CN116036445A - Guide wire linear and rotary synchronous executing mechanism, surgical instrument and surgical robot - Google Patents
Guide wire linear and rotary synchronous executing mechanism, surgical instrument and surgical robot Download PDFInfo
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- CN116036445A CN116036445A CN202310077707.1A CN202310077707A CN116036445A CN 116036445 A CN116036445 A CN 116036445A CN 202310077707 A CN202310077707 A CN 202310077707A CN 116036445 A CN116036445 A CN 116036445A
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- guide wire
- driving wheel
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B34/30—Surgical robots
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
-
- 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
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2205/00—General characteristics of the apparatus
- A61M2205/33—Controlling, regulating or measuring
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Hematology (AREA)
- Robotics (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the technical field of medical instruments, and provides a guide wire linear and rotary synchronous executing mechanism, a surgical instrument and a surgical robot, which comprise the following components: the first guide wire driving wheel is connected with a first driving mechanism; the second guide wire driving wheel is arranged in parallel with the first guide wire driving wheel; the traction steel wire is connected with a second driving mechanism in the middle, and two ends of the traction steel wire are respectively connected with one ends of the first driving mechanism and one end of the second driving mechanism; the first guide wire driving wheel can be driven to rotate under the driving of the first driving mechanism, so that the guide wire clamped between the first guide wire driving wheel and the second guide wire driving wheel is driven to do linear motion; simultaneously, the first guide wire driving wheel or the second guide wire driving wheel is driven by the second driving mechanism to axially move under the action of the traction steel wire, and the first guide wire driving wheel and the second guide wire driving wheel carry out twisting action on the guide wire, so that the guide wire clamped between the first guide wire driving wheel and the second guide wire driving wheel is driven to rotate.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a guide wire linear and rotary synchronous executing mechanism, a surgical instrument and a surgical robot.
Background
Minimally invasive vascular interventional procedures are the basic means for diagnosis and treatment of cardiovascular and cerebrovascular diseases, and most of the vascular lesion diagnosis and vascular reconstruction procedures currently implemented are carried out by the aid of the technology. The operation of the interventional guide wire is one of the core contents of the minimally invasive vascular interventional operation and determines the quality of the operation. At present, interventional doctors manually complete the positioning operation of an interventional guide wire in a blood vessel of a patient by means of a digital silhouette angiography imaging technology, the robot device is used for positioning the interventional guide wire, the positioning operation precision and stability are improved, medical staff are liberated from radiation, the additional injury caused by wearing heavy lead clothing of the medical staff is avoided, the condition that the operation is unreliable in operation due to tiredness of the medical staff is avoided, the condition that the traditional interventional operation extremely depends on the personal experience of the medical staff is improved, the learning curve of the interventional operation is reduced, and more accurate operation is provided for the vascular interventional operation.
The medical catheter is a hollow tubular structure, and the inner cavity is used as a contrast agent injection channel or a medical instrument conveying channel. Because the catheter has high hardness and is inconvenient to complete the selection of the blood vessel, a solid guide wire with high flexibility is adopted to guide the catheter into the targeted blood vessel. During the operation, the doctor performs vascular puncture in the femoral artery or radial artery and leaves a vascular sheath as an inlet for the catheter to enter the blood vessel. The catheter is passed through the vascular sheath into the vessel in the patient, and the interventional guidewire is passed from the passageway inside the catheter into the vessel. Control of the advancement and retraction and rotation of the interventional guidewire is typically accomplished by the interventional physician with his or her assistant two and four hands.
The inventor finds that when the robot is used for assisting vascular interventional operation, the function of realizing the advancing and retracting of the interventional guide wire and the rotation of the interventional guide wire is one of the most core functions by using the robot. To realize the motion control of the interventional guide wire, the interventional guide wire is first required to be clamped in a nondestructive manner. As the surface of the interventional guide wire is provided with the ultra-smooth loach coating, the traditional clamping method is easy to cause the condition that the clamping is not tight or the clamping is too tight to damage the coating on the surface of the interventional guide wire. The rotation of the interventional guide wire cannot be interfered by the clamping device, so that the interventional guide wire rotating device must be integrated with the clamping device. Meanwhile, the interventional guide wire can directly enter the body of a patient, and has high requirements on aseptic conditions.
