CN114681066B - Device for controlling rotation of elongated member - Google Patents
Device for controlling rotation of elongated member Download PDFInfo
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- CN114681066B CN114681066B CN202011637453.7A CN202011637453A CN114681066B CN 114681066 B CN114681066 B CN 114681066B CN 202011637453 A CN202011637453 A CN 202011637453A CN 114681066 B CN114681066 B CN 114681066B
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- 230000000712 assembly Effects 0.000 claims abstract description 41
- 238000000429 assembly Methods 0.000 claims abstract description 41
- 238000004891 communication Methods 0.000 claims abstract description 4
- 230000006978 adaptation Effects 0.000 claims description 2
- 238000012544 monitoring process Methods 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 description 13
- 238000000034 method Methods 0.000 description 7
- 238000002560 therapeutic procedure Methods 0.000 description 6
- 239000013307 optical fiber Substances 0.000 description 5
- IJGRMHOSHXDMSA-UHFFFAOYSA-N Atomic nitrogen Chemical compound N#N IJGRMHOSHXDMSA-UHFFFAOYSA-N 0.000 description 4
- 239000000243 solution Substances 0.000 description 4
- 239000007788 liquid Substances 0.000 description 3
- 210000003625 skull Anatomy 0.000 description 3
- 238000002347 injection Methods 0.000 description 2
- 239000007924 injection Substances 0.000 description 2
- 229910052757 nitrogen Inorganic materials 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 239000000523 sample Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Chemical compound O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- -1 electrode Substances 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
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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
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Pathology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
- Manipulator (AREA)
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 motion of the rotary driving device, in a use state, the distal end of an elongated member passes through a non-rigid fixed structure and sequentially passes through a first group of sensor assemblies and a second group of sensor assemblies from the distal end to the proximal end, the first group of sensor assemblies are arranged adjacent to the non-rigid fixed structure and measure the rotation angle of the elongated member, the second group of sensor assemblies are arranged adjacent to the rotary driving device and measure 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.
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, the minimally invasive interventional therapy has remarkable advantages and application prospects for various diseases, and when the minimally invasive interventional therapy is carried out, the slender surgical instrument device is required 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 catheter, a water vapor injection catheter, a radio frequency probe or the like, and particularly a directional light emitting optical fiber which needs to be positioned in a precise direction is required to be rotated with high precision.
When minimally invasive interventional therapy is performed, the elongated surgical instrument device needs to be driven to rotate, however, in the case that the tail end is not rigidly restrained, for example, due to the fact that the length of the elongated surgical instrument device is long, a certain degree of deformation occurs in the elongated surgical instrument device, so that rotational stress exists in the rotating direction, after the rotation angle of the distal end of the elongated surgical instrument device reaches a target angle, the distal end of the elongated surgical instrument device continues to rotate under the condition of applying external force due to slow release of the rotational stress, the rotation angle is changed, unstable and inaccurate, the requirement of therapy cannot be met, and the effect of minimally invasive interventional therapy is further affected, so that the device for controlling the rotation of the elongated member with high precision is provided, and the problems are eliminated or improved.
Disclosure of Invention
The present invention provides a means of controlling rotation of an elongate member with high accuracy to solve or mitigate the above-mentioned problems. The specific technical scheme is as follows:
in a first aspect, the invention provides an apparatus for controlling rotation of an elongate member, comprising:
at least two sets of sensor assemblies, the sensor assemblies comprising an angle sensor;
a rotation driving device that drives the elongated member to rotate;
the controller is in communication connection with the sensor assembly and the rotary driving device, receives angle information of the sensor assembly, controls the motion of the rotary driving device, and can also receive control information input;
in use, the distal end of the elongate member passes through the non-rigid fixation structure, and the device may allow the elongate member rotation angles at the different sensors to remain the same or substantially the same, enabling precise rotational control of the elongate member.
In some embodiments, the apparatus for controlling rotation of an elongated 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 elongated member.
