CN115944367A - Visual positioning device for puncturing blood vessel under ultrasonic guidance - Google Patents
Visual positioning device for puncturing blood vessel under ultrasonic guidance Download PDFInfo
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- CN115944367A CN115944367A CN202310090580.7A CN202310090580A CN115944367A CN 115944367 A CN115944367 A CN 115944367A CN 202310090580 A CN202310090580 A CN 202310090580A CN 115944367 A CN115944367 A CN 115944367A
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Abstract
The invention relates to a visual positioning device for puncturing blood vessels under ultrasonic guidance, which comprises an acquisition mechanism, a driver and a host, wherein the acquisition mechanism comprises a support frame and an equipment frame, an axial probe is assembled on the horizontal section of the equipment frame in a sliding manner, and a radial probe is fixedly installed on the vertical section of the equipment frame; the device comprises an equipment frame, a sliding block, a sleeve, a core rod, a spring telescopic rod, an axial probe and a probe, wherein the equipment frame is provided with a horizontal section and a vertical section which are respectively provided with a groove and are matched with the sliding block in a sliding manner; and a damping rotating joint is arranged on the sliding block of the vertical section of the equipment frame, and the radial probe is fixed on the damping rotating joint. The device designs the operation mode of the staggered work of the probes while reasonably arranging the probes, can simultaneously display the multi-angle ultrasonic image results, expands the positioning reference conditions, and improves the standardization degree and the success rate of the puncture operation.
Description
Technical Field
The invention relates to the field of medical operation nursing auxiliary technology and equipment, in particular to a visual positioning device for puncturing blood vessels under ultrasonic guidance.
Background
With the popularization of visual medicine, the venipuncture under the guidance of ultrasound provides a safe and effective puncture positioning method for clinic, the puncture success rate can be effectively improved, and the occurrence of puncture complications is reduced. The existing ultrasonic guided puncture technology generally adopts a handheld probe to carry out blood vessel positioning, such as the traditional in-plane puncture and the out-of-plane puncture, the mode can only obtain visual positioning images from a single direction, no matter the blood vessel radial extension or the axial section image is obtained, the defects that the puncture endpoint cannot be accurately positioned, or the puncture needle is difficult to observe in the needle inserting process and the like exist, and two running B ultrasonic devices are used for detecting the puncture position from the radial direction and the axial direction to carry out multidirectional positioning, not only the equipment and the operation manpower investment are large, but also interference can be generated between the emitted waves of the two probes, thereby leading to the follow-up received signals to be incapable of normally imaging in two equipment manufacturers.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: in overcoming current ultrasonic guide location technique, there is the location blind area in single ultrasonic equipment acquisition image, there is the defect of signal interference in the multi-device antithetical couplet usefulness, a visual positioner of puncture blood vessel under the ultrasonic guide is provided, it is in rational overall arrangement probe, the operation mode of the crisscross work of design probe, on the basis of reducing the operation degree of difficulty, operating condition, can show near axial of puncture position and radial ultrasonic image result simultaneously, the available location reference condition under the disposable operation has been expanded, cooperate puncture guiding mechanism, the standardization level and the success rate of puncture operation have been shown to the promotion.
The visual positioning device for puncturing the blood vessel under the guidance of the ultrasound comprises an acquisition mechanism for acquiring a blood vessel positioning signal, a driver for controlling the acquisition mechanism to operate in a time-sharing manner, and a host for receiving and processing the signal of the acquisition mechanism and outputting a visual positioning image, wherein the acquisition mechanism comprises a support frame and an equipment frame arranged on the support frame, the whole equipment frame is L-shaped, and an arc-shaped transition part is formed at the turning position of the equipment frame; the horizontal section of the equipment frame is slidably provided with a longitudinally arranged axial probe, the vertical section of the equipment frame is fixedly provided with a transversely arranged radial probe, the axial probe detection surface is horizontal and faces to the right lower side, and the radial probe detection surface inclines and faces to the inner lower side; the horizontal section and the vertical section of the equipment rack are respectively provided with a groove and are matched with a sliding block in a sliding way, the sliding block of the horizontal section of the equipment rack is provided with a sleeve and a core bar, the core bar is sleeved in the sleeve, a spring telescopic rod is installed at the lower end of the core bar, and the axial probe is fixedly connected to the lower end of the spring telescopic rod; and a damping rotating joint is arranged on a sliding block of the vertical section of the equipment frame, and the radial probe is fixed on the damping rotating joint.