Currently, most interventional guide wire operating mechanisms cannot synchronously perform linear motion and rotational motion of a guide wire, and when the linear motion is performed, the rotational motion is suspended, and when the rotational motion is performed, the linear motion is suspended. This form of operation is not compatible with the actual operation of the clinician in both linear and rotational movement of the interventional guidewire, and therefore, greatly reduces the efficiency of the procedure; the linear motion and the rotary motion synchronous driving mode need to drive the integral device to realize the larger driving force, and the control mode of the rotation of the guide wire is realized through the rotation of the integral device, so that the control precision and the stability cannot be ensured.
Disclosure of Invention
In order to solve the problems, the invention provides a guide wire linear and rotary synchronous executing mechanism, a surgical instrument and a surgical robot, which can realize synchronous operation of linear motion and rotary motion of an interventional guide wire, improve the interventional operation efficiency and avoid the problem of reducing the operation efficiency existing in the prior operation mode.
In order to achieve the above object, in a first aspect, the present invention provides a synchronous guide wire linear and rotary actuator, which adopts the following technical scheme:
a guidewire alignment and rotation synchronization actuator comprising:
the first guide wire driving wheel is connected with a first driving mechanism;
the second guide wire driving wheel is arranged in parallel with the first guide wire driving wheel;
and the traction steel wire is connected with a second driving mechanism in the middle, and two ends of the traction steel wire are respectively connected with the first guide wire driving wheel and one end of the guide wire driving wheel.
Further, springs are arranged at one ends of the first guide wire driving wheel and the second guide wire driving wheel, which are far away from the traction steel wire.
Further, the spring is a constant force spring.
Further, the second driving mechanism is a motor, and the middle of the traction steel wire is wound on an output shaft of the second driving mechanism.
Further, a guide wire is clamped between the first guide wire driving wheel and the second guide wire driving wheel; the axis of the guide wire is perpendicular to the axis of the first guide wire driving wheel.
Further, the first driving mechanism is a motor, and an output shaft of the first driving mechanism is connected with a first bevel gear; the axis of the first guide wire driving wheel is connected with a second bevel gear through a connecting shaft; the first bevel gear and the second bevel gear are meshed.
Further, the connecting shaft is in sliding connection with the second bevel gear.
Further, a sliding rail is arranged on the outer wall of the connecting shaft, a through hole is formed in the middle of the second bevel gear, and a sliding groove is formed in the inner wall of the through hole; the sliding rail is connected in the sliding rail in a sliding way.
In order to achieve the above object, in a second aspect, the present invention further provides a surgical instrument, which adopts the following technical scheme:
a surgical instrument employing a guide wire linear and rotary synchronous actuator as described in the first aspect.
In order to achieve the above object, in a third aspect, the present invention further provides a surgical robot, which adopts the following technical scheme:
a surgical robot employing the surgical instrument as described in the second aspect.
Compared with the prior art, the invention has the beneficial effects that:
1. the first guide wire driving wheel can be driven to rotate under the driving of the first driving mechanism, so that the guide wire clamped between the first guide wire driving wheel and the second guide wire driving wheel is driven to do linear motion; meanwhile, the first guide wire driving wheel or the second guide wire driving wheel is driven by the second driving mechanism to axially move under the action of the traction steel wire, and the first guide wire driving wheel and the second guide wire driving wheel carry out twisting action on the guide wire, so that the guide wire clamped between the first guide wire driving wheel and the second guide wire driving wheel is driven to rotate, and the problems of low control precision and instability in the rotation control of the guide wire rotation mode by driving the integral device are avoided on the basis of synchronous linear motion and rotation motion driving of the guide wire.