Further, in use, the elongate member passes sequentially from the distal end to the proximal end through a first set of sensor assemblies disposed adjacent the non-rigid fixed structure and measuring the angle of rotation of the elongate member thereat and a second set of sensor assemblies disposed adjacent the rotary drive means and measuring the angle of rotation of the elongate member thereat, the angle sensor being fixedly connected to a device or structure that does not rotate with the elongate member.
In these embodiments, having the angles measured by the first and second sets of sensor assemblies the same or substantially the same is accomplished by reducing or eliminating stress build-up by deformation of the elongate member between the first and second sets of sensor assemblies such that rotation of the distal end of the elongate member after the distal end of the elongate member has rotated to a target angle no longer occurs.
Specific methods of regulating movement of the elongated member using the controller include, but are not limited to, the following:
first kind: in use, the controller rotates the elongate member in one direction by the rotary drive means, and when the elongate member rotation measured by the first set of sensor assemblies reaches a predetermined angle, the controller receives and records the elongate member rotation measured by the second set of sensor assemblies at that time, and simultaneously controls the rotary drive means to stop rotating and rotate in the opposite direction so that the elongate member in the vicinity of the second set of sensor assemblies rotates in the opposite direction by an angle which is the absolute value of the difference between the second angle and the first angle.
Second kind: in the use process, the controller enables the slender components to rotate towards one direction through the rotary driving device, when the first group of sensor components measure that the slender components start rotating, the rotary angle measured by the second group of sensor components is recorded, and when the rotation of the slender components measured by the first group of sensor components reaches a preset angle, the rotary driving device is controlled to stop rotating and rotate reversely, so that the slender components near the second group of sensor components rotate reversely by the rotary angle.
In still further embodiments of the invention, the sensor assembly of the device for controlling rotation of an elongated member further comprises a rotational positioning device such that the elongated member can be moved along a longitudinal axis while measuring an angle, the rotational positioning device gripping the elongated member in use, the elongated member rotating the rotational positioning device, the angle sensor detecting the rotational angle of the rotational positioning device and sending the rotational angle to the controller.
Further, the rotational positioning device comprises a main body, at least one adjustable roof presser, 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, one terminal surface of main part be provided with adjustable roof pressure ware adaptation first hole, be close to in two holes first hole one with first hole intercommunication, two bearings set up in the recess, first axle pass one of two bearings set up in one of two holes in, the second axle passes another of two bearings set up in another of two holes in, adjustable roof pressure ware set up in first hole, elongate member set up in between first bearing and the second bearing and pass the through-hole of tank bottom.
The far end of the main body is provided with a bulge, the bulge is provided with a through hole, the bulge through hole is communicated with the through hole at the bottom of the groove, the slender component passes through the bulge through hole, the angle sensor is provided with a clamping hole, and the bulge is clamped with the clamping hole.
In other embodiments of the invention, the means for controlling rotation of the elongate member further comprises a sleeve that maintains the 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 other embodiments of the invention, the means for controlling rotation of the elongate member further comprises 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 to the second sensor assembly.
The innovation points of the embodiment of the invention include: by providing at least two angle sensors, the difference of the rotation angles of the elongated member at different positions is monitored, fed back and adjusted, the situation that the tail end of the elongated member is subjected to non-rigid constraint is eliminated, and after the preset rotation angle is reached, the stress accumulated by the elongated member is affected, unexpected rotation is generated, and the error of the rotation angle is caused.
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 apparent that the drawings in the following description are only some embodiments of the invention. Other figures may be derived from these figures without inventive effort for a person of ordinary skill in the art.
FIG. 1 is a schematic view of a device for controlling rotation of an elongated member according to an embodiment of the present invention;
FIG. 2 is a schematic view of another configuration of an apparatus for controlling rotation of an elongated member according to an embodiment of 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 structural view of another view of the sensor assembly of FIG. 3;
FIG. 5 is a schematic view of another embodiment of an apparatus for controlling rotation of an elongated member according to the present invention;
wherein, 1 elongate member, 2 non-rigid fixed structure, 3 first angle sensor, 4 second angle sensor, 5 rotary drive, 6 longitudinal drive, 7 fixed connection, 8 sleeve.