Furthermore, the support frame includes bridge type base and the telescopic tube of setting on bridge type base, be equipped with the counter weight foot piece that is used for the stable support equipment on the bridge type base, be equipped with the tight nut in top that is used for locking equipment height on the telescopic tube.
This visual positioner of puncture blood vessel under ultrasonic guidance still includes compensation probe subassembly, compensation probe subassembly includes curved surface probe, linking arm and sets up the telescopic adjusting pole on the linking arm, linking arm one end is fixed through passing through the damping carousel the arc transition portion position of equipment frame, linking arm one end fixed curved surface probe and extend it to on the position between axial probe and the radial probe.
Furthermore, a microprocessor and a time sequence control module are arranged in the driver, the input end of the microprocessor is connected with an external control panel of the driver, and the output end of the microprocessor is respectively connected with the axial probe, the radial probe and the compensation probe assembly through the time sequence control module.
Specifically, the microprocessor adopts an STM32F103MCU, and the timing control module adopts a DGYXINER-YYS-4 three-way programmable relay module.
Furthermore, the host comprises a multi-channel signal acquisition module, a CPU, a GPU, a storage module, a data transmission module and a display screen; the input end of the multi-path signal acquisition module is respectively connected with the axial probe, the radial probe and the compensation probe assembly, and the output end of the multi-path signal acquisition module is connected with the CPU through a serial port bus to classify signals; the GPU is in bidirectional data communication connection with the CPU and converts data signals into image signals, the output end of the GPU is connected with the display screen to output the image signals, and the data transmission module synchronously transmits the image signal data to the outside in a wireless mode.
The visual positioning device for puncturing the blood vessel under the ultrasonic guidance further comprises a puncturing guide mechanism, wherein the puncturing guide mechanism comprises a lifting connecting rod, an alignment platform, a guide head and a driving servo group, the lifting connecting rod is fixed on a sliding block of a vertical section of the equipment frame, the alignment platform is rotatably connected to the lower end of the lifting connecting rod, and the guide head is in sliding fit below the alignment platform.
Furthermore, the driving servo group comprises an angle servo motor fixed at the lower end of the lifting connecting rod, a translation servo motor fixed on the alignment platform and a linear servo motor arranged on the lifting connecting rod.
Specifically, an output shaft of the angle servo motor is connected with a rotating shaft on one side of the alignment platform through a transmission belt, an output shaft of the translation servo motor is meshed with a rack above the guide head through a gear, and the angle servo motor, the translation servo motor and the linear servo motor are respectively connected with an ADC output pin of the host CPU.
Furthermore, be equipped with the guiding groove that is used for guiding needle body advancing direction and angle on the guide head, this guiding groove top is equipped with the infrared auxiliary light source that is used for fixing a position the puncture point.
The visual positioning device for puncturing the blood vessel under ultrasonic guidance overcomes the defects that a single ultrasonic device has a positioning blind area when acquiring an image and signal interference exists when multiple devices are combined in the existing ultrasonic guidance positioning technology, and designs a running mode of probe staggered work while reasonably arranging probes, so that axial and radial ultrasonic image results near a puncturing position can be displayed simultaneously on the basis of reducing operation difficulty and operation conditions, positioning reference conditions available under one-time operation are expanded, and the standardization degree and success rate of puncturing operation are remarkably improved by matching with a puncturing guide mechanism.
Drawings
The visual positioning device for puncturing the blood vessel under the guidance of the ultrasonic wave of the invention is further explained by combining the attached drawings as follows:
FIG. 1 is a schematic view of the main visual direction (operator visual direction) plane structure of the puncture blood vessel guided by the ultrasonic wave;
FIG. 2 is an enlarged view of a portion of the structure of the portion A in FIG. 1;
FIG. 3 is a rear plan view of the structure of FIG. 1;
FIG. 4 is a schematic left-side plan view of the structure of FIG. 1;
FIG. 5 is an enlarged view of a portion of the structure of the portion B in FIG. 4;
fig. 6 is a wire frame diagram illustrating the logical functional structure of the host for ultrasound-guided vessel puncture.
