CN110779476B - Device and method for detecting straightness of medical catheter - Google Patents
Device and method for detecting straightness of medical catheter Download PDFInfo
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- CN110779476B CN110779476B CN201911159487.7A CN201911159487A CN110779476B CN 110779476 B CN110779476 B CN 110779476B CN 201911159487 A CN201911159487 A CN 201911159487A CN 110779476 B CN110779476 B CN 110779476B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B17/00—Measuring arrangements characterised by the use of infrasonic, sonic or ultrasonic vibrations
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
Abstract
The invention discloses a device and a method for detecting the straightness of a medical catheter, wherein the device comprises a solution tank, a liquid medium storage tank and a liquid detection tank, wherein the solution tank is used for containing a liquid medium and is in a long strip shape, one side of the solution tank is open, and a cover used for closing the solution tank is arranged on the open side; the bearing part is suspended in the solution tank and is used for bearing the object to be detected and fixing the object to be detected; the ultrasonic transducer is detachably assembled on a guide rail parallel to the bearing part, the guide rail is arranged on the inner wall of the solution tank, a motor for driving the ultrasonic transducer is arranged on the guide rail, the ultrasonic transducer is configured to linearly move along the guide rail in the length direction of the object to be measured and send ultrasonic signals to a plurality of different positions of the object to be measured so as to detect the distance between the ultrasonic transducer and the object to be measured at the plurality of different positions, and the ultrasonic transducer is immersed in the liquid medium; and a signal processing unit that calculates a variance of the distance amount from the distance amounts at the plurality of different positions to calculate a straightness of the object.
Description
Technical Field
The disclosure relates to a device and a method for detecting straightness of a medical catheter.
Background
In the machining of mechanical parts, the actual shape of the part obtained after machining is always in error with respect to the ideal shape, and these errors affect the function of the mechanical product. Among them, the straightness is an important index for measuring an error between an actual shape of a straight line of a part and a shape of an ideal straight line. For this reason, it is a crucial technique to improve the machining process to realize accurate measurement of the straightness.
Patent document (publication No. CN103673848A) discloses a straightness detection device including an equal-height block, an upper flat plate, an upper equal-height bar, a lower flat plate, and a lower equal-height bar, wherein the upper equal-height bar and the lower equal-height bar are fixed to the upper flat plate and the lower flat plate respectively by countersunk bolts, the equal-height block fixes the upper flat plate and the lower flat plate together, and a gap for detecting straightness is formed between the upper equal-height bar and the lower equal-height bar. However, the linearity detecting device according to the above patent document is susceptible to other factors by realizing the linearity detection using a specific mechanical structure, and for example, the mechanical structure used for the measurement is susceptible to deformation due to an excessive number of uses, and it is difficult to realize the linearity detection with high accuracy.
Disclosure of Invention
The present inventors have studied on the conventional straightness detection technology and found that how to realize high-precision detection of straightness is a direction that needs to be improved in the related art. Therefore, the present inventors have been experimenting for many years, and have been able to detect a minute change in an object to be measured by using an ultrasonic transducer, thereby realizing high-precision detection with respect to linearity.
To this end, the present disclosure provides a device for detecting the straightness of a medical catheter, which includes a solution tank for containing a liquid medium, wherein the solution tank is long, one side of the solution tank is open, and the open side is provided with a cover for closing the solution tank; the bearing part is suspended in the solution tank and used for bearing an object to be measured and fixing the object to be measured so that the object to be measured is immersed in the liquid medium, the object to be measured is a medical catheter and is arranged along the length direction of the solution tank; the ultrasonic transducer is detachably assembled on a guide rail parallel to the bearing part, the guide rail is arranged on the inner wall of the solution tank, a motor for driving the ultrasonic transducer is arranged on the guide rail, the ultrasonic transducer is configured to be capable of moving linearly along the guide rail in the length direction of the object to be measured and send ultrasonic signals to a plurality of different positions of the object to be measured so as to detect the distance between the ultrasonic transducer and the object to be measured at the plurality of different positions, and the ultrasonic transducer is immersed in the liquid medium; and a signal processing unit that calculates a variance of the distance amount from the distance amounts at the plurality of different positions to calculate a linearity of the object.