2. The constant force springs are arranged at the ends of the first guide wire driving wheel and the second guide wire driving wheel, which are far away from the traction steel wire, and after the first guide wire driving wheel or the second guide wire driving wheel axially moves, the first guide wire driving wheel or the second guide wire driving wheel can be reset by the constant force springs when the second driving mechanism drives reversely, so that the structure and the driving mode are simple;
3. the driving mode of the invention can realize the accurate linear motion and rotary motion control of the guide wire, and can not cause any damage to the guide wire; the actuating mechanism can adopt a separated structure with the robot body, and can realize the isolation of sterile environments in operation.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;
100, a guide wire linear and rotary synchronous executing mechanism; 1. a first guidewire drive wheel; 2. a second guidewire drive wheel; 3. a second driving mechanism; 4. pulling the steel wire; 5. a constant force spring; 6. a first driving mechanism; 7. a first bevel gear; 8. and a second bevel gear.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
as described in the background art, the conventional part of the interventional guide wire operating mechanism performs the linear motion of the interventional guide wire and simultaneously realizes the rotary motion by driving the integral device, and the mode of synchronously driving the linear motion and the rotary motion requires driving the integral device to realize the required larger driving force, and the control mode of realizing the rotation of the guide wire by rotating the integral device cannot ensure the control precision and stability; in view of the above problems, as shown in fig. 1, the present embodiment provides a guide wire linear and rotary synchronous actuator, which includes a first guide wire driving wheel 1, a second guide wire driving wheel 2, a second driving mechanism 3, a pulling wire 4, a constant force spring 5, a first driving mechanism 6, a first bevel gear 7 and a second bevel gear 8;
the first guide wire driving wheel 1 is connected with the first driving mechanism 6; the second guide wire driving wheel 2 is arranged in parallel with the first guide wire driving wheel 2; a guide wire is clamped between the first guide wire driving wheel 1 and the guide wire driving wheel 2;
the second driving mechanism 3 is connected in the middle of the traction steel wire 4, and two ends of the traction steel wire are respectively connected with one ends of the first guide wire driving wheel 1 and the guide wire driving wheel 2.
Specifically, the first wire driving wheel 1 may be driven to rotate by the driving of the first driving mechanism 6, so as to drive the wire clamped between the first wire driving wheel 1 and the second wire driving wheel 2 to make a linear motion; meanwhile, the second driving mechanism 3 drives the traction steel wire 4 to axially move the first guide wire driving wheel 1 or the second guide wire driving wheel 2, and the first guide wire driving wheel 1 and the second guide wire driving wheel 2 carry out twisting action on the guide wires, so that the guide wires clamped between the first guide wire driving wheel 1 and the second guide wire driving wheel 2 are driven to rotate, and the problems of low control precision and instability in the rotation mode of the guide wires controlled by driving the whole device are avoided on the basis of synchronous linear motion and rotation motion driving of the guide wires.
Springs are arranged at one ends of the first guide wire driving wheel 1 and the second guide wire driving wheel 2, which are far away from the traction steel wire 4; the spring is a constant force spring 5. The constant force springs 5 are arranged at the ends of the first guide wire driving wheel 1 and the second guide wire driving wheel 2 far away from the traction steel wire 4, after the first guide wire driving wheel 1 or the second guide wire driving wheel 2 is axially moved, the first guide wire driving wheel 1 or the second guide wire driving wheel 2 can be reset by the constant force springs 5 when the second driving mechanism 3 is reversely driven, and the structure and the driving mode are simple. The spring can be arranged separately from the connecting shaft of the first guide wire driving wheel 1, and can also be sleeved on the connecting shaft, one end of the spring is connected with the end face of the first guide wire driving wheel 1, and the other end of the spring is connected with the guide wire straight line, the base of the rotation synchronous executing mechanism 100 and the like through conventional components such as a connecting plate and the like. The second guide wire driving wheel 2 may not be provided with a connecting shaft, and one end of the second guide wire driving wheel is directly connected with the base of the rotation synchronous executing mechanism 100 through a spring, a connecting plate and the like; it can be appreciated that the first guide wire driving wheel 1 and the second guide wire driving wheel 2 are slidably connected with the guide wire linear and rotary synchronous executing mechanism 100 through a sliding rail and a sliding way, and the sliding rail arranged on the outer wall of the connecting shaft and the sliding groove arranged on the inner wall of the through hole formed in the middle of the second bevel gear 8 are combined, so that the movement of the first guide wire driving wheel 1 or the second guide wire driving wheel 2 in the axial direction is satisfied.
