CN111407368B - Be used for CT to perspect and guide full-electric quick release type puncture needle inserter - Google Patents
Be used for CT to perspect and guide full-electric quick release type puncture needle inserter Download PDFInfo
- Publication number
- CN111407368B CN111407368B CN202010134140.3A CN202010134140A CN111407368B CN 111407368 B CN111407368 B CN 111407368B CN 202010134140 A CN202010134140 A CN 202010134140A CN 111407368 B CN111407368 B CN 111407368B
- Authority
- CN
- China
- Prior art keywords
- needle
- puncture needle
- puncture
- clamping
- driving
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus for radiation diagnosis, e.g. combined with radiation therapy equipment
- A61B6/02—Devices for diagnosis sequentially in different planes; Stereoscopic radiation diagnosis
- A61B6/03—Computerised tomographs
Abstract
The invention relates to a full-electric quick-release type puncture needle inserter for CT (computed tomography) perspective guidance, which comprises a main body, a driving part, a clamping part, a guide part and a puncture needle, wherein the main body is provided with a guide hole; the clamping component is used for clamping the puncture needle; the guide component is used for guiding the needle inserting direction of the puncture needle; the driving part is arranged on the main body and used for driving the clamping part to drive the puncture needle to perform puncture. The invention adopts the design of full-electric remote control puncture needle insertion, when the puncture needle reaches a target, the needle holder and the guider can be closed or opened immediately only by pressing the button of the electric appliance, and the time is less than one second; can obviously shorten the operation time and ensure the safety. The release button of the puncture needle can be operated through the foot switch, so that the two hands are prevented from being occupied by pollution, sterile operation is facilitated, and the use is convenient. The invention ensures that a doctor punctures a focus through the remote control needle inserting device in the CT fluoroscopy process, thereby avoiding the damage of X-ray radiation.
Description
Technical Field
The invention relates to a full-electric quick-release puncture needle inserter for CT fluoroscopy guidance, in particular to a needle inserter which is arranged at the tail end of a robot arm and guides puncture by CT fluoroscopy.
Background
The CT intervention is to perform puncture biopsy and treatment on a diseased region by utilizing CT image guided puncture clinically, such as various ablation treatments of tumors, radioactive particle implantation and the like.
The current CT intervention generally adopts a stepping puncture needle insertion mode, i.e., "free-hand puncture". The specific method is that CT scanning is firstly carried out on a patient, a doctor knows the position of a focus by observing a CT image of the patient, the puncture needle is punctured from the skin according to experience, then CT is carried out to determine the position of the puncture needle, needle insertion is continued by continuously adjusting the puncture angle and the puncture direction, the operation is repeated until the puncture needle point reaches the position of the focus in the body of the patient, and then biopsy or treatment is carried out.
The CT perspective guide puncture is a real-time puncture guide technology, the specific method is that the puncture is implemented while continuous CT scanning is carried out on a diseased region of a patient, the needle inserting process of a puncture needle in the body of the patient is dynamically displayed in a CT image, a doctor carries out the puncture operation while observing the dynamic image, and the puncture operation is quicker and more accurate. When the puncture is guided by CT fluoroscopy, the doctor is inevitably harmed by X-ray radiation when operating beside the CT machine. Therefore, the puncture operation implemented by the robot remote control operation is the development direction of the current CT intervention.
The needle inserting device is an electric puncture device and is fixed at the tail end of an arm of a puncture robot. The needle insertion device is different from the needle holder, and the latter only holds the puncture needle and does not puncture. After a doctor quickly punctures the puncture needle to a focus through the remote control needle inserting device under CT fluoroscopy, the puncture needle is immediately released to avoid the influence of respiratory motion on the puncture needle, thereby avoiding the damage of the puncture needle to tissues.
The prior art has the problems that the puncture needle can not be quickly released after being punctured in place, and the fixed puncture can damage the tissue under the action of respiratory motion. In addition, manual opening of the clasp by the physician is time consuming and leads to contamination when performing the sterile procedure.
Disclosure of Invention
Aiming at the problem of the existing quick release design, the invention provides a full-electric quick release type puncture needle inserter for CT perspective guidance.