In the present disclosure, the object to be measured is supported by the supporting portion, and the ultrasonic transducer is detachably disposed on the guide rail parallel to the supporting portion, in which case, the ultrasonic transducer can emit and receive the ultrasonic signal reflected from the object to be measured, and the minor deviation of the object to be measured can be detected and the distance amount between the ultrasonic transducer and the object to be measured can be obtained, whereby the signal processing portion can realize the high-precision detection of the straightness accuracy of the object to be measured.
In the detection device according to the present disclosure, the ultrasonic transducer may be further configured to receive the ultrasonic signal reflected by the object to be measured, and the signal processing unit may calculate the distance between the object to be measured and the ultrasonic transducer based on a time interval between the ultrasonic wave emitted from the ultrasonic transducer and the received ultrasonic wave. Under the condition, the ultrasonic signals can be transmitted and received through the liquid medium, so that the sensitivity of the ultrasonic signals is improved, and meanwhile, the interference of the external environment on measurement is reduced, and therefore, the distance between the ultrasonic transducer and the object to be measured can be accurately obtained.
In the detection device according to the present disclosure, the signal processing unit may control a moving speed of the ultrasonic transducer by controlling the motor.
In the detection device according to the present disclosure, the signal processing unit may be disposed outside the solution tank and connected to the ultrasonic transducer via a connection lead. Thus, the ultrasonic signal can be transmitted to the signal processing unit to calculate the straightness.
In the detection device according to the present disclosure, the signal processing unit may have a processing unit that processes an ultrasonic signal. In this case, the signal processing unit can process and calculate information such as a time interval of the ultrasonic signal, thereby obtaining a distance amount between the ultrasonic transducer and the object to be measured.
In the detection device according to the present disclosure, the longitudinal direction of the solution tank may be substantially perpendicular to a horizontal plane, the support portion may be an engagement mechanism provided inside the solution tank, and the object may be fixed to the engagement mechanism so as to be perpendicular to the horizontal plane. In this case, the object to be measured can be fixed to the solution tank substantially perpendicular to the horizontal plane by the engaging mechanism, and thereby the accuracy of measuring the linearity can be improved.
In addition, in the detection apparatus according to the present disclosure, optionally, the medical catheter has a guide wire lumen for guiding a medical guide wire. Thus, the detection device can detect the medical catheter.
In addition, in the detection device according to the present disclosure, optionally, the liquid medium is water. This enables acoustic wave transmission as a good liquid medium.
The disclosure also provides a straightness detection method, which includes preparing an object to be detected, and disposing the object to be detected in a liquid medium having an ultrasonic transducer, a standard surface and a detection line, wherein the detection line is parallel to the standard surface and has a distance; placing the object to be detected along the standard surface; moving the ultrasonic transducer along the detection line and sending ultrasonic signals to a plurality of different positions at intervals in the object to be detected so as to detect the distance amount of the ultrasonic transducer to the object to be detected at the plurality of different positions; and calculating the straightness of the object to be measured according to the distance quantities of the different positions, wherein the object to be measured is a medical catheter. In this case, the distance between the object to be measured and the ultrasonic transducer can be measured by the ultrasonic signal, and a minute deviation of the object to be measured can be detected, whereby the high-precision linearity of the object to be measured can be calculated from the distance amounts at a plurality of different positions.
In addition, in the detection method according to the present disclosure, the plurality of different positions are optionally three different positions. This can improve the reliability of the straightness.
According to the present disclosure, compared to the prior art, the ultrasonic transducer can emit and receive the ultrasonic signal reflected from the object to be measured, and can detect a minute deviation of the object to be measured, thereby enabling high-precision detection of the straightness accuracy of the object to be measured.
Drawings
Fig. 1 is a schematic diagram illustrating a straightness detection device according to embodiment 1 of the present disclosure.
Fig. 2 is a flowchart illustrating a method for detecting straightness according to embodiment 1 of the present disclosure.
Fig. 3 is a schematic diagram showing a straightness detection device according to embodiment 2 of the present disclosure.
