CN115429428B - 七自由度经会阴前列腺手术导航系统及其使用方法 - Google Patents
七自由度经会阴前列腺手术导航系统及其使用方法 Download PDFInfo
- Publication number
- CN115429428B CN115429428B CN202210879953.4A CN202210879953A CN115429428B CN 115429428 B CN115429428 B CN 115429428B CN 202210879953 A CN202210879953 A CN 202210879953A CN 115429428 B CN115429428 B CN 115429428B
- Authority
- CN
- China
- Prior art keywords
- puncture
- needle
- arm
- shaft
- navigation system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 210000002307 prostate Anatomy 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 35
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 239000000523 sample Substances 0.000 claims description 49
- 230000001360 synchronised effect Effects 0.000 claims description 31
- 230000008569 process Effects 0.000 claims description 17
- 238000001356 surgical procedure Methods 0.000 claims description 10
- 238000005452 bending Methods 0.000 claims description 5
- 239000000758 substrate Substances 0.000 claims description 4
- 230000000694 effects Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 abstract description 16
- 230000037431 insertion Effects 0.000 abstract description 14
- 238000005481 NMR spectroscopy Methods 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 description 4
- 238000012840 feeding operation Methods 0.000 description 4
- 230000003902 lesion Effects 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 208000015181 infectious disease Diseases 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 210000002640 perineum Anatomy 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 238000011471 prostatectomy Methods 0.000 description 2
- 206010056556 Perineal fistula Diseases 0.000 description 1
- 208000031074 Reinjury Diseases 0.000 description 1
- 201000001880 Sexual dysfunction Diseases 0.000 description 1
- 206010046451 Urethral fistula Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 210000000664 rectum Anatomy 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
- 231100000872 sexual dysfunction Toxicity 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2051—Electromagnetic tracking systems
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2065—Tracking using image or pattern recognition
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Description
Claims (5)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210879953.4A CN115429428B (zh) | 2022-07-25 | 2022-07-25 | 七自由度经会阴前列腺手术导航系统及其使用方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210879953.4A CN115429428B (zh) | 2022-07-25 | 2022-07-25 | 七自由度经会阴前列腺手术导航系统及其使用方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN115429428A CN115429428A (zh) | 2022-12-06 |
CN115429428B true CN115429428B (zh) | 2023-10-20 |
Family
ID=84241196
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202210879953.4A Active CN115429428B (zh) | 2022-07-25 | 2022-07-25 | 七自由度经会阴前列腺手术导航系统及其使用方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN115429428B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2024121801A2 (en) * | 2022-12-09 | 2024-06-13 | Multi-Scale Medical Robotics Center Limited | Method and device for transperineal prostate biopsy |
Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201743779U (zh) * | 2010-08-30 | 2011-02-16 | 昆山市工业技术研究院有限责任公司 | 基于双蜗杆的双极坐标四自由度并联机器人 |
CN106901836A (zh) * | 2017-04-12 | 2017-06-30 | 华中科技大学 | 一种前列腺穿刺手术机器人 |
