CN111888011A - Mammary tissue fixing device based on nuclear magnetic resonance guidance and control method thereof - Google Patents
Mammary tissue fixing device based on nuclear magnetic resonance guidance and control method thereof Download PDFInfo
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- CN111888011A CN111888011A CN202010786454.1A CN202010786454A CN111888011A CN 111888011 A CN111888011 A CN 111888011A CN 202010786454 A CN202010786454 A CN 202010786454A CN 111888011 A CN111888011 A CN 111888011A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000005481 NMR spectroscopy Methods 0.000 title claims abstract description 23
- 210000000481 breast Anatomy 0.000 claims abstract description 32
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 238000003384 imaging method Methods 0.000 claims description 5
- 230000000694 effects Effects 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000004044 response Effects 0.000 claims description 2
- 206010028980 Neoplasm Diseases 0.000 abstract description 19
- 230000008569 process Effects 0.000 abstract description 10
- 238000013461 design Methods 0.000 abstract description 3
- 238000001356 surgical procedure Methods 0.000 abstract 1
- 210000001519 tissue Anatomy 0.000 description 32
- 238000001574 biopsy Methods 0.000 description 5
- 230000005291 magnetic effect Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 3
- 210000004872 soft tissue Anatomy 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000005075 mammary gland Anatomy 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 238000002604 ultrasonography Methods 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 208000026310 Breast neoplasm Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000002595 magnetic resonance imaging Methods 0.000 description 1
- 238000013421 nuclear magnetic resonance imaging Methods 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 210000002307 prostate Anatomy 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000029058 respiratory gaseous exchange Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000000115 thoracic cavity Anatomy 0.000 description 1
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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
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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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Magnetic Resonance Imaging Apparatus (AREA)
Abstract
The invention discloses a mammary tissue fixing device based on nuclear magnetic resonance guidance and a control method thereof, relates to the field of medical robots, and mainly comprises a base, a disc fixing seat, a push rod device and a lifting pneumatic push rod. Four push rod devices are uniformly distributed in the same plane, each push rod device comprises a pneumatic push rod, a push rod bracket, a spring and a screw, and is an execution device which directly acts on the mammary tissue, and the position of the tumor can be adjusted in real time while the mammary tissue is fixed. The invention designs a breast tissue fixing device based on nuclear magnetic resonance guidance and a control method thereof, which are used for assisting a robot in carrying out breast interventional surgery, can realize the function of guiding a tumor to actively move to a puncture path and guiding sensitive tissues to be far away from the puncture path in the surgical process, and improve the puncture precision and the surgical efficiency.
Description
Technical Field
The invention belongs to the field of medical robots, and particularly relates to a mammary tissue fixing device based on nuclear magnetic resonance guidance and a control method thereof.
Background
The breast aspiration biopsy is an effective histological method for examining breast tumors, but the pure manual aspiration of doctors still has many defects, and in the process of a breast aspiration operation, because of the complex interactive deformation mechanism of soft tissues and a puncture needle, the position of a tumor target point can drift, and in order to accurately puncture the tumor target point, doctors need to constantly change the puncture path in the puncture process, even need to withdraw the needle for many times, which not only increases the operation time and the pain of patients, but also causes certain damage to the tissues of the patients. Therefore, the reduction of puncture errors and the improvement of puncture accuracy are important research contents in the field. With the development of modern medical imaging equipment and robot technology, the puncture biopsy operation is more accurate and efficient, imaging equipment commonly used in the breast biopsy operation assisted by the robot comprises Ultrasound (US), nuclear Magnetic Resonance (MRI) and the like, nuclear magnetic resonance guidance is relatively more researched, but the equipment space of the nuclear magnetic resonance is narrow, and the robot or other devices are required to have the conditions of material compatibility, driving compatibility and the like, namely, the robot is placed in a nuclear magnetic compatible instrument and cannot interfere with the imaging effect.