In order to achieve the above object, the present invention provides a fully electric fast-release type puncture needle inserter for CT fluoroscopy guidance, comprising a main body, a driving part, a clamping part, a guiding part and a puncture needle;
the clamping component is used for clamping the puncture needle;
the guide component is used for guiding the needle inserting direction of the puncture needle;
the driving part is arranged on the main body and used for driving the clamping part to drive the puncture needle to perform puncture.
Further, the clamping component comprises two needle holders; the two needle holders are mutually rotationally connected; the head of the needle holder is provided with a groove and is combined into a clamping hole, and the shape of the clamping hole is matched with that of the puncture needle handle.
Furthermore, electromagnets are installed at the tail parts of the two needle grippers; the magnetic field directions of the electromagnets at the tail parts of the two needle holders are controlled by changing the current direction, so that the two needle holders are controlled to be opened or closed.
Furthermore, the guide part comprises two guides which are rotatably connected, and semicircular grooves are respectively formed in the two guides and combined to form a circular guide hole for guiding the needle inserting direction of the puncture needle.
Further, the connecting ends of the two guides are connected to a movable magnetic pole through a four-bar linkage, a fixed magnetic pole is fixed on the lower panel of the main body, and the movable magnetic pole can slide back and forth on the lower side of the lower panel and drives the two guides to open or close through the four-bar linkage.
Further, the direction of the magnetic field of the movable magnetic pole and the fixed magnetic pole is controlled by changing the direction of the current, and then the two directors are controlled to be opened or closed.
Furthermore, the needle holder and the guider are controlled to be opened or closed through a foot switch, so that the puncture needle is fixed or taken down.
Further, the main body comprises a mechanical arm, a front panel and a lower panel; one end of the mechanical arm is connected with the puncture robot, and the other end of the mechanical arm is fixedly connected with the front panel and the lower panel; rack structures are arranged on two sides of the rear surface of the front panel and used for being meshed with gears of the driving part, a rectangular groove is formed in the middle of the front panel, and the front end of the needle holder extends out of the rectangular groove.
Furthermore, the driving part comprises a driving gear, a driven gear, a mounting seat and a motor;
the motor is fixed on the driving gear, and an output shaft is connected with the driving gear; the driving gear is meshed with the driven gear and respectively meshed with the rack structure of the front panel; the motor can drive the driving gear to drive the driven gear to move along the rack structure;
the mounting seat fixes the clamping component to the driving gear and the driven gear, so that the clamping component can move along the rack structure under the driving of the driving gear and the driven gear.
Furthermore, mounting plates are arranged on two sides of the mounting seat and are respectively in rotating connection with the driving gear and the driven gear; the middle of the mounting seat is provided with a rectangular boss which is inserted into the rectangular groove of the front panel and can slide along the rectangular groove; the top of the rectangular boss is provided with a hole which is fixedly connected with the clamping part.
The technical scheme of the invention has the following beneficial technical effects:
(1) the invention adopts the design of full-electric remote control puncture needle insertion, when the puncture needle reaches a target, the needle holder and the guider can be closed or opened immediately only by pressing the button of the electric appliance, and the time is less than one second; compared with the prior art, the invention can obviously shorten the operation time and reduce the occupation time of expensive medical instruments such as a CT machine, thereby reducing the operation cost.
(2) The release button of the puncture needle can be operated through the foot switch, so that the pollution to both hands is avoided, the sterile operation is facilitated, and the use is convenient.
(3) The doctor punctures the focus through the remote control needle inserting device in the CT fluoroscopy process, and the focus is prevented from being damaged by X-ray radiation.
(4) The invention adopts a symmetrical gear driving structure, thereby ensuring the stability of needle insertion; the guide component is arranged, so that the accuracy of the needle inserting direction is ensured.
Drawings
FIG. 1 is an oblique front view of a piercing needle applicator with the holder and guide in a closed position;
FIG. 2 is a rear oblique view of the needle-piercing applicator with the mechanical arm, rear cover and lower cover removed, with the needle holder and guide in an open position;
FIG. 3 is a rear view of the needle inserter with the mechanical arm, rear cover and lower cover removed and the motor and mounting base removed;
FIG. 4 is a schematic view of a drive unit;
FIG. 5 is a schematic view of the clamping member and the drive member assembled;
fig. 6 is a schematic structural view of the guide member.