Description of reference numerals:
the device comprises a detection device for detecting the straightness of 1 …, a solution tank 10 …, a load-bearing part 20 …, an ultrasonic transducer 30 …, a guide rail 31 …, a signal processing part 40 …, an object to be detected 50 … and a connecting lead 60 ….
Detailed Description
Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, the same components are denoted by the same reference numerals, and redundant description thereof is omitted. The drawings are schematic and the ratio of the dimensions of the components and the shapes of the components may be different from the actual ones.
[ embodiment 1 ]
Fig. 1 is a schematic diagram illustrating a straightness detection device according to embodiment 1 of the present disclosure.
As shown in fig. 1, the present disclosure relates to a straightness detecting apparatus 1. In the present embodiment, the straightness detection device 1 may include a solution tank 10, a carrier 20, an ultrasonic transducer 30, and a signal processing unit 40.
In the straightness detection device 1 according to the present embodiment, the solution tank 10 may be used for containing a liquid medium; the bearing part 20 can be used for bearing the object 50 to be measured and submerging the object 50 to be measured in a liquid medium; the ultrasonic transducer 30 can be immersed in a liquid medium, and can move along the length direction of the object 50 to be measured and send out ultrasonic signals to a plurality of different positions of the object 50 to be measured so as to detect the distance between the ultrasonic transducer 30 and the object 50 to be measured at the plurality of different positions; the signal processing unit 40 can calculate the linearity of the object 50 based on the distance amounts at a plurality of different positions.
In this case, the ultrasonic transducer 30 can emit and receive an ultrasonic signal reflected from the object 50 to be measured, so that a minute deviation of the object 50 to be measured can be detected, whereby high-precision straightness of the object 50 to be measured can be calculated by the signal processing section 40, so that high-precision detection of the straightness of the object to be measured can be realized.
In some examples, the object 50 to be measured may be a guidewire (e.g., a medical guidewire). In other examples, the object 50 to be measured may also be a catheter, for example, a catheter having a guide wire lumen for guiding a medical guide wire. In other examples, the object 50 may be a wire, a rod, a tube, or the like. Thereby, different measurement methods can be selected according to the object 50.
(solution tank)
In some examples, the solution tank 10 may be made of, for example, glass. One side of the solution tank 10 is open to facilitate the liquid medium. The solution tank 10 may be provided with a lid, and the open side of the solution tank 10 may be closed by the lid.
In other examples, the solution tank 10 may be made of plastic, metal, or cement. In this case, the solution tank 10 can be replaced with a solution tank 10 of a different material according to the liquid medium to be stored.
In some examples, the liquid medium is at least one of water, saline, alcohol, vegetable oil, mineral oil, kerosene, glycerin. In addition, since the propagation speeds of the ultrasonic signals in different liquid media are different, the different liquid media can be selected according to different objects 50 to be measured. Further, since the degree of absorption of the ultrasonic wave in the liquid is smaller than that of the gas, the liquid medium is used as a measurement medium of the ultrasonic wave, and the measurement can be performed by using the ultrasonic wave more effectively.
In some examples, the solution tank 10 may have an elongated shape, and the object 50 to be measured is disposed along a length direction of the solution tank 10. Thereby, the object 50 to be measured can be sufficiently immersed in the liquid medium. In some examples, the solution tank 10 may also be irregularly shaped.
In some examples, the solution tank 10 may be a rectangular parallelepiped-shaped tank. The solution tank 10 can hold various liquid media (e.g., water). In other examples, the solution tank 10 may have a circular truncated cone shape, a truncated pyramid shape, a prismatic shape, an irregular shape, or the like. This allows adaptation to different shapes of the object 50.
(carrying part)
In some examples, the carrier 20 may be disposed within the solution tank 10. In other examples, the carrying part 20 may also be configured to be suspended within the solution tank 10. Thus, the contact between the support part 20 and the inner wall of the solution tank 10 can be reduced, and the interference of the inner wall of the solution tank 10 with the object 50 to be measured can be reduced.
In some examples, the carrier portion 20 may have a rectangular parallelepiped shape. This enables the object 50 to be stably supported. In other examples, the bearing part 20 may also be in a circular truncated cone shape, a truncated pyramid shape, a prism shape, an irregular shape, or the like.