Detailed Description
The technical solutions 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 will be apparent that the described embodiments are only some, but not all, embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without any inventive effort, are intended to be within the scope of the invention.
The elongate member of the present invention may be an optical fiber, electrode, liquid nitrogen catheter, water vapor injection catheter, or radio frequency probe, etc., particularly a directional light emitting optical fiber, etc., requiring precise directional positioning. When minimally invasive interventional therapy is performed, it is necessary to drive the elongate member to rotate, however, in the case where the distal end is not rigidly constrained, for example, by a rubber stopper or the like, the elongate surgical instrument device itself is deformed to some extent due to its long length, and thus has a rotational stress in the rotational direction, and after the rotational angle of the distal end of the elongate surgical instrument device reaches the target angle, the rotational angle is unstable due to slow release of the rotational stress.
Example 1:
referring to fig. 1, there is shown an embodiment of the device of the present invention, showing that in the use state, the elongated member 1 passes through the non-rigid fixing structure 2, the non-rigid structure 2 may be a rubber stopper used for preventing the liquid at the distal end from overflowing, etc., the elongated member 1 may rotate in the non-rigid structure 2, in the use state of the present invention, the end close to the human body is called the distal end, the end far from the human body is the proximal end, the first angle sensor 3 and the second angle sensor 4, the rotation driving means 5; the connection 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, and the non-rigid structure 2 can be directly or indirectly fixedly connected with a human body structure, such as skull, during use; the first angle sensor 3 and the second angle sensor 4 are connected to the same or different fixtures 7 such that they do not undergo a positional movement in 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, drives the elongated structure to rotate around the long axis thereof through the rotation driving device 5, monitors the rotation angle of the tail end of the elongated member 1 through the first sensor 3, and realizes that the rotation angles monitored by the first angle sensor 3 and the second angle sensor 4 are basically the same by sending an adjustment command to the rotation driving device 5.
In some cases, the first angle sensor 3 and the second angle sensor 4 are connected to the same fixture 7, the fixture 7 allowing the elongated members of the first angle sensor 3 and the second angle sensor 4 to be fully extended and not bent.
Example 2:
with continued reference to fig. 1, the step of the controller of achieving a high precision adjustment of the elongated member 1 (e.g. an optical fiber) is that the controller rotates said elongated member 1 around the long axis in one direction by means of the rotation driving means 5, and when the rotation of the elongated member 1 measured by the first angle sensor 3 reaches a preset angle, the controller receives and records the second angle of rotation of said elongated member 1 measured by the second angle sensor 4 at this time, while controlling said rotation driving means 4 to stop rotating and counter-rotate such that the elongated member in the vicinity of the second angle sensor 4 counter-rotates by an angle which is the absolute value of the difference between the second angle and the preset angle, and in turn such that the measured angles displayed by the first angle sensor 3 and the second angle sensor 4 are the same, the elongated member 1 has no twisting 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 implement the 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, and as the elongated member is deformed, the rotation driving device 5 stops rotating and rotates reversely so that the elongated member near the second group of sensor assemblies rotates reversely by the basic rotation angle within a certain angle when the second angle sensor 4 near the rotation driving device 5 monitors that the elongated member 1 rotates, the rotation angle measured by the first angle sensor 3 is always 0, when the rotation angle measured by the first angle sensor 3 is not 0, the basic rotation angle monitored by the second angle sensor 4 is recorded, the rotation driving device 6 is controlled to continue rotating the elongated member 1, and when the rotation angle measured by the first angle sensor 3 reaches a desired value, the rotation driving device 5 stops rotating reversely so that the elongated member near the second group of sensor assemblies rotates reversely by the basic rotation angle, and then the measurement angle measured by the first angle sensor 3 and the second angle sensor 4 is identical, and the elongated member 1 has no 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 invention, showing that in the condition of use, the elongate member 1 passes through a non-rigid fixation structure 2, the non-rigid structure 2 may be a rubber stopper for preventing distal fluid spillage or the like, and the non-rigid structure 2 may be fixedly attached directly or indirectly to a body structure, such as the skull, during use;
