 | 2010-01-27 | 哈尔滨理工大学 | Robot for aspiration biopsy of prostatic gland |
FR2980683A1 (en) * | 2011-09-30 | 2013-04-05 | Univ Paris Curie | DEVICE FOR GUIDING A MEDICAL INSTRUMENT INSERTED IN A NATURAL PATH OR AN ARTIFICIAL PATH OF A PATIENT |
CN106061417A (en) * | 2014-02-27 | 2016-10-26 | 皇家飞利浦有限公司 | Registration apparatus for interventional procedure |
CN104720853A (en) * | 2015-04-15 | 2015-06-24 | 三爱医疗科技(深圳)有限公司 | Automatic ultrasonic-guidance prostate biopsy particle implanting system and acupuncture method |
CN108135572A (en) * | 2015-07-07 | 2018-06-08 | Zmk医疗技术股份有限公司 | The needle guiding of Perineal approach |
CN204951093U (en) * | 2015-08-25 | 2016-01-13 | 中国人民解放军第三〇七医院 | Two location auxiliary device of prostate puncture |
CN207979711U (en) * | 2017-06-26 | 2018-10-19 | 扬州市第一人民医院 | Option of prostate biopsy guided by transrectal ultrasound device |
CN107280712A (en) * | 2017-08-02 | 2017-10-24 | 三爱医疗科技(深圳)有限公司 | Biplane prostate biopsy and seeds implanted system |
CN109223056A (en) * | 2018-11-21 | 2019-01-18 | 天津工业大学 | A kind of new type auto prostate biopsy robot with remote center's movement |
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