In the figure:
1-a collection mechanism; 11-support frame, 12-equipment frame, 13-axial probe, 14-radial probe and 15-compensation probe component; 111-bridge type base, 112-telescopic tube, 113-counterweight foot block, 114-tightening nut, 121-sliding block, 122-damping turntable, 131-sleeve, 132-core rod, 133-spring telescopic rod, 141-damping rotating joint, 151-curved probe, 152-connecting arm and 153-telescopic adjusting rod.
2-a driver; 21-microprocessor, 22-time sequence control module.
3-a host; 31-a multipath signal acquisition module, 32-a CPU, 33-a GPU, 34-a storage module, 35-a data transmission module and 36-a display screen.
4-a puncture guide mechanism; 41-lifting connecting rod, 42-aligning platform, 43-guiding head and 44-driving servo group; 431-a guide groove, 432-an infrared auxiliary light source, 441-an angle servo motor, 442-a translation servo motor, 443-a linear servo motor, 444-a driving belt and 445-a gear.
Detailed Description
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the description of the present invention, it is to be understood that the terms "left", "right", "front", "back", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, merely for convenience in describing the present invention and for simplifying the description, and are not intended to indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be taken as limiting the present invention.
The technical solution of the present invention is further described by the following specific examples, but the scope of the present invention is not limited to the following examples.
Embodiment 1: as shown in fig. 1 to 5, the ultrasound-guided blood vessel puncture visual positioning device comprises an acquisition mechanism (1) for acquiring a blood vessel positioning signal, a driver (2) for controlling the acquisition mechanism (1) to operate in a time-sharing manner, and a host (3) for receiving and processing a signal of the acquisition mechanism (1) and outputting a visual positioning image, wherein the acquisition mechanism (1) comprises a support frame (11) and an equipment rack (12) mounted on the support frame (11), the equipment rack (12) is L-shaped as a whole, and an arc-shaped transition part is formed at the turning position of the equipment rack (12); the horizontal section of the equipment frame (12) is slidably provided with a longitudinally arranged axial probe (13), the vertical section of the equipment frame (12) is fixedly provided with a transversely arranged radial probe (14), the detection surface of the axial probe (13) is horizontal and faces to the right lower side, and the detection surface of the radial probe (14) is inclined and faces to the inner lower side; the device comprises an equipment frame (12), a sliding block (121) is respectively arranged on a horizontal section and a vertical section of the equipment frame (12) in a slotted mode and matched with the horizontal section in a sliding mode, a sleeve (131) and a core rod (132) are installed on the sliding block (121) of the horizontal section of the equipment frame (12), the core rod (132) is sleeved in the sleeve (131), a spring telescopic rod (133) is installed at the lower end of the core rod (132), and an axial probe (13) is fixedly connected to the lower end of the spring telescopic rod (133); a damping rotating joint (141) is installed on a sliding block (121) of the vertical section of the equipment frame (12), and the radial probe (14) is fixed on the damping rotating joint (141). The supporting frame (11) comprises a bridge type base (111) and a telescopic sleeve (112) arranged on the bridge type base, wherein a counterweight foot block (113) used for stably supporting equipment is arranged on the bridge type base (111), and a jacking nut (114) used for locking the height of the equipment is arranged on the telescopic sleeve (112). The driver controls the transmitting and receiving dislocation time-sharing execution of the axial probe and the radial probe through the time sequence control module, and the specific time sequence flow is axial probe transmitting-radial probe transmitting-axial probe receiving-radial probe receiving, so that the interference generated by the transmitting and receiving of the probe colleagues is further generated; the axial probe and the axial probe acquire signals and send the signals to the host, the host processes the signals and then outputs the signals to the display screen, and the axial extending position images and the radial section position images of the blood vessel are displayed simultaneously, so that the visual multi-angle positioning of the blood vessel based on ultrasonic signals is realized.