In the figure, 1 is a mechanical arm; 2 is a rear cover; 3 is a front panel; 4 is a lower panel; 5 is a lower cover; 6 is a puncture needle; 11,12 are needle holders; 13, 14 are gears; 15 is a mounting seat; 16 is a motor; 21, 22 are guides; 23, 24 are connecting rods; 25 is a movable magnetic pole; 26 is a fixed magnetic pole; 3-1 is a rack structure; 3-2 is a rectangular groove; 15-1 is a rectangular boss; 15-2 and 15-3 are mounting plates on two sides.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The invention provides a full-electric quick-release type puncture needle inserting device for CT perspective guidance, which is combined with figures 1-3 and comprises a main body, a driving part, a clamping part, a guiding part and a puncture needle 6.
The main body comprises a mechanical arm 1, a rear cover 2, a front panel 3, a lower panel 4 and a lower cover 5; one end of the mechanical arm is connected with the puncture robot, and the other end of the mechanical arm is fixedly connected with the front panel 3 and the lower panel 4; referring to fig. 1, a front panel 3 is combined with a rear cover 2 to form a case structure in which a holding member and a driving member are provided; a rectangular groove 3-2 is arranged in the middle of the front panel 3; referring to fig. 2, rack structures 3-1 are arranged on two sides of the rear surface of the front panel 3; the lower panel 4 and the lower cover 5 are combined together in fig. 1 to form a box structure in which the guide member is provided. The driving part comprises two gears 13 and 14, a mounting seat 15 and a motor 16; referring to FIG. 4, mounting plates 15-2 and 15-3 are arranged on two sides of the mounting seat, and holes 15-2 and 15-3 are formed in the mounting plates and are respectively in rotary connection with the two gears; a rectangular boss 15-1 is arranged in the middle of the mounting seat, and the rectangular boss 15-1 is inserted into the rectangular groove 3-2 of the front panel and can slide along the rectangular groove 3-2; the top of the rectangular boss 15-1 is provided with a hole and is fixedly connected with the clamping part; the motor 16 is fixedly connected to the mounting plate on one side of the mounting seat; an output shaft of the motor 16 is connected with a gear; two gears are meshed with each other, one is a driving gear, the other is a driven gear, and the two gears are respectively meshed with a rack structure 3-1 on the front panel, and the figure 3 is combined. Further, the driving gear and the driven gear adopt gears with the same tooth number.
The clamping component comprises two needle holders 11 and 12; the two needle grippers are mutually rotatably connected, and the rotating shaft of the two needle grippers is fixed to the rectangular boss, which is combined with the graph 5; with reference to fig. 2, the head of the needle holder is provided with a groove which is matched with the shape of the handle of the puncture needle 6; the tail parts of the needle holders 11 and 12 are provided with square box structures, and electromagnets are installed in the box structures. Furthermore, by changing the current direction, the magnetic field direction of the electromagnet at the tail of the needle holder can be controlled, and the two needle holders are controlled to be opened or closed.
The guide part comprises two guides 21 and 22, two connecting rods 23 and 24, a movable magnetic pole 25 and a fixed magnetic pole 26, and is combined with the structure shown in FIG. 6; the two guides are mutually connected in a rotating way, and semicircular grooves are respectively arranged on the two guides 21 and 22 and are combined together to form a circular guide hole; one end of each connecting rod is rotatably connected with the guider, and the other end of each connecting rod is rotatably connected with the movable magnetic pole; the movable magnetic pole 25 is arranged at the lower side of the lower panel 4 and can slide back and forth; the fixed magnetic pole 26 is fixedly mounted on the lower side of the lower panel 4. Further, by changing the direction of the current, it is possible to control the magnetic field directions of the movable magnetic pole and the fixed magnetic pole, and further control the two directors to open or close. The shanks of the two guides 21 and 22 and the two links 23 and 24 form a four-bar linkage structure, the movable magnetic pole is fixed at one vertex of the four-bar linkage structure, and the rotating shafts of the guides 21 and 22 are opposite vertices; the movable magnetic pole can drive the four-bar linkage structure to open or close the two guides 21 and 22 when moving along the lower panel 4.
By controlling the opening or closing of the needle holder and the guider, the puncture needle can be fixedly arranged on the needle holder, and the puncture needle can also be taken down from the needle holder.