the elongated member 1 is movable longitudinally (i.e., in the direction of the long axis of the elongated member) and rotatable about the long axis in the non-rigid structure 2, between the first and second sets of sensor assemblies 3, 4 is a drive sleeve 8, the drive sleeve 8 allowing the elongated member 1 to pass therethrough and to move longitudinally and rotate, the first and second sets of sensor assemblies 3, 4 are connected to the same or different fixtures 7, the first, second and rotary drive assemblies 3, 4, 5 are all communicatively connected to a controller (not shown), the controller receives input information, drives the elongated structure to rotate about its long axis by the rotary drive 5, then monitors the rotational angle of the distal end of the elongated member 1 by the first and second sets of sensor assemblies 3, and by sending adjustment commands to the rotary drive 5, achieves that the rotational angles monitored by the first and second sets of sensor assemblies 3, 4 are substantially the same; the elongated member 1 may be moved longitudinally by hand;
the sensor assembly 3 or 4 comprises a housing, an angle sensor and a rotational positioning device. An example of this is constituted by, referring to fig. 3 and 4, taking the sensor assembly 3 as an example, comprising a connection (not shown), an angle sensor 31 and a rotational positioning device 32, through which the elongated member 1 passes; the rotary positioning device 32 comprises a bearing 31, and the rotary positioning device 32 comprises a main body 320, a bearing 321, an adjustable jack 322 and a shaft 324; the side of the main body 320 is provided with two holes for accommodating the shaft 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 which is matched with the adjustable jack 322, the accommodating adjustable jack 322 is connected with one hole for accommodating the shaft 324, the hole allows a certain displacement of the shaft 324, the relative position of the shaft 324 accommodated by the hole and the main body 320 is regulated through the adjustable jack 322 when in use, so that the rotary positioning device 32 allows the elongated member 1 to longitudinally move relative to the shaft, 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 bulge, the bulge is provided with a through hole, the through hole of the bulge is communicated with the through hole of the bottom of the groove, the elongated member 1 passes through the bulge, the angle sensor 31 is provided with a clamping hole, and the bulge of the main body 320 is clamped with the clamping hole of the angle sensor 31, and thus the angle sensor 31 records the rotary angle of the elongated member 1; the connection portion is connected to the angle sensor 31.
Example 5:
referring to fig. 4, another embodiment of the present invention 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 to the longitudinal movement means by the connection structure 9, the housing of the first set of sensor assemblies 3 is directly or indirectly connected to the skull bone, the rotary drive means 5 is slidably connected to the longitudinal movement means 6 by means of a slider, a command can be sent by the controller such that the rotary longitudinal movement means 6 causes the rotary drive means 5 and the elongated member 1 comprised therein to perform a longitudinal movement by means of the slider, the controller can also cause the rotary drive means 5 to cause the elongated member 1 passing therethrough to rotate by means of the command, and the connection of the sensor assemblies 3 is also connected to the driving sleeve 8.
It should be noted that the terms "comprising" and "having" and any variations thereof in the embodiments of the present invention and the accompanying drawings are intended to cover non-exclusive inclusions. A process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those 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 appreciate that: the modules in the apparatus of the embodiments may be distributed in the apparatus of the embodiments according to the description of the embodiments, or may be located in one or more apparatuses different from the present embodiments with corresponding changes. The modules of the above embodiments may be combined into one module, or may be further split into a plurality of sub-modules.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (7)
1. An apparatus for controlling rotation of an elongated member, comprising:
a first set of sensor assemblies including a first angle sensor and a second set of sensor assemblies including a second angle sensor, a sleeve disposed between the first set of sensor assemblies and the second set of sensor assemblies, the sleeve maintaining 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 a long axis;
a rotation driving device that drives the elongated member to rotate;
the controller is in communication connection with the first angle sensor, the second angle sensor and the rotary driving device, receives angle information of the first angle sensor and the second angle sensor, controls the motion of the rotary driving device, and can also receive control information input;
in use, the distal end of the elongate member passes through the non-rigid fixed structure, the first angle sensor and the second angle sensor are fixedly connected to a fixed object which does not rotate with the elongate member, so that the first angle sensor and the second angle sensor do not move in position under the condition of monitoring the rotation angle of the elongate member, the elongate member sequentially passes through the first angle sensor, the sleeve and the second angle sensor from the distal end to the proximal end, the first angle sensor is arranged adjacent to the non-rigid fixed structure and measures the rotation angle of the elongate member, the second angle sensor is arranged adjacent to the rotation driving device and measures the rotation angle of the elongate member, and the controller controls the rotation of the elongate member according to the feedback information of the first angle sensor and the second angle sensor.