In addition, in some examples, the supporting part 20 may further include a fixing member (not shown) for fixing the object 50, so that the object 50 can be fixed to ensure that the object 50 can be well fixed on the supporting part 20.
In some examples, the fixing member may be provided in plurality along the length direction of the carrier 20, thereby enabling to fix the object 50 to be measured on the carrier 20 better. In other examples, the object 50 may be directly adhered to the supporting portion 20. The bonding method is not particularly limited, and the object 50 may be bonded to the carrier 20 by an adhesive tape or a double-sided tape, for example.
(ultrasonic transducer)
As described above, the ultrasonic transducer 30 can transmit ultrasonic waves. Specifically, the ultrasonic transducer 30 converts input electric power (supplied from a power supply source) into mechanical power (i.e., ultrasonic waves), and propagates the ultrasonic waves in a specific direction.
In the present embodiment, the ultrasonic transducer 30 may be connected with a signal processing section 40 (described later) via a connection wire 60. In addition, the ultrasonic transducer 30 is controlled by the signal processing section 40, and emits ultrasonic waves in accordance with a control signal of the signal processor 40. Further, after the ultrasonic wave emitted from the ultrasonic transducer 30 reaches the object 50 to be measured, the ultrasonic wave is reflected by the surface of the object 50 to be measured, the reflected ultrasonic wave is received by the ultrasonic transducer 30, and the signal processing section 40 can easily obtain the distance between the ultrasonic transducer 30 and the object 50 to be measured by detecting the time interval of the ultrasonic wave emitted from the ultrasonic transducer 30.
In the present embodiment, the ultrasonic transducer 30 may be a commercially available ultrasonic instrument. In addition, the wavelength band of the ultrasonic wave generated by the ultrasonic instrument is also not particularly limited.
In some examples, the ultrasonic transducer 30 is configured on a guide rail 31, and the ultrasonic transducer 30 is movable along the guide rail 31 so as to be able to measure for different positions of the object 50 to be measured. Specifically, the ultrasonic transducer 30 may be detachably fitted on the guide rail 31 and movable along the length direction of the guide tube 31.
In some examples, the guide rail 31 is configured to oppose the carrier 20. In some examples, the guide rail 31 may be disposed parallel to the load-bearing part 20. Thereby, the accuracy of the measurement of the ultrasonic transducer 30 can be improved.
In some examples, the guide rail 31 may be provided on an inner wall of the solution tank 10. In some examples, a motor (not shown) for driving the ultrasonic transducer 30 may be further disposed on the guide rail 31, and the ultrasonic transducer 30 can be moved along the guide rail 31 by the motor. In other examples, the motor may be controlled by the signal processing section 40. In this case, the signal processing section 40 may control the speed at which the ultrasonic transducer 30 moves along the detection line by controlling the motor.
In some examples, the ultrasonic transducer 30 may also be used to receive ultrasonic signals reflected via the object 50 to be measured. In this case, the ultrasonic signal can be transmitted and received through the liquid medium, and the ultrasonic wave has good transmission characteristics in the liquid medium, so that the sensitivity of the ultrasonic signal is improved, and the interference of the external environment on the measurement is reduced.
(Signal processing section)
In some examples, the signal processing section 40 calculates a variance of the distance amount based on the distance amounts of a plurality of different positions to calculate the straightness of the object 50 to be measured. This can improve the reliability of the straightness.
In some examples, the signal processing part 40 may be disposed outside the solution tank 10 and connected with the ultrasonic transducer 30 via a connection wire 60 (see fig. 1), for example. This enables the ultrasonic signal to be transmitted to the signal processing unit 40, and the straightness to be calculated.
In the present embodiment, the signal processing section 40 may have a processing unit that processes the obtained ultrasonic signal. In some examples, the signal processing part 40 may calculate the distance between the ultrasonic transducer 30 and the object 50 to be measured by the time interval of the continuously captured ultrasonic signals.
Hereinafter, a method for detecting linearity according to embodiment 1 of the present disclosure will be described in detail with reference to fig. 2. Fig. 2 is a flowchart illustrating a method for detecting straightness according to embodiment 1 of the present disclosure.