The breast puncture is different from the puncture of the prostate, the thoracic cavity and other parts, the breast is an organ positioned outside a human body, meanwhile, the breast tissue is mostly fat, has larger liquidity and is easier to deform in the puncture process, which is unfavorable for the puncture, so a certain device must be designed to fix the breast puncture, and the deformation of the breast puncture is reduced. The former mammary gland fixing device only plays a role in fixing mammary glands, has single function and occupies a larger space in the nuclear magnetic resonance apparatus.
Disclosure of Invention
The invention provides a mammary tissue fixing device based on nuclear magnetic resonance guidance and a control method thereof to solve the problems. The device mainly comprises a base, a fixed seat, a push rod device and a lifting pneumatic push rod. The push rod device comprises a pneumatic push rod, a push rod bracket, a spring and a screw.
Preferably, the pneumatic push rod that goes up and down is installed on the base, fixing base and the pneumatic push rod fixed connection that goes up and down, and pneumatic push rod that goes up and down plays the effect of lift fixing base, and the push rod device is installed on the fixing base.
Preferably, the execution pressure head is hemispherical, is sleeved on the pneumatic push rod and is in contact with the breast tissue, so that the breast tissue is prevented from being damaged.
Preferably, the pneumatic push rod is sleeved on the push rod bracket and locked through dry friction.
Preferably, the spring is fixedly arranged on the push rod bracket to play a role in positioning; the screw is propped against the push rod bracket and is self-locked with the thread in the screw hole on the fixed seat, so that the effect of locking the push rod bracket is achieved.
Compared with the prior art, the invention has the beneficial effects that: the device realizes fixation of the mammary tissue and reduction of tissue deformation in the puncturing process, and combines the characteristics of the mammary tissue to adopt a reverse thinking, so that the path of the puncturing needle is kept unchanged, the pneumatic push rod can control the tumor target to actively move to the puncturing path and the sensitive tissue to actively keep away from the puncturing path, the puncturing error is reduced, the operation efficiency and safety are improved, the degree of freedom required by robot design is reduced, and the size of the robot is further reduced.
Drawings
The accompanying drawings, which form a part hereof, provide a further understanding of the present application and enable further features, advantages and objects of the application to be apparent from the description, and are included to explain the present application by way of illustration and not by way of limitation.
Fig. 1 is an isometric view of the present invention.
Fig. 2 is a schematic view of a push rod device.
Figure 3 is an isometric view of the holder assembly of the present invention.
Figure 4 is a diagrammatic illustration of a hospital bed.
Fig. 5 is a schematic diagram of the principle of active displacement of the target.
FIG. 6 is a schematic diagram of a pneumatic ram control method.
Detailed Description
In order to make the technical solutions better understood by those skilled in the art, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only partial embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be noted that the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In this application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
As shown in fig. 1 and 2, the present application relates to a mammary tissue fixation device based on nuclear magnetic resonance guidance and a control method thereof, and the device mainly comprises a base 1, a fixed seat 2, a push rod device 3, and a lifting pneumatic push rod 5. The pneumatic push rod 5 that goes up and down is installed on base 1, fixing base 2 and 5 fixed connection of pneumatic push rod go up and down, and push rod device 3 is installed on fixing base 2, and 3 terminal and the contact of mammary tissue 4 of push rod device. The push rod device 3 is composed of a pneumatic push rod 301, a push rod bracket 302, a spring 303, a screw 304 and an actuating pressure head 305. The pneumatic push rod 301 is sleeved on the push rod bracket 302 and locked through dry friction; the spring 303 is fixedly arranged on the push rod bracket 302, and the screw 304 is pressed against the push rod bracket 302; the execution pressure head 305 is sleeved on the push rod of the pneumatic push rod 301, and the execution pressure head 305 is semicircular, so that damage to the tissue when the breast tissue is extruded is avoided.
It should be noted that, as shown in fig. 4, it is a schematic view of a nuclear magnetic resonance hospital bed used in cooperation with the apparatus, during an operation, a patient needs to lie on the prone position on the hospital bed, an operation object (i.e., breast tissue) enters an internal operation environment through a circular opening on the hospital bed, the breast tissue naturally sags due to gravity, a larger operation space is released, and displacement of a target point caused by human breathing is avoided to a certain extent. The breast tissue fixing device based on nuclear magnetic resonance guidance and the control method thereof are required to be placed in a hospital bed.
Fig. 3 is an isometric view of an embodiment of the holder 2 of the present invention to facilitate the reader's better understanding of the present invention.
As shown in fig. 1, the lifting pneumatic push rod 5 is installed on the base 1, the push rod device 3 is installed on the fixing base 2, and technicians of specific models and shapes of the lifting pneumatic push rod 5 and the push rod device 3 in the embodiment of the present invention can select the modules according to actual needs, or the modules can be designed by themselves, and the simplification processing is performed in the embodiment of the present invention. The overall volume and the size of a part of the structure volume of the invention are not described in detail in this embodiment, and a skilled person should rely on the principle that the volume is as small as possible on the premise of satisfying the function.
As shown in fig. 5, which is a schematic view of the active displacement principle of the target point, the linear actuators are uniformly distributed around the breast tissue, and are driven to act on the breast tissue, so as to control the sensitive tissue and the barrier to be far away from the puncture path, and control the tumor target to move below the puncture path. In order to guarantee the real-time performance of nuclear magnetic resonance imaging, the device needs to be matched with a robot for use, not only can the breast tissue be fixed by the device, but also deformation favorable for reducing puncture errors can be applied to the breast tissue, the degree of freedom of posture adjustment of the robot is reduced, and when a technician designs the robot, the required degree of freedom of the robot can be combined with the device, so that the size of the robot is further reduced. It needs to be noted that in the puncture process, the puncture needle can horizontally puncture with the tumor at the same cross section position, only one horizontal puncture degree of freedom is needed with the assistance of the device, and the tumor is not easy to drift out of the puncture horizontal plane; when the path of the puncture needle is at an angle to the cross-section of the tumor, the tumor may drift to other levels, but the device can still control the tumor to move below the puncture path.
In practical application, as shown in fig. 1 and 2, the push rod device 3 is installed in an open slot of the fixed seat 2, the spring 303 presses the inner wall of the open slot of the fixed seat 2, a guide slot embedded with the bottom of the push rod bracket 302 is arranged at the bottom of the open slot of the fixed seat 2, the screw 304 penetrates through a threaded hole on the fixed seat 2 to prop against the push rod bracket 302 of the push rod device 3, and the position of the push rod device 3 is fixed through self-locking of threads; before the puncture execution process, firstly, the position of the breast tissue where the tumor is located is determined through the imaging of a nuclear magnetic resonance instrument in cooperation with medical image processing or a three-dimensional reconstruction technology, the tail end of the pneumatic push rod 301 is adjusted to be located in the same horizontal plane with the section where the tumor is located by controlling the lifting of the lifting push rod 5, at the moment, the position of the push rod device 3 is adjusted by rotating the screw 304 to realize that the tail end of the pneumatic push rod 301 is in contact with the breast tissue 4, and the structure is designed to realize primary positioning and fixing of the breast tissues 4 with different volumes before the tumor displacement function is implemented. Then, by combining a displacement mechanism of a target point (tumor, sensitive tissue or barrier), the PID control algorithm and the nuclear magnetic resonance real-time image are used for controlling the pneumatic push rod 301 to move to squeeze the breast tissue 4 to deform, so that the sensitive tissue can be controlled to be far away from a puncture path in the biopsy puncture process, and the target tumor target point is controlled to move to the position below the puncture path.