The second driving mechanism 3 may be configured as a motor, and the middle of the pulling wire 5 is wound on the output shaft of the second driving mechanism 3; a guide wire is clamped between the first guide wire driving wheel 1 and the second guide wire driving wheel 2; the axis of the guide wire is perpendicular to the axis of the first guide wire driving wheel 1. When the output shaft of the second driving mechanism 3 rotates, the traction steel wire 5 can be driven to pull the first guide wire driving wheel 1 or the second guide wire driving wheel 2, so that the axial movement of the first guide wire driving wheel 1 or the second guide wire driving wheel 2 is realized, the twisting of the guide wire is realized, and the rotation movement of the guide wire is realized.
The first driving mechanism 6 is a motor, and an output shaft of the first driving mechanism 6 is connected with a first bevel gear 7; the axis of the first guide wire driving wheel 1 is connected with a second bevel gear 8 through a connecting shaft; the first bevel gear 7 and the second bevel gear 8 are meshed. When the output shaft of the first driving mechanism 6 rotates, the first bevel gear 7 and the second bevel gear 8 are driven to rotate, and the first guide wire driving wheel 1 is driven to rotate, so that the guide wire is driven to linearly move.
The connecting shaft is in sliding connection with the second bevel gear 8; optionally, a sliding rail is arranged on the outer wall of the connecting shaft, a through hole is formed in the middle of the second bevel gear 8, and a sliding groove is formed in the inner wall of the through hole; the sliding rail is connected in the sliding rail in a sliding way; it is ensured that the first guide wire drive wheel 1 can also be connected to the second bevel gear 8 when it is in axial motion.
The working principle and the working process of the embodiment are as follows:
driving of the rotational movement: the output shaft of the second driving mechanism 3 drives the traction steel wire 4 to realize traction, and two ends of the traction steel wire 4 respectively rotate clockwise and anticlockwise, so that the first guide wire driving wheel 1 and the second guide wire driving wheel 2 generate axial motion to realize twisting motion of the guide wires, and further realize rotation motion of the guide wires; the constant force spring 5 is used for ensuring that the first guide wire driving wheel 1 and the second guide wire driving wheel 2 can have a return force at any time, so that the guide wire can continuously rotate in the forward and reverse directions.
Driving of linear motion: the first driving mechanism 6 drives the first bevel gear 7 to rotate, the first bevel gear 7 drives the second bevel gear to rotate, rotation driving of the first wire guiding driving wheel 1 is achieved, and the first wire guiding driving wheel 1 drives the wire guiding between the first wire guiding driving wheel 1 and the second wire guiding driving wheel 2 to do front-back linear motion.
Example 2:
a surgical instrument employing a guide wire linear and rotary synchronous actuator 100 as described in example 1; the surgical instrument may be an existing device implemented by a guidewire drive, which is not described in detail herein.
Example 3:
a surgical robot employing a surgical instrument as described in example 2, the surgical robot including a body, a robot arm, etc., may be provided on the robot arm, may be implemented by an existing robot, and will not be described in detail herein.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. The synchronous actuating mechanism of seal wire straight line and rotation, its characterized in that includes:
the first guide wire driving wheel is connected with a first driving mechanism;
the second guide wire driving wheel is arranged in parallel with the first guide wire driving wheel;
and the traction steel wire is connected with a second driving mechanism in the middle, and two ends of the traction steel wire are respectively connected with the first guide wire driving wheel and one end of the guide wire driving wheel.
2. The synchronous wire linear and rotary actuator of claim 1, wherein the first wire drive wheel and the second wire drive wheel are each provided with a spring at an end thereof remote from the pull wire.
3. The guidewire linear and rotary synchronous actuator of claim 2, wherein the spring is a constant force spring.
4. The synchronous guide wire linear and rotary actuator of claim 1, wherein the second drive mechanism is a motor, and the middle of the pull wire is wound on an output shaft of the second drive mechanism.
5. The synchronous guide wire linear and rotary actuator of claim 1, wherein the first guide wire drive wheel and the second guide wire drive wheel sandwich a guide wire therebetween; the axis of the guide wire is perpendicular to the axis of the first guide wire driving wheel.
6. The guide wire linear and rotary synchronous actuator according to claim 1, wherein the first driving mechanism is a motor, