CN114681066A - Device for controlling rotation of elongate member - Google Patents
Device for controlling rotation of elongate member Download PDFInfo
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- CN114681066A CN114681066A CN202011637453.7A CN202011637453A CN114681066A CN 114681066 A CN114681066 A CN 114681066A CN 202011637453 A CN202011637453 A CN 202011637453A CN 114681066 A CN114681066 A CN 114681066A
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- 238000000429 assembly Methods 0.000 claims abstract description 49
- 238000004891 communication Methods 0.000 claims abstract description 4
- 238000000034 method Methods 0.000 claims description 10
- 230000006978 adaptation Effects 0.000 claims description 2
- 239000013307 optical fiber Substances 0.000 description 5
- 239000000243 solution Substances 0.000 description 5
- 238000002560 therapeutic procedure Methods 0.000 description 5
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 4
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- 210000003625 skull Anatomy 0.000 description 3
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 229910052757 nitrogen Inorganic materials 0.000 description 2
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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
- A61B90/08—Accessories or related features not otherwise provided for
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/067—Measuring instruments not otherwise provided for for measuring angles
Abstract
The present invention provides an apparatus for controlling rotation of an elongate member, comprising: the device comprises at least two groups of sensor assemblies, a rotary driving device and a controller, wherein the controller is in communication connection with the sensor assemblies and the rotary driving device, receives angle information of the sensor assemblies and controls the movement of the rotary driving device, in a use state, the far end of the slender component passes through the non-rigid fixed structure and sequentially passes through a first group of sensor assemblies and a second group of sensor assemblies from the far end to the near end, the first group of sensor assemblies are arranged adjacent to the non-rigid fixed structure and measure the rotation angle of the slender component, the second group of sensor assemblies are arranged at the adjacent position of the rotary driving device and measure the rotation angle of the slender component, and the angle sensor is fixedly connected to a device or structure which does not rotate along with the slender component.
Description
Technical Field
The present invention relates to medical devices, and in particular to a device for controlling rotation of an elongate member.
Background
At present, minimally invasive interventional therapy has significant advantages and application prospects for various diseases, and when minimally invasive interventional therapy is carried out, a slender surgical instrument device needs to be used as an interventional tool to enter a human body for treatment, for example: the slender surgical instrument device can be an optical fiber, a liquid nitrogen conduit, a water vapor injection conduit, a radio frequency probe or the like, particularly a directional light-emitting optical fiber requiring accurate direction positioning and the like, and has high precision requirement on rotation.
When minimally invasive interventional therapy is carried out, a slender surgical instrument device needs to be driven to rotate, however, under the condition that the tail end is not rigidly constrained, for example, a rubber plug and the like are used, the slender surgical instrument device can deform to a certain degree due to the fact that the length of the slender surgical instrument device is long, and therefore rotational stress exists in the rotating direction, after the rotating angle of the far end of the slender surgical instrument device reaches a target angle, due to the fact that the rotational stress is slowly released, under the condition that external force is applied, the far end of the slender surgical instrument device can continuously rotate, the rotating angle is changed, unstable and inaccurate, the requirement for treatment cannot be met, and the effect of minimally invasive interventional therapy is further influenced.
Disclosure of Invention
The present invention provides a means of controlling the rotation of an elongate member with high precision to solve or mitigate the problems described above. The specific technical scheme is as follows:
in a first aspect, the present invention provides an apparatus for controlling rotation of an elongate member, comprising:
at least two sets of sensor assemblies, the sensor assemblies including angle sensors;
a rotary drive device that drives the elongate member in rotation;
the controller is in communication connection with the sensor assembly and the rotary driving device, receives angle information of the sensor assembly, controls movement of the rotary driving device, and can also receive control information input;
in the use state, the distal end of the slender component passes through the non-rigid fixed structure, and the device can enable the rotation angle of the slender component at different sensors to be kept the same or basically the same, and accurate rotation control of the slender component is achieved.
In some embodiments, the apparatus for controlling rotation of an elongate member of the present invention comprises a first set of sensor assemblies and a second set of sensor assemblies, and the controller may cause the first set of sensor assemblies and the second set of sensor assemblies to measure the same or substantially the same angle of rotation of the elongate member.
Further, in a use state, the elongated member passes through a first set of sensor components and a second set of sensor components in sequence from the distal end to the proximal end, the first set of sensor components is arranged adjacent to the non-rigid fixed structure and measures the rotation angle of the elongated member, the second set of sensor components is arranged adjacent to the rotation driving device and measures the rotation angle of the elongated member, and the angle sensor is fixedly connected to a device or structure which does not rotate along with the elongated member.