Next, a control method of the pneumatic push rod is described, as shown in fig. 6, the control method uses a feed-forward-feedback-based PID control system to control the pneumatic push rod, so as to improve the anti-interference capability of the system. The feedback control is used for controlling the deviation generated after the controlled object is disturbed, and has the limitations of hysteresis and jitter; the feedforward control is to control the disturbance variable and compensate the influence of the disturbance on the controlled variable. The feedforward control is added into the PID feedback control system, so that the main interference of the system can be roughly adjusted, the burden of the feedback system is reduced, the response speed of the control system is further improved, the feedforward control can realize no-difference adjustment, and the oscillation of the system is reduced. Firstly, the doctor obtains the position of a target point through medical images and computer technology, selects a proper puncture path and determines the expected position of the target pointr(t) The nuclear magnetic resonance real-time imaging is used for feeding back the actual position of the target point movementc(t) The difference between the expected position and the actual position is the controlled deviatione(t) The deviation is eliminated by a PID feedback control systeme(t) The output quantity of the pneumatic push rod after the three links of PID operation isx(t). The puncture needle acts on the mammary tissue to makeThe tumor drifts, and the acting force of the puncture needle is regarded as the main interference quantity in the systemy(t) The disturbance variable may be measured by a force sensor, while the disturbance variable may be compensated for by a feedforward controller. The transfer function of the feedforward controller is generally the reciprocal of the transfer function of the controlled object, and the controlled object is viscoelastic soft tissue, so that the study can be simplified into a spring-damping-particle model.
The puncture needle is divided into a rigid needle and a flexible needle, the method for reducing puncture errors of the device is to control the displacement of tumor target points, and the puncture path is required to be unchanged, so the device is suitable for the operation scene of rigid needle puncture, and the most common breast biopsy operation is the thick needle puncture with a thicker diameter, namely the rigid needle puncture.
It should be noted that the whole device needs to have nuclear magnetic compatibility, the linear actuator of this embodiment is the pneumatic push rod, the pneumatic drive has nuclear magnetic compatibility, and under the condition that the nuclear magnetic compatibility is ensured, the technician can also select other drive or transmission modes, for example: wire drive, flexible shaft drive, ultrasonic motor drive, common motor drive, and the like; the device material should be nuclear magnetic compatible material, such as engineering plastics, aluminum alloy, etc., and ferromagnetic material can not be used; for the purpose of controlling the tumor to move in any direction, the number of the linear actuators is at least three, each of which is 120 degrees apart, and four pneumatic push rods 301 are selected in the embodiment, each of which is 90 degrees apart. Because the push rod presses the breast tissue to deform, acting force needs to be applied, so in order to avoid the damage of the human tissue caused by the push force, the maximum threshold value of the push force is determined through a simulation model or a soft tissue experiment.
Claims (6)
1. A mammary tissue fixing device based on nuclear magnetic resonance guidance is characterized in that: the device comprises a base (1), a fixed seat (2), a push rod device (3) and a lifting pneumatic push rod (5), wherein the push rod device (3) comprises a pneumatic push rod (301), a push rod support (302), a spring (303), a screw (304) and an execution pressure head (305).
2. The breast tissue fixation device based on nuclear magnetic resonance guidance as claimed in claim 1, wherein: the lifting pneumatic push rod (5) is installed on the base (1), the fixing seat (2) is fixedly connected with the lifting pneumatic push rod (5), the lifting pneumatic push rod (5) plays a role in lifting the fixing seat (2), and the push rod device (3) is installed on the fixing seat (2).
3. The breast tissue fixation device based on nuclear magnetic resonance guidance as claimed in claim 1, wherein: the execution pressure head (305) is hemispherical and is sleeved on the pneumatic push rod (301) to be in contact with the breast tissue (4), so that the breast tissue (4) is prevented from being damaged.
4. The breast tissue fixation device based on nuclear magnetic resonance guidance as claimed in claim 1, wherein: the pneumatic push rod (301) is sleeved on the push rod support (302) and locked through dry friction.
5. The breast tissue fixation device based on nuclear magnetic resonance guidance as claimed in claim 1, wherein: the spring (303) is fixedly arranged on the push rod bracket (302) to play a role in positioning; the screw (304) is propped against the push rod bracket (302) and is self-locked with the screw thread in the screw hole on the fixed seat (2), so that the effect of locking the push rod bracket is achieved.