In the present embodiment, as shown in fig. 2, the detection method may include preparing an object 50 to be detected, and disposing the object 50 to be detected in a liquid medium having an ultrasonic transducer 30, a standard surface, and detection lines, and the detection lines are parallel to the standard surface with a space therebetween (step S100).
In step S100, the standard surface is formed by the surface on which the bearing part 20 is located, and the detection line is formed by the surface on which the guide rail 31 is located. In the present embodiment, the detection lines are parallel to the standard surface and spaced apart from the standard surface.
As shown in fig. 2, the method for detecting straightness according to the present embodiment may further include placing the object 50 to be measured along the standard surface (step S200); moving the ultrasonic transducer 30 along the detection line and emitting ultrasonic signals to a plurality of different positions of the object 50 to be detected to detect the amount of distance from the ultrasonic transducer 30 to the object 50 to be detected at the plurality of different positions (step S300); and calculates the straightness of the object 50 to be measured from the distance amounts at the plurality of different positions (step S400).
In this case, the distance between the object 50 and the ultrasonic transducer 30 can be measured by the ultrasonic signal, and a minute deviation of the object 50 can be detected, whereby the high-precision linearity of the object 50 can be calculated from the distance measurements at a plurality of different positions.
In step S200, the object 50 may be placed along the standard surface, or the object 50 may be fixed to the standard surface. In some examples, the object 50 to be measured may be fixed to the standard surface via a fixing mechanism.
In step S300, as described above, the ultrasonic transducer 30 may move along the detection line, and thus, the ultrasonic transducer 30 may move along the detection line at an appropriate interval distance and emit ultrasonic signals to a plurality of different positions separated by the interval distance to detect the distance amount of the ultrasonic transducer 30 to the object 50 to be measured at the plurality of different positions. In some examples, the separation distance may vary, i.e., the separation distance between different locations of the object 50 to be measured may vary.
In addition, in step S400, in order to improve the accuracy of the straightness, the distance amounts of the ultrasonic transducers 30 to the object 50 to be measured at different positions may be measured for the object 50 to be measured. By measuring a plurality of times, for example, 3 times or more, the accuracy of the straightness of the object 50 to be measured can be improved.
In addition, in some examples, the variance of the distance amount may be calculated based on the distance amounts of a plurality of different positions to calculate the straightness of the object 50 to be measured. This can improve the reliability of the straightness. In other examples, the signal processing unit 40 may determine the straightness of the object 50 according to a standard deviation, a covariance, a residual, and the like of the distance.
[ 2 nd embodiment ]
Fig. 3 is a schematic diagram showing a straightness detection device according to embodiment 2 of the present disclosure.
As shown in fig. 3, the present embodiment relates to a straightness detection device 1A. The straightness detection device 1A according to the present embodiment is mainly different from the straightness detection device 1 according to embodiment 1 in that: in the present embodiment, the longitudinal direction of the solution tank 10 is arranged along the vertical direction. In this case, the linearity of the object 50 can be calculated efficiently.
In the present embodiment, in some examples, the carrier 20 may be an engagement mechanism 21 and an engagement mechanism 22 provided inside the solution tank 10, and the object 50 to be measured is fixed to the engagement mechanism 21 and the engagement mechanism 22. Specifically, the engagement mechanism 21 and the engagement mechanism 22 may be fixed to the inner wall of the solution tank 10, and the object 50 may be fixed to both the engagement mechanism 21 and the engagement mechanism 22. In this case, the object 50 can be fixed in the solution tank 10 substantially perpendicular to the horizontal plane by the engagement mechanism, whereby the object 50 can be fixed to the mounting portion 20 well, and the accuracy of measurement of the linearity can be improved.
In some examples, the engaging mechanism 21 and the engaging mechanism 22 may be any structure for engaging the object 50 to be measured. In some examples, the engaging mechanism 21 and the engaging mechanism 22 may be provided with claws that match the object 50 to be measured, respectively, to engage the object 50 to be measured at two different positions, respectively.
In addition, in the present embodiment, the carrier 20 may have more engaging mechanisms, for example, 3 or more engaging mechanisms may be provided along the longitudinal direction of the object 50.
While the invention has been specifically described above in connection with the drawings and examples, it will be understood that the above description is not intended to limit the invention in any way. Those skilled in the art can make modifications and variations to the present invention as needed without departing from the true spirit and scope of the invention, and such modifications and variations are within the scope of the invention.