The puncture needle can be controlled to move forwards and backwards by controlling the steering of the motor, so that the puncture and needle withdrawing operation is realized.
Furthermore, the holder and the guider are made of non-metal materials, so that the holder and the guider do not generate artifacts under CT fluoroscopy and do not influence the observation of a doctor on the puncture needle.
The clamping part of the invention adopts a design similar to a 'pliers', and the head of the needle holder is opened or closed by means of the attraction and the repulsion of the electromagnet arranged at the tail part of the needle holder, so that a doctor can install or take down the puncture needle.
Electromagnets in the clamping part and movable and fixed magnetic poles in the guiding part, the direction of the magnetic field of which depends on the direction of the current, which is controlled by an electrical button; the electric appliance button is placed on the ground, and a doctor can press the electric appliance button by feet to control the opening or closing of the clamping part and the guide part, so that the puncture needle can be installed or removed.
When the puncture is performed, the doctor remotely controls the motor to rotate forward and backward at a far position. The motor drives the gear to rotate, and the gear is meshed with the rack structures 3-1 at the two sides of the back of the front panel through meshing transmission of the two gears, so that the driving module slides up and down along the rectangular groove 3-2 in the middle of the front panel to drive the clamping component and the puncture needle to perform puncture operation. The puncture needle inserting device provided by the invention is fixedly arranged at the tail end of an arm of a puncture robot, the robot is placed beside a CT machine, and a doctor guides a remote-control needle inserting device to puncture by utilizing CT fluoroscopy, so that the harm of X-ray radiation is avoided.
The moving distance L of the puncture needle 6 is controlled by the controller; the number of pulses input by the motor in one rotation is P which is 360/B, and B is the stepping angle of the motor; the number of pulses sent by the controller is n; the radius of a reference circle of the gear is r; then, the moving distance L of the puncture needle is n pi rB/180; the controller controls the moving distance of the puncture needle by controlling the number of the sending pulses.
In summary, the present invention relates to a fully electric fast-release type puncture needle inserter for CT fluoroscopy guidance, comprising a main body, a driving component, a clamping component, a guiding component and a puncture needle; the clamping component is used for clamping the puncture needle; the guide component is used for guiding the needle inserting direction of the puncture needle; the driving part is arranged on the main body and used for driving the clamping part to drive the puncture needle to perform puncture. The invention adopts the design of full-electric remote control puncture needle insertion, when the puncture needle reaches a target, the needle holder and the guider can be closed or opened immediately only by pressing the button of the electric appliance, and the time is less than one second; can obviously shorten the operation time and reduce the occupation time of expensive medical instruments such as a CT machine, thereby reducing the operation cost. The release button of the puncture needle can be operated through the foot switch, so that the pollution to both hands is avoided, the sterile operation is facilitated, and the use is convenient. The doctor punctures the focus through the remote control needle inserting device in the CT fluoroscopy process, and the damage of X-ray radiation is avoided.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (5)
1. A full-electric quick-release type puncture needle inserting device for CT fluoroscopy guidance is characterized by comprising a main body, a driving part, a clamping part, a guiding part and a puncture needle (6);
the clamping component is used for clamping the puncture needle (6);
the guide component is used for guiding the needle inserting direction of the puncture needle (6);
the driving part is arranged on the main body and used for driving the clamping part to drive the puncture needle (6) to perform puncture;
the clamping component comprises two needle holders (11, 12); the two needle holders are mutually rotationally connected; the head of the needle holder is provided with a groove and is combined into a clamping hole, and the shape of the clamping hole is matched with that of the handle of the puncture needle (6);
the guide part comprises two guides (21, 22), the two guides (21, 22) are rotatably connected, semicircular grooves are formed in the two guides (21, 22) respectively and combined to form a circular guide hole, and the needle inserting direction of the puncture needle (6) is guided;
the opening or closing of the needle holders (11, 12) and the guides (21, 22) is controlled through a foot switch to realize the fixation or the removal of the puncture needle;
the connecting ends of the two guides (21, 22) are connected to a movable magnetic pole (25) through a four-bar linkage, a fixed magnetic pole (26) is fixed on the lower panel (4) of the main body, the movable magnetic pole can slide on the lower side of the lower panel (4) in a reciprocating mode, and the two guides (21, 22) are driven to be opened or closed through the four-bar linkage;
by changing the direction of the current, the magnetic field direction of the movable magnetic pole and the fixed magnetic pole is controlled, and the two guides (21, 22) are controlled to be opened or closed.