In these embodiments, making the angles measured by the first and second sets of sensor elements the same or substantially the same is accomplished by reducing or eliminating stress buildup from deformation of the elongated member between the first and second sets of sensor elements such that the distal end of the elongated member does not rotate after the distal end of the elongated member has been rotated to a target angle.
Specific methods of using the controller to regulate the movement of the elongated member include, but are not limited to, the following two examples:
the first method comprises the following steps: during use, the controller enables the elongated member to rotate towards one direction through the rotation driving device, when the elongated member measured by the first group of sensor assemblies rotates to reach a preset angle, the controller receives and records the rotation of the elongated member measured by the second group of sensor assemblies at the moment, and simultaneously controls the rotation driving device to stop rotating and rotate reversely to enable the elongated member nearby the second group of sensor assemblies to rotate reversely by an angle, wherein the angle is an absolute value of a difference value between the second angle and the first angle.
And the second method comprises the following steps: during use, the controller enables the elongated member to rotate in one direction through the rotation driving device, when the first group of sensor assemblies measure that the elongated member starts to rotate, the rotation angle measured by the second group of sensor assemblies is recorded, and when the elongated member measured by the first group of sensor assemblies rotates to reach a preset angle, the rotation driving device is controlled to stop rotating and rotate in the opposite direction, so that the elongated member near the second group of sensor assemblies rotates in the opposite direction.
In still other embodiments of the present invention, the sensor assembly of the apparatus for controlling rotation of an elongated member further comprises a rotational positioning device, such that the elongated member can move along a longitudinal axis while measuring an angle, the rotational positioning device in a use state clamps the elongated member, the elongated member rotates the rotational positioning device, and the angle sensor detects the rotational angle of the rotational positioning device and sends the rotational angle to the controller.
Further, the rotary positioning device comprises a main body, at least one adjustable jacking device, two bearings, a first shaft and a second shaft; the side of main part is provided with two holes, the one end of main part is provided with the recess, the recess will respectively two holes divide into two parts, the tank bottom of recess is provided with the through-hole, an terminal surface of main part be provided with can move the first hole of roof pressure ware adaptation, be close to in two holes one in the first hole with first hole intercommunication, two bearings set up in the recess, the primary shaft passes one of two bearings set up in one of two holes is downthehole, the secondary shaft passes another bearing in two bearings set up in another in two holes is downthehole, can move the roof pressure ware set up in first downthehole, long and thin component set up in between the first bearing with the secondary shaft bearing and pass the through-hole of tank bottom.
The remote end of main part is provided with the arch, the arch is provided with the through-hole, bellied through-hole with the through-hole intercommunication of tank bottom, long and thin component passes bellied through-hole, angle sensor is provided with the card hole, the arch with card hole joint.
In other embodiments of the present invention, the means for controlling rotation of the elongate member further comprises a sleeve that maintains a length of the elongate member between the first set of sensor assemblies and the second set of sensor assemblies fixed, allowing the elongate member to rotate therein about and move along the long axis.
Further, the first and second sets of sensor assemblies may be fixedly attached to a device or structure that does not rotate with the elongate member in the use state.
In still other embodiments of the present invention, the means for controlling rotation of the elongate member further comprises a longitudinal movement means, the rotational drive means being movable relative to the longitudinal movement means, the controller sending control information to the longitudinal movement means to cause movement of the elongate member along the long axis; further, a longitudinal movement device may be fixedly connected with the second sensor assembly.
The innovation points of the embodiment of the invention comprise: by arranging at least two angle sensors, the difference of the rotation angles of the elongated member at different positions is monitored, fed back and adjusted, and the condition that the tail end of the elongated member is subjected to non-rigid constraint and is subjected to the influence of accumulated stress of the elongated member after reaching a preset rotation angle, so that unexpected rotation is generated and the rotation angle is wrong is eliminated.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It is to be understood that the drawings in the following description are merely exemplary of some embodiments of the invention. For a person skilled in the art, without inventive effort, further figures can be obtained from these figures.
FIG. 1 is a schematic diagram of an apparatus for controlling rotation of an elongate member according to an embodiment of the present invention;
FIG. 2 is a schematic view of another embodiment of an apparatus for controlling rotation of an elongate member according to the present invention;
FIG. 3 is a schematic diagram of a sensor assembly according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of another perspective of the sensor assembly of FIG. 3;
FIG. 5 is a schematic view of another embodiment of an apparatus for controlling rotation of an elongate member according to the present invention;
wherein, 1 elongate member, 2 non-rigid fixed structures, 3 first angle sensor, 4 second angle sensor, 5 rotary driving device, 6 longitudinal driving device, 7 fixed connection, 8 sleeve.