Embodiment 2: this visual positioner of puncture blood vessel under ultrasonic guidance still includes compensation probe subassembly (15), compensation probe subassembly (15) include curved surface probe (151), linking arm (152) and set up telescopic adjusting rod (153) on linking arm (152), linking arm (152) one end is fixed through passing through damping carousel (122) the arc transition portion position of equipment frame (12), linking arm (152) one end fixed curved surface probe (151) and extend it to on the position between axial probe (13) and radial probe (14). The compensation probe is used for obliquely transmitting and receiving a group of ultrasonic signals transmitted in a sector mode at a puncture position while detecting radial and axial blood vessel sound waves, further acquiring a group of image signal data for performing detail supplement on axial images and radial images, transmitting the image signal data to the host for performing detail supplement and enhancement in the image conversion and processing processes of the CPU and the GPU, and displaying the position of a blood vessel and the relative positions of other important tissues such as peripheral nerves of the blood vessel while improving the output quality of two groups of images.
Embodiment 3: as shown in fig. 6, a microprocessor (21) and a time sequence control module (22) are arranged in the driver (2) of the visual positioning device for puncturing blood vessels under ultrasonic guidance, the input end of the microprocessor (21) is connected with an external control panel of the driver (2), and the output end of the microprocessor (21) is respectively connected with the axial probe (13), the radial probe (14) and the compensation probe assembly (15) through the time sequence control module (22). The microprocessor (21) adopts an STM32F103MCU, and the timing control module (22) adopts a DGYXINER-YYS-4 three-way programmable relay module. Besides basic operations such as signal acquisition start-stop, the STM32F103MCU can be used for setting the time sequence interval of DGYXINER-YYS-4 according to the display quality. The remaining structure and components are as described in embodiment 1, and the description will not be repeated.
Embodiment 4: as shown in fig. 6, the host (3) of the visualized positioning device for puncturing blood vessels under ultrasound guidance comprises a multi-channel signal acquisition module (31), a CPU (32), a GPU (33), a storage module (34), a data transmission module (35), and a display screen (36); the input end of the multi-channel signal acquisition module (31) is respectively connected with the axial probe (13), the radial probe (14) and the compensation probe assembly (15), and the output end of the multi-channel signal acquisition module (31) is connected with the CPU (32) through a serial port bus for signal classification; the GPU (33) is in bidirectional data communication connection with the CPU (32) and converts data signals into image signals, the output end of the GPU (33) is connected with the display screen (36) to output the image signals, and the data transmission module (35) synchronously transmits the image signal data to the outside in a wireless mode. And further realize the processing after the ultrasonic signal is collected and before the output. The remaining structure and components are as described in embodiment 1, and the description will not be repeated.
Embodiment 5: as shown in fig. 2 and 5, the visualized positioning device for puncturing blood vessels under ultrasonic guidance further comprises a puncturing guide mechanism (4), wherein the puncturing guide mechanism comprises a lifting connecting rod (41), an alignment platform (42), a guide head (43) and a driving servo group (44), the lifting connecting rod is fixed on a sliding block (121) of a vertical section of the equipment frame (12), the alignment platform (42) is rotatably connected to the lower end of the lifting connecting rod (41), and the guide head (43) is slidably arranged below the alignment platform (42). The driving servo group (44) comprises an angle servo motor (441) fixed at the lower end of the lifting connecting rod (41), a translation servo motor (442) fixed on the alignment platform (42), and a linear servo motor (443) installed on the lifting connecting rod (41). An output shaft of the angle servo motor (441) is connected with a rotating shaft at one side of the alignment platform (42) through a transmission belt (444), an output shaft of the translation servo motor (442) is meshed with a rack above the guide head (43) through a gear (445), and the angle servo motor (441), the translation servo motor (442) and the linear servo motor (443) are respectively connected with an ADC output pin of the host CPU. The guide head (43) is provided with a guide groove (431) for guiding the advancing direction and the angle of the needle body, and an infrared auxiliary light source (432) for positioning the puncture point is arranged above the guide groove (431). The host computer solves or predetermines mode such as etc. through two sets of ultrasonic signal, can drive orientation, angle, level and the vertical position of guiding groove in the servo control guide head to mark the point of puncture through infrared auxiliary light source, reduce the unstable factor that manual operation brought, improve the degree of accuracy and the standardization level of puncture. The remaining structure and components are as described in embodiment 1, and the description will not be repeated.