2. The needle inserter for CT fluoroscopy guided all-electric quick release type puncture according to claim 1, characterized in that two needle holders (11, 12) are tail mounted with electromagnets; by changing the current direction, the magnetic field direction of the electromagnets at the tail parts of the two needle holders (11, 12) is controlled, and then the two needle holders (11, 12) are controlled to be opened or closed.
3. The needle inserter for CT fluoroscopy guided all-electric quick release type piercing according to claim 1 or 2, characterized by that the body comprises a mechanical arm (1), a front panel (3) and a lower panel (4); one end of the mechanical arm is connected with the puncture robot, and the other end of the mechanical arm is fixedly connected with the front panel (3) and the lower panel (4); rack structures (3-1) are arranged on two sides of the rear surface of the front panel (3) and used for being meshed with a gear of the driving part, a rectangular groove (3-2) is formed in the middle of the front panel (3), and the front ends of the needle holders (11, 12) extend out of the rectangular groove (3-2).
4. The needle inserter for CT fluoroscopy guided full-electric quick release type puncture according to claim 3, wherein the driving part comprises a driving gear, a driven gear, a mounting seat (15) and a motor (16);
the motor is fixed on the driving gear, and an output shaft is connected with the driving gear; the driving gear is meshed with the driven gear and is respectively meshed with a rack structure (3-1) of the front panel (3); the motor can drive the driving gear to drive the driven gear to move along the rack structure (3-1);
the mounting seat (15) fixes the clamping part to the driving gear and the driven gear, so that the clamping part can move along the rack structure (3-1) under the driving of the driving gear and the driven gear.
5. The fully-electric quick-release type puncture needle inserter for CT fluoroscopy guided according to claim 4, characterized in that the mounting seat (15) is provided with mounting plates (15-2,15-3) at two sides, which are respectively connected with the driving gear and the driven gear in a rotating way; the middle of the mounting seat is provided with a rectangular boss (15-1), and the rectangular boss (15-1) is inserted into the rectangular groove (3-2) of the front panel and can slide along the rectangular groove (3-2); the top of the rectangular boss (15-1) is provided with a hole and is fixedly connected with the clamping component.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010134140.3A CN111407368B (en) | 2020-03-02 | 2020-03-02 | Be used for CT to perspect and guide full-electric quick release type puncture needle inserter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010134140.3A CN111407368B (en) | 2020-03-02 | 2020-03-02 | Be used for CT to perspect and guide full-electric quick release type puncture needle inserter |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111407368A CN111407368A (en) | 2020-07-14 |
| CN111407368B true CN111407368B (en) | 2022-04-08 |
Family
ID=71486096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010134140.3A Active CN111407368B (en) | 2020-03-02 | 2020-03-02 | Be used for CT to perspect and guide full-electric quick release type puncture needle inserter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111407368B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112494118B (en) * | 2020-12-04 | 2021-07-23 | 上海睿刀医疗科技有限公司 | Multi-needle puncture system |
| CN112674850B (en) * | 2021-01-05 | 2023-09-26 | 上海睿触科技有限公司 | Compact image-guided puncture operation auxiliary system |
| CN113288354B (en) * | 2021-05-14 | 2023-09-22 | 磅客策(上海)智能医疗科技有限公司 | Magnetic needle holder and surgical robot |
| CN115500907A (en) * | 2021-05-24 | 2022-12-23 | 武汉联影智融医疗科技有限公司 | Puncture device and puncture system |
| CN113349896B (en) * | 2021-07-07 | 2022-08-02 | 北京精准医械科技有限公司 | Needle puncture mechanism and puncture surgical robot |
| CN113598897B (en) * | 2021-07-14 | 2024-02-23 | 北京理工大学 | Electric control puncture needle clamping device |
| CN114391961B (en) * | 2021-12-14 | 2023-12-22 | 深圳市爱博医疗机器人有限公司 | Slave end operating device of simple interventional operation robot |