Detailed Description
The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It should be apparent that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The slender component of the invention can be an optical fiber, an electrode, a liquid nitrogen conduit, a water vapor injection conduit, a radio frequency probe or the like, in particular to a directional light-emitting optical fiber and the like which need accurate direction positioning. In minimally invasive interventional therapy, the elongated member needs to be driven to rotate, however, when the tail end of the elongated surgical instrument device is not rigidly constrained, for example, by a rubber plug or the like, the elongated surgical instrument device is deformed to a certain extent due to a long length thereof, so that a rotation stress is generated in a rotation direction, and after the rotation angle of the distal end of the elongated surgical instrument device reaches a target angle, the rotation angle is unstable due to slow release of the rotation stress.
Example 1:
referring to fig. 1, there is shown an embodiment of the device of the present invention, which shows that in the use state, the elongated member 1 passes through the non-rigid fixed structure 2, the non-rigid structure 2 can be a rubber plug used for preventing the liquid at the far end from overflowing, etc., and the elongated member 1 can rotate in the non-rigid structure 2, wherein in the use state, the end close to the human body is called the far end, the end far away from the human body is the near end, the first angle sensor 3 and the second angle sensor 4 are the near ends, and the rotation driving device 5; wherein the connecting structures of the fixed non-rigid structure 2, the first angle sensor 3, the second angle sensor 4 and the rotation driving device 5 are not shown, the non-rigid structure 2 can be directly or indirectly fixedly connected with a human body structure, such as a skull bone, in the using process; the first angle sensor 3 and the second angle sensor 4 are connected to the same or different fixtures 7 so that they do not undergo position shift in the case of monitoring the rotation angle of the elongated member 1; the first angle sensor 3, the second angle sensor 4 and the rotation driving device 5 are all in communication connection with a controller (not shown), the controller receives input information, the rotation driving device 5 drives the elongated structure to rotate around the long axis of the elongated structure, then the first angle sensor 3 monitors the rotation angle of the tail end of the elongated structure 1, and adjustment commands are sent to the rotation driving device 5, so that the rotation angles monitored by the first angle sensor 3 and the second angle sensor 4 are basically the same.
In some cases, the first angle sensor 3 and the second angle sensor 4 are connected to the same fixture 7, the fixture 7 being such that the hitherto elongated members of the first angle sensor 3 and the second angle sensor 4 are sufficiently extended and do not bend.
Example 2:
with continued reference to fig. 1, the controller performs the steps of adjusting the elongated member 1 (e.g., the optical fiber) with high precision by rotating the elongated member 1 about the long axis in one direction by the rotation driving device 5, rotating the elongated member 1 to a preset angle as measured by the first angle sensor 3, the controller receives and records the second angle of rotation of the elongate member 1 measured by the second angle sensor 4 at that time, while controlling the rotary drive means 4 to stop rotating and to rotate in reverse so that the elongate member in the vicinity of the second angle sensor 4 rotates in reverse by an angle, this angle is the absolute value of the difference of the second angle from the preset angle, which in turn makes the measurement angles displayed by the first angle sensor 3 and the second angle sensor 4 the same, the elongated member 1 being free from torsional stress between the first angle sensor 3 and the second angle sensor 4.
Example 3:
with continued reference to fig. 1, another method for the controller to achieve high-precision adjustment of the elongated member 1 is that the controller rotates the elongated member 1 around the long axis in one direction by the rotation driving device 5, because the elongated member deforms, within a certain angle at which the second angle sensor 4 near the rotation driving device 5 monitors that the elongated member 1 rotates, the rotation angle of the elongated member 1 measured by the first angle sensor 3 is always 0, when the rotation angle of the elongated member 1 measured by the first angle sensor 3 is not 0, the basic rotation angle monitored by the second angle sensor 4 at that time is recorded, the rotation driving device 6 is controlled to continue rotating the elongated member 1, and when the rotation angle of the elongated member 1 detected by the first angle sensor 3 reaches a desired value, the rotation driving device 5 stops rotating and rotates in the opposite direction so that the elongated member near the second group of sensor assemblies rotates in the opposite direction by the basic rotation angle And in turn, the first angle sensor 3 and the second angle sensor 4 are made to display the same measurement angle, the elongated member 1 having no torsional stress between the first angle sensor 3 and the second angle sensor 4.