CN212521854U (zh) * | 2019-12-03 | 2021-02-12 | 深圳市奥昇医疗科技有限责任公司 | 一种医疗器械 |
CN112690776A (zh) * | 2020-12-31 | 2021-04-23 | 河南大学 | 磁共振靶向前列腺穿刺在前列腺癌诊断中的应用 |
CN113331875A (zh) * | 2021-05-28 | 2021-09-03 | 上海交通大学 | 基于超声图像引导的前列腺活检穿刺机器人 |
WO2021196633A1 (zh) * | 2020-03-30 | 2021-10-07 | 中国科学院深圳先进技术研究院 | 一种穿刺手术机器人系统 |
CN114209400A (zh) * | 2021-12-13 | 2022-03-22 | 天津科技大学 | 一种超声图像导航的前列腺穿刺手术机器人 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1983899B1 (en) * | 2006-01-26 | 2010-10-27 | Nanyang Technological University | Apparatus for motorised placement of needle |
-
2022
- 2022-07-25 CN CN202210879953.4A patent/CN115429428B/zh active Active
Patent Citations (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN201743779U (zh) * | 2010-08-30 | 2011-02-16 | 昆山市工业技术研究院有限责任公司 | 基于双蜗杆的双极坐标四自由度并联机器人 |
CN106901836A (zh) * | 2017-04-12 | 2017-06-30 | 华中科技大学 | 一种前列腺穿刺手术机器人 |
CN212521854U (zh) * | 2019-12-03 | 2021-02-12 | 深圳市奥昇医疗科技有限责任公司 | 一种医疗器械 |
WO2021196633A1 (zh) * | 2020-03-30 | 2021-10-07 | 中国科学院深圳先进技术研究院 | 一种穿刺手术机器人系统 |
CN112690776A (zh) * | 2020-12-31 | 2021-04-23 | 河南大学 | 磁共振靶向前列腺穿刺在前列腺癌诊断中的应用 |
CN113331875A (zh) * | 2021-05-28 | 2021-09-03 | 上海交通大学 | 基于超声图像引导的前列腺活检穿刺机器人 |
CN114209400A (zh) * | 2021-12-13 | 2022-03-22 | 天津科技大学 | 一种超声图像导航的前列腺穿刺手术机器人 |
Also Published As
Publication number | Publication date |
---|---|
CN115429428A (zh) | 2022-12-06 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10772691B2 (en) | Minimally invasive surgical instrument to provide needle-based therapy | |
CN113208735B (zh) | 一种用于机械臂末端的柔性针穿刺机构 | |
Yang et al. | Design and implementation of a pneumatically-actuated robot for breast biopsy under continuous MRI | |
WO2017050201A1 (zh) | 微创医疗机器人系统 | |
CN115429428B (zh) | 七自由度经会阴前列腺手术导航系统及其使用方法 | |
CN110786890A (zh) | 一种医疗器械 | |
CN114209400A (zh) | 一种超声图像导航的前列腺穿刺手术机器人 | |
CN114259282A (zh) | 柔性针穿刺装置 | |
CN116439838B (zh) | 平面穿刺定位装置及超声引导的手眼一体穿刺机器人 | |
CN107280712B (zh) | 双平面前列腺活检及粒子植入系统 | |
CN117643493A (zh) | 一种穿刺针固定装置 | |
CN101947135B (zh) | C臂机引导下遥控穿刺定位系统 | |
CN114617615A (zh) | 手术机器人导航系统及其导航方法 | |
US20200113613A1 (en) | Cryo needle guide | |
JP3728437B2 (ja) | 閉鎖型の磁気共鳴断層撮影装置に使用するのためのマニピュレータ | |
CN102525543A (zh) | C臂机引导下遥控穿刺定位的方法 | |
CN219000478U (zh) | 穿刺机器人系统 | |
CN114305606B (zh) | 医疗穿刺装置 | |
EP4196039B1 (en) | Cannulation devices and systems | |
CN110236655B (zh) | 一种超声引导装置上的激光发射器 | |
CN219374842U (zh) | 穿刺机器人系统 | |
CN221691826U (zh) | 一种磁共振引导前列腺介入手术的专用装置 | |
CN117694974A (zh) | 一种超声肺内镜 | |
CN115317090A (zh) | 乳腺穿刺机器人系统 | |
CN111973197A (zh) | 八自由度采血机器人 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20221206 Assignee: Shanghai Bangyingce Technology Co.,Ltd. Assignor: LB Ke Ce (Shanghai) Intelligent Medical Technology Co.,Ltd. Contract record no.: X2024980014992 Denomination of invention: Seven degree of freedom transperineal prostate surgery navigation system and its usage method Granted publication date: 20231020 License type: Common License Record date: 20240913 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Seven degree of freedom transperineal prostate surgery navigation system and its usage method Granted publication date: 20231020 Pledgee: China Construction Bank Corporation Shanghai Songjiang Branch Pledgor: LB Ke Ce (Shanghai) Intelligent Medical Technology Co.,Ltd. Registration number: Y2024980039218 |