6. A control method of a mammary tissue fixing device based on nuclear magnetic resonance guidance is characterized by comprising the following steps: a doctor obtains the position of a target point and selects a proper puncture path through medical images and computer technology, then determines the expected position of the target point, nuclear magnetic resonance real-time imaging is used for feeding back the actual position of the movement of the target point, the difference between the expected position and the actual position is controlled deviation, other conditions causing the displacement of the target point are regarded as the interference of the whole system, a PID control system based on feedforward-feedback is adopted to eliminate the controlled deviation and the interference, and the aim is to improve the anti-interference capability of the system and the response speed of the system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010786454.1A CN111888011A (en) | 2020-08-07 | 2020-08-07 | Mammary tissue fixing device based on nuclear magnetic resonance guidance and control method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010786454.1A CN111888011A (en) | 2020-08-07 | 2020-08-07 | Mammary tissue fixing device based on nuclear magnetic resonance guidance and control method thereof |
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|---|---|---|---|---|
| US20110201965A1 (en) * | 2010-02-18 | 2011-08-18 | John Anthony Hibner | MRI Compatible Biopsy Device |
| US20140088646A1 (en) * | 2012-09-21 | 2014-03-27 | Boston Scientific Neuromodulation Corporation | Tissue fixation delivery apparatus |
| CN204744811U (en) * | 2015-07-21 | 2015-11-11 | 王海玲 | Oncology mammary gland fixing device |
| CN105212995A (en) * | 2015-09-25 | 2016-01-06 | 济南大学 | Linearly precisely puncture robot assisted the device for carrying out said of soft tissue targets in path |
| CN205054373U (en) * | 2015-09-25 | 2016-03-02 | 济南大学 | Supplementary implementation device along accurate puncture soft tissue target of straight path of robot |
| CN108814602A (en) * | 2018-05-07 | 2018-11-16 | 哈尔滨理工大学 | A kind of encircling type breast tissue fixed device under the environment for nuclear-magnetism |
| CN109124634A (en) * | 2018-08-18 | 2019-01-04 | 哈尔滨理工大学 | The fixed device of expanding breast tissue outside a kind of software negative pressure under the environment for nuclear-magnetism |
| CN109965991A (en) * | 2019-04-24 | 2019-07-05 | 天津大学 | Nuclear-magnetism image-guidance planning system based on Special breast clamping device |
| CN109965919A (en) * | 2019-05-10 | 2019-07-05 | 贾守艇 | Breast puncture is with guide locating device provided |
| CN212522048U (en) * | 2020-08-07 | 2021-02-12 | 济南大学 | Mammary tissue fixing device based on nuclear magnetic resonance guidance |
-
2020
- 2020-08-07 CN CN202010786454.1A patent/CN111888011A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110201965A1 (en) * | 2010-02-18 | 2011-08-18 | John Anthony Hibner | MRI Compatible Biopsy Device |
| US20140088646A1 (en) * | 2012-09-21 | 2014-03-27 | Boston Scientific Neuromodulation Corporation | Tissue fixation delivery apparatus |
| CN204744811U (en) * | 2015-07-21 | 2015-11-11 | 王海玲 | Oncology mammary gland fixing device |
| CN105212995A (en) * | 2015-09-25 | 2016-01-06 | 济南大学 | Linearly precisely puncture robot assisted the device for carrying out said of soft tissue targets in path |
| CN205054373U (en) * | 2015-09-25 | 2016-03-02 | 济南大学 | Supplementary implementation device along accurate puncture soft tissue target of straight path of robot |
| CN108814602A (en) * | 2018-05-07 | 2018-11-16 | 哈尔滨理工大学 | A kind of encircling type breast tissue fixed device under the environment for nuclear-magnetism |
| CN109124634A (en) * | 2018-08-18 | 2019-01-04 | 哈尔滨理工大学 | The fixed device of expanding breast tissue outside a kind of software negative pressure under the environment for nuclear-magnetism |
| CN109965991A (en) * | 2019-04-24 | 2019-07-05 | 天津大学 | Nuclear-magnetism image-guidance planning system based on Special breast clamping device |
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| CN212522048U (en) * | 2020-08-07 | 2021-02-12 | 济南大学 | Mammary tissue fixing device based on nuclear magnetic resonance guidance |
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