When in use: the device is mainly applied to four-limb and neck puncture, after the height of the support frame is adjusted, the puncture part is arranged below the device frame, the lateral side of the puncture point is attached to a radial probe, the axial longitudinal position is adjusted and then controlled to be pressed downwards in front of the puncture point, the height horizontal position, namely the angle, of the guide head is manually or automatically adjusted according to two groups of images arranged in parallel in a display on one side, the needle is inserted along a guide groove in the back of the point position marked on the skin by an infrared light source, the axial image is observed to grasp the needle insertion process, and the puncture is completed after the needle point enters the visual field of the radial image.
This visual positioner of puncture blood vessel under ultrasonic guidance, when the rationally distributed probe, the operation mode of design probe staggered work can show near axial and radial ultrasonic image result of puncture position simultaneously on reducing the operation degree of difficulty, operating condition's basis, has expanded the location reference condition that can obtain under the disposable operation, cooperates puncture guiding mechanism, the standardization level and the success rate of puncture operation that have showing.
The foregoing description illustrates the principal features, rationale, and advantages of the invention. It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments or examples, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The foregoing embodiments or examples are therefore to be considered in all respects illustrative and not restrictive. The scope of the invention is indicated by the appended claims, rather than the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present specification describes embodiments, not every embodiment includes only a single embodiment, and such description is for clarity purposes only, and it is to be understood that all embodiments may be combined as appropriate by one of ordinary skill in the art to form other embodiments as will be apparent to those of skill in the art from the description herein.
Claims (10)
1. The utility model provides a visual positioner of puncture blood vessel under ultrasonic guidance which characterized in that: comprises an acquisition mechanism (1) for acquiring a blood vessel positioning signal, a driver (2) for controlling the acquisition mechanism (1) to run in a time-sharing way, and a host (3) for receiving and processing the signal of the acquisition mechanism (1) and outputting a visual positioning image, wherein,
the collecting mechanism (1) comprises a supporting frame (11) and an equipment frame (12) arranged on the supporting frame (11), the whole equipment frame (12) is L-shaped, and an arc-shaped transition part is formed at the turning position of the equipment frame (12); the horizontal section of the equipment frame (12) is slidably provided with a longitudinally arranged axial probe (13), the vertical section of the equipment frame (12) is fixedly provided with a transversely arranged radial probe (14), the detection surface of the axial probe (13) is horizontal and faces to the right lower side, and the detection surface of the radial probe (14) is inclined and faces to the inner lower side;
the device comprises an equipment frame (12), a sliding block (121) is respectively arranged on a horizontal section and a vertical section of the equipment frame (12) in a slotted mode and matched with the horizontal section in a sliding mode, a sleeve (131) and a core rod (132) are installed on the sliding block (121) of the horizontal section of the equipment frame (12), the core rod (132) is sleeved in the sleeve (131), a spring telescopic rod (133) is installed at the lower end of the core rod (132), and an axial probe (13) is fixedly connected to the lower end of the spring telescopic rod (133); a damping rotating joint (141) is installed on a sliding block (121) of the vertical section of the equipment frame (12), and the radial probe (14) is fixed on the damping rotating joint (141).
2. The visual positioning device for puncturing blood vessels under the guidance of ultrasound according to claim 1, wherein: the supporting frame (11) comprises a bridge type base (111) and a telescopic sleeve (112) arranged on the bridge type base, wherein a counterweight foot block (113) used for stably supporting equipment is arranged on the bridge type base (111), and a jacking nut (114) used for locking the height of the equipment is arranged on the telescopic sleeve (112).