Claims (6)
1. A device for detecting the straightness of a medical catheter is characterized in that,
the ultrasonic cleaning device comprises a solution tank, a bearing part, an ultrasonic transducer and a signal processing part, wherein the solution tank is used for containing liquid media, the solution tank is long-strip-shaped, one side of the solution tank is open, and a cover used for closing the solution tank is arranged on the open side; the bearing part is suspended in the solution tank and used for bearing an object to be measured and fixing the object to be measured so that the object to be measured is immersed in the liquid medium, the object to be measured is a medical catheter and is arranged along the length direction of the solution tank, and the object to be measured is placed along a standard surface formed by the bearing part; the ultrasonic transducer is detachably assembled on a guide rail parallel to the bearing part, the guide rail is arranged on the inner wall of the solution tank, the guide rail is parallel to the standard surface, a motor for driving the ultrasonic transducer is arranged on the guide rail, the ultrasonic transducer is configured to be capable of moving linearly along the guide rail in the length direction of the object to be measured and send ultrasonic signals to a plurality of different positions of the object to be measured in the length direction of one side surface of the ultrasonic transducer facing the object to be measured so as to detect the distance between the ultrasonic transducer and the object to be measured at the plurality of different positions, and the ultrasonic transducer is immersed in the liquid medium; the ultrasonic transducer is also used for receiving the ultrasonic signal reflected by the object to be measured towards one side surface of the ultrasonic transducer, and the signal processing part calculates the distance between the object to be measured and the ultrasonic transducer based on the time interval between the ultrasonic wave emitted by the ultrasonic transducer and the received ultrasonic wave; the signal processing unit is disposed outside the solution tank and connected to the ultrasonic transducer via a connecting wire, calculates a variance of distance amounts from the distance amounts at the plurality of different positions to calculate a linearity of the object, and controls a moving speed of the ultrasonic transducer by controlling the motor.
2. The detection apparatus of claim 1,
the signal processing section has a processing unit that processes an ultrasonic signal.
3. The detection apparatus of claim 1,
the medical catheter has a guidewire lumen for guiding a medical guidewire.
4. The detection apparatus of claim 1,
the liquid medium is water.
5. A method for detecting the straightness of a medical catheter is characterized in that,
the method comprises the following steps:
preparing an object to be detected, and arranging the object to be detected in a liquid medium with an ultrasonic transducer, a standard surface and a detection line, wherein the detection line is parallel to the standard surface and has a distance with the standard surface;
placing the object to be detected along the standard surface and fixing the object to be detected on the standard surface;
moving the ultrasonic transducer along the detection line, and sending ultrasonic signals to a plurality of different positions in the length direction of the object to be detected, wherein the different positions are spaced at intervals, towards one side surface of the ultrasonic transducer, so as to detect the distance between the ultrasonic transducer and the object to be detected, the ultrasonic transducer is further used for receiving the ultrasonic signals reflected towards the one side surface of the ultrasonic transducer by the object to be detected, and the signal processing part calculates the distance between the object to be detected and the ultrasonic transducer based on the time interval between the ultrasonic waves sent out by the ultrasonic transducer and the received ultrasonic waves; and
and calculating the straightness of the object to be measured according to the distance quantities of the different positions, wherein the object to be measured is a medical catheter.
6. The detection method according to claim 5,
the plurality of different positions are three different positions.
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| CN201911159487.7A CN110779476B (en) | 2018-10-19 | 2018-10-19 | Device and method for detecting straightness of medical catheter |
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| CN201911159487.7A CN110779476B (en) | 2018-10-19 | 2018-10-19 | Device and method for detecting straightness of medical catheter |
| CN201811224808.2A CN109459754B (en) | 2018-10-19 | 2018-10-19 | Straightness detection device and method |
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| KR20180056850A (en) * | 2016-11-21 | 2018-05-30 | 김인호 | Apparatus and method for automatic measuring train rail |
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| CN109459754B (en) | 2019-12-20 |
| CN110779476A (en) | 2020-02-11 |
| CN109459754A (en) | 2019-03-12 |
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