| CN115252142B (en) * | 2022-09-27 | 2022-12-20 | 真健康（北京）医疗科技有限公司 | Surgical navigation positioning robot and quick release type end effector thereof |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6296614B1 (en) * | 1999-04-08 | 2001-10-02 | Rick L. Pruter | Needle guide for attachment to ultrasound transducer probe |
| CN105792767A (en) * | 2013-10-07 | 2016-07-20 | 泰克尼恩研究和发展基金有限公司 | Gripper for robotic image guided needle insertion |
| CN107397665A (en) * | 2017-08-27 | 2017-11-28 | 常俊红 | A kind of medical automatic cupping device |
| CN109171966A (en) * | 2018-09-29 | 2019-01-11 | 微创（上海）医疗机器人有限公司 | Fast replacing device for surgical instrument |
| CN209916095U (en) * | 2019-03-28 | 2020-01-10 | 常州市第二人民医院 | Endoscope needle holder with rotatable needle holding end |
| CN209951390U (en) * | 2019-02-12 | 2020-01-17 | 北京理工大学 | Manipulator end device and lung puncture robot adopting same |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210077814U (en) * | 2019-02-24 | 2020-02-18 | 浙江德尚韵兴医疗科技有限公司 | Automatic needle inserting mechanism for puncture robot |
-
2020
- 2020-03-02 CN CN202010134140.3A patent/CN111407368B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6296614B1 (en) * | 1999-04-08 | 2001-10-02 | Rick L. Pruter | Needle guide for attachment to ultrasound transducer probe |
| CN105792767A (en) * | 2013-10-07 | 2016-07-20 | 泰克尼恩研究和发展基金有限公司 | Gripper for robotic image guided needle insertion |
| CN107397665A (en) * | 2017-08-27 | 2017-11-28 | 常俊红 | A kind of medical automatic cupping device |
| CN109171966A (en) * | 2018-09-29 | 2019-01-11 | 微创（上海）医疗机器人有限公司 | Fast replacing device for surgical instrument |
| CN209951390U (en) * | 2019-02-12 | 2020-01-17 | 北京理工大学 | Manipulator end device and lung puncture robot adopting same |
| CN209916095U (en) * | 2019-03-28 | 2020-01-10 | 常州市第二人民医院 | Endoscope needle holder with rotatable needle holding end |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111407368A (en) | 2020-07-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111407368B (en) | Be used for CT to perspect and guide full-electric quick release type puncture needle inserter | |
| CN210077814U (en) | Automatic needle inserting mechanism for puncture robot | |
| CN212630859U (en) | Puncture needle inserter | |
| EP1044651B1 (en) | Control apparatus for an automated surgical biopsy device | |
| JP4303962B2 (en) | Diagnostic imaging intervention device | |
| CN110960318B (en) | CT guided ablation system and ablation positioning method | |
| EP1983899A1 (en) | Apparatus and method for motorised placement of needle | |
| CN104623797A (en) | Near-distance image navigation full-automatic radioactive particle implanting device | |
| CN108392253B (en) | Automatic puncture device for floor type tumor radioactive particle implantation treatment | |
| CN212699107U (en) | Robot for vascular intervention operation | |
| CN105852939A (en) | Automatic real-time positioning and puncturing robot arm for CT | |
| CN212521854U (en) | Medical instrument | |
| CN111588471A (en) | Robot for vascular intervention operation | |
| CN113598898B (en) | Electric release type puncture needle clamping device | |
| CN112336432A (en) | Master-slave CT perspective guide real-time puncture system and master-slave operation method | |
| CN113274133A (en) | Mammary gland biopsy puncture robot based on MRI environment and use method thereof | |
| CN211534702U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN114391964B (en) | Compact interventional operation robot driving device | |
| CN106725898B (en) | Device for CT-guided puncture biopsy and particle implantation template positioning | |
| CN211534703U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN212346669U (en) | CT-guided puncture combined orienting device | |
| US20230210506A1 (en) | Needle-assisted automated insertion and extraction of implants | |
| CN211534701U (en) | Intervene puncture system and have its diagnosis and treatment equipment | |
| CN110279439A (en) | A kind of biopsy needle and sting device punctured for mechanical arm | |
| CN114917002A (en) | Lung puncture biopsy operation robot and positioning method |
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 |