2. The apparatus of claim 1, wherein the controller controls rotation of the elongated member based on information fed back by the first angle sensor and the second angle sensor by reducing or eliminating stress accumulated by deformation of the elongated member between the first angle sensor and the second angle sensor such that rotation of the distal end of the elongated member does not occur after the distal end of the elongated member has rotated to a target angle.
3. A device according to claim 2 wherein the controller is arranged to regulate movement of the elongate member such that, in use, the controller is arranged to cause rotation of the elongate member in one direction by the rotary drive means, the first angle sensor measuring rotation of the elongate member to a predetermined angle, the controller being arranged to receive and record a second angle of rotation of the elongate member measured by the second angle sensor at that time, and to control the rotary drive means to cease rotation and to reverse rotation such that the elongate member in the vicinity of the second angle sensor reverses rotation by an angle which is the absolute value of the difference between the second angle and the predetermined angle.
4. A device according to claim 2, wherein the controller is arranged to regulate movement of the elongate member such that, in use, the controller is arranged to cause rotation of the elongate member in one direction by means of the rotary drive means, the first angle sensor being arranged to record the angle of rotation measured by the second angle sensor when the elongate member begins to rotate, and to control the rotary drive means to cease rotation and to reverse rotation such that the elongate member adjacent the second angle sensor reverses rotation by the angle of rotation when the elongate member rotation measured by the first angle sensor reaches a predetermined angle.
5. The apparatus of claim 1, wherein the first and second sets of sensor assemblies further comprise a rotational positioning device such that the elongate member can move along a longitudinal axis while measuring an angle, the rotational positioning device gripping the elongate member in use, the elongate member rotating the rotational positioning device, an angle sensor detecting the rotational angle of the rotational positioning device, and sending the rotational angle to the controller.
6. The apparatus of claim 5, wherein the rotational positioning device comprises a body, at least one adjustable roof jack, 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, one terminal surface of main part be provided with adjustable roof pressure ware adaptation first hole, be close to in two holes first hole one with first hole intercommunication, two bearings set up in the recess, first axle pass one of two bearings set up in one of two holes downthehole, the second axle passes another of two bearings set up in another of two holes downthehole, adjustable roof pressure ware set up in first downthehole, elongate member set up in between two bearings and pass the through-hole of tank bottom.
7. The apparatus of claim 1, further comprising a longitudinal movement device fixedly coupled to the second set of sensor assemblies, the rotational drive device being movable relative to the longitudinal movement device, the controller sending control information to the longitudinal movement device to cause movement of the elongate 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 |
|---|---|---|---|
| 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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| CN114681066B true CN114681066B (en) | 2024-03-22 |
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| US9114252B2 (en) * | 2005-12-02 | 2015-08-25 | University Of Rochester | Image-guided therapy delivery and diagnostic needle system |
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- 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 |
| US6418337B1 (en) * | 2000-06-15 | 2002-07-09 | Autolitt Inc. | MRI guided hyperthermia surgery |
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| CN104203078A (en) * | 2012-02-29 | 2014-12-10 | 普罗赛普特生物机器人公司 | Automated image-guided tissue resection and treatment |
| CN104720889A (en) * | 2013-12-24 | 2015-06-24 | 韦伯斯特生物官能(以色列)有限公司 | Torsion reduction system |
| CN211381456U (en) * | 2019-07-03 | 2020-09-01 | 深圳迈瑞生物医疗电子股份有限公司 | Ultrasonic probe, angle feedback mechanism and sound head rotation driving device |
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| CN117860399A (en) | 2024-04-12 |
| CN114681066A (en) | 2022-07-01 |
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