3. The ultrasound-guided blood vessel puncture visualization and positioning device of claim 2, wherein: still include compensation probe subassembly (15), compensation probe subassembly (15) include curved surface probe (151), linking arm (152) and set up telescopic adjusting rod (153) on linking arm (152), linking arm (152) one end is fixed through passing through damping carousel (122) the arc transition portion position of equipment frame (12), and linking arm (152) one end is fixed curved surface probe (151) and is extended to on the position between axial probe (13) and radial probe (14).
4. The visual positioning device for puncturing blood vessels under the guidance of ultrasound according to claim 3, wherein: be equipped with microprocessor (21) and time sequence control module (22) in driver (2), driver (2) external control panel is connected to microprocessor (21) input, and microprocessor (21) output is connected respectively through time sequence control module (22) axial probe (13), radial probe (14) and compensation probe subassembly (15).
5. The visual positioning device for puncturing blood vessels under the guidance of ultrasound according to claim 4, wherein: the microprocessor (21) adopts an STM32F103MCU, and the timing control module (22) adopts a DGYXINER-YYS-4 three-way programmable relay module.
6. The visual positioning device for puncturing blood vessels under the guidance of ultrasound according to claim 5, wherein: the host (3) comprises a multi-channel signal acquisition module (31), a CPU (32), a GPU (33), a storage module (34), a data transmission module (35) and a display screen (36); the input end of the multi-channel signal acquisition module (31) is respectively connected with the axial probe (13), the radial probe (14) and the compensation probe assembly (15), and the output end of the multi-channel signal acquisition module (31) is connected with the CPU (32) through a serial port bus for signal classification; the GPU (33) is in bidirectional data communication connection with the CPU (32) and converts data signals into image signals, the output end of the GPU (33) is connected with the display screen (36) to output the image signals, and the data transmission module (35) synchronously transmits the image signal data to the outside in a wireless mode.
7. The visual positioning device for puncturing blood vessels under the guidance of ultrasound according to claim 6, wherein: the puncture guiding device is characterized by further comprising a puncture guiding mechanism (4), wherein the puncture guiding mechanism comprises a lifting connecting rod (41), an aligning platform (42), a guiding head (43) and a driving servo group (44), the lifting connecting rod is fixed on a sliding block (121) of a vertical section of the equipment frame (12), the aligning platform (42) is rotatably connected to the lower end of the lifting connecting rod (41), and the guiding head (43) is arranged below the aligning platform (42) in a sliding mode.
8. The visual positioning device for puncturing blood vessels under the guidance of ultrasound according to claim 7, wherein: the driving servo group (44) comprises an angle servo motor (441) fixed at the lower end of the lifting connecting rod (41), a translation servo motor (442) fixed on the alignment platform (42), and a linear servo motor (443) installed on the lifting connecting rod (41).
9. The visual positioning device for puncturing blood vessels under the guidance of ultrasound according to claim 8, wherein: an output shaft of the angle servo motor (441) is connected with a rotating shaft on one side of the alignment platform (42) through a transmission belt (444), an output shaft of the translation servo motor (442) is meshed with a rack above the guide head (43) through a gear (445), and the angle servo motor (441), the translation servo motor (442) and the linear servo motor (443) are respectively connected with an ADC output pin of the host CPU.
10. The ultrasound-guided blood vessel puncture visualization and positioning device of claim 9, wherein: the guide head (43) is provided with a guide groove (431) for guiding the advancing direction and the angle of the needle body, and an infrared auxiliary light source (432) for positioning the puncture point is arranged above the guide groove (431).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310090580.7A CN115944367A (en) | 2023-02-09 | 2023-02-09 | Visual positioning device for puncturing blood vessel under ultrasonic guidance |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310090580.7A CN115944367A (en) | 2023-02-09 | 2023-02-09 | Visual positioning device for puncturing blood vessel under ultrasonic guidance |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117281551A (en) * | 2023-10-19 | 2023-12-26 | 苏州大学附属第二医院 | Improved reproduction ultrasonic detection system and method |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117281551A (en) * | 2023-10-19 | 2023-12-26 | 苏州大学附属第二医院 | Improved reproduction ultrasonic detection system and method |
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