Example 4:
referring to fig. 2, there is shown a further embodiment of the device of the present invention, which shows that in a situation of use the elongated member 1 passes through the non-rigid fixation structure 2, the non-rigid structure 2 may be a rubber plug used for preventing liquid from escaping from the distal end, etc., and the non-rigid structure 2 may be directly or indirectly fixedly connected to a body structure, such as a skull bone, during use;
the elongated member 1 is longitudinally movable (i.e., in the direction of the elongated member's long axis) and rotatable about the long axis within the non-rigid structure 2, a drive sleeve 8 is disposed between the first and second sets of sensor assemblies 3 and 4, the drive sleeve 8 allowing the elongated member 1 to move longitudinally and rotate therethrough, the first and second sets of sensor assemblies 3 and 4 are coupled to the same or different fixtures 7, the first and second sets of sensor assemblies 3 and 4 and the rotary drive 5 are each communicatively coupled to a controller (not shown) that receives input information, drives the elongated structure to rotate about its long axis via the rotary drive 5, then, the rotation angle of the tail end of the elongated member 1 is monitored through the first group of sensor assemblies 3, and the rotation angles monitored by the first group of sensor assemblies 3 and the second group of sensor assemblies 4 are basically the same by sending an adjusting command to the rotation driving device 5; the elongate member 1 may be moved longitudinally by hand;
the sensor assembly 3 or 4 comprises a housing, an angle sensor and a rotational positioning means. An example of this is constituted by a sensor assembly 3, as illustrated in fig. 3 and 4, comprising a connection portion (not shown), an angle sensor 31 and a rotary positioning device 32, through which the elongated member 1 passes; the rotary positioning device 32 comprises a bearing 31, the rotary positioning device 32 comprises a main body 320, a bearing 321, an adjustable top press 322 and a shaft 324; the side of the main body 320 is provided with two holes for accommodating the shafts 324, one end of the main body is provided with a groove which divides the two holes into two parts, the bottom of the groove is provided with a through hole, one end surface of the main body 320 is provided with a hole matched with the adjustable presser 322, the adjustable presser 322 is connected with one hole for accommodating the shafts 324, the hole allows a certain displacement of the 324 therein, the relative position of the shaft 324 accommodated in the hole and the main body 320 is adjusted through the adjustable presser 322 when in use, so that the rotary positioning device 32 allows the elongated member 1 to move longitudinally relative to the elongated member, but the rotary position is unchanged, namely the rotary positioning device 32 is consistent with the rotary angle of the elongated member 1, the other end of the main body 320 is provided with a protrusion which is provided with a through hole, the through hole of the protrusion is communicated with the through hole of the bottom of the groove, the elongated member 1 passes through the through hole of the protrusion, the angle sensor 31 is provided with a clamping hole, and the protrusion of the main body 320 is clamped with the clamping hole of the angle sensor 31, so that the angle sensor 31 records the rotating angle of the slender component 1; the connection portion is connected to the angle sensor 31.
Example 5:
referring to fig. 4, another embodiment of the present invention, which differs from embodiment 4 in that it comprises a longitudinal movement means 6 and a connection structure 9, the housing of the second set of sensor assemblies 4 is fixedly connected with the longitudinal movement means by the connection structure 9, the housing of the first set of sensor assemblies 3 is directly or indirectly connected with the skull bone, the rotary drive means 5 is slidably connected with the longitudinal movement means 6 by a slider, a command can be sent by the controller so that the rotary longitudinal movement means 6 causes the rotary drive means 5 and the elongate member 1 it contains to perform a longitudinal movement by the slider, the controller can also cause the rotary drive means 5 to cause the elongate member 1 passing therethrough to rotate by the command, and the connection portion of the sensor assemblies 3 is further connected with the transmission sleeve 8.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments and drawings of the present invention are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.
Those of ordinary skill in the art will understand that: modules in the devices in the embodiments may be distributed in the devices in the embodiments according to the description of the embodiments, or may be located in one or more devices different from the embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An apparatus for controlling rotation of an elongate member, comprising:
at least two sets of sensor assemblies, the sensor assemblies including angle sensors;
a rotary drive device that drives the elongate member in rotation;
the controller is in communication connection with the sensor assembly and the rotary driving device, receives angle information of the sensor assembly, controls movement of the rotary driving device, and can also receive control information input;
in use, the distal end of the elongate member passes through a non-rigid fixed structure, and the angle sensor is fixedly connected to a device or structure that does not rotate with the elongate member, the device being such that the angle of rotation of the elongate member at different sensors remains the same or substantially the same.
2. The apparatus of claim 1, wherein the apparatus comprises a first set of sensor assemblies and a second set of sensor assemblies, and wherein the controller is configured to cause the first set of sensor assemblies and the second set of sensor assemblies to measure the same or substantially the same angle of rotation of the elongate member.
3. The device of claim 2, wherein in a use state of the device, the elongated member passes through a first set of sensor elements and a second set of sensor elements in sequence from a distal end to a proximal end, the first set of sensor elements being disposed adjacent to the non-rigid fixation structure and measuring a rotation angle of the elongated member, the second set of sensor elements being disposed adjacent to the rotational drive device and measuring a rotation angle of the elongated member.
4. The apparatus of claim 3, wherein making the angles measured by the first and second sets of sensor elements the same or substantially the same is accomplished by reducing or eliminating stress build up from deformation of the elongated member between the first and second sets of sensor elements such that the distal end of the elongated member does not rotate after the distal end of the elongated member has rotated to a target angle.
5. The apparatus of claim 3, wherein said controller regulates movement of said elongated member by causing said controller to rotate said elongated member in one direction by a rotational drive means during use, and wherein said controller receives and records rotation of said elongated member measured by said second set of sensor assemblies when rotation of said elongated member measured by said first set of sensor assemblies reaches a predetermined angle while causing said rotational drive means to stop rotating and reverse rotation to cause rotation of said elongated member adjacent said second set of sensor assemblies in a reverse direction by an angle which is an absolute value of a difference between said second angle and said first angle.
6. The device of claim 3, wherein the controller regulates the movement of the elongated member by rotating the elongated member in one direction by a rotational driving device, recording the rotation angle measured by the second set of sensor assemblies when the first set of sensor assemblies measures the start of the rotation of the elongated member, and controlling the rotational driving device to stop rotating and reversely rotate the elongated member near the second set of sensor assemblies when the rotation of the elongated member measured by the first set of sensor assemblies reaches a preset angle during the use process so that the elongated member near the second set of sensor assemblies reversely rotates by the rotation angle.
7. The apparatus of claim 1, wherein the sensor assembly further comprises a rotational positioning device such that the elongated member can be moved along the longitudinal axis while measuring the angle, the rotational positioning device in use gripping the elongated member, the elongated member rotating the rotational positioning device, the angle sensor detecting the angle of rotation of the rotational positioning device and transmitting the angle of rotation to the controller.
8. The apparatus of claim 7, wherein the rotational positioning device comprises a body, at least one adjustable press, two bearings, a first shaft and a second shaft; the side of main part is provided with two holes, the one end of main part is provided with the recess, the recess will respectively two holes divide into two parts, the tank bottom of recess is provided with the through-hole, an terminal surface of main part be provided with can move the first hole of roof pressure ware adaptation, be close to in two holes one in the first hole with first hole intercommunication, two bearings set up in the recess, the primary shaft passes one of two bearings set up in one of two holes is downthehole, the secondary shaft passes another bearing in two bearings set up in another in two holes is downthehole, can move the roof pressure ware set up in first downthehole, long and thin component set up in between the first bearing with the secondary shaft bearing and pass the through-hole of tank bottom.
9. The apparatus of claim 7, further comprising a sleeve that holds a length of the elongate member between the first set of sensor assemblies and the second set of sensor assemblies fixed, allowing the elongate member to rotate therein about and move along the long axis.
10. The apparatus of claim 9, further comprising a longitudinal motion device fixedly connected to the second sensor assembly, the rotational drive device being movable relative to the longitudinal motion device, the controller sending control information to the longitudinal motion device to move the elongated member along the long axis.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410216378.9A CN117860399A (en) | 2020-12-31 | 2020-12-31 | Device for controlling rotation of elongated member |
| CN202011637453.7A CN114681066B (en) | 2020-12-31 | 2020-12-31 | Device for controlling rotation of elongated member |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011637453.7A CN114681066B (en) | 2020-12-31 | 2020-12-31 | Device for controlling rotation of elongated member |
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| CN202410216378.9A Division CN117860399A (en) | 2020-12-31 | 2020-12-31 | Device for controlling rotation of elongated member |
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2020
- 2020-12-31 CN CN202011637453.7A patent/CN114681066B/en active Active
- 2020-12-31 CN CN202410216378.9A patent/CN117860399A/en active Pending
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| US6612992B1 (en) * | 2000-03-02 | 2003-09-02 | Acuson Corp | Medical diagnostic ultrasound catheter and method for position determination |
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| CN114681066B (en) | 2024-03-22 |
| CN117860399A (en) | 2024-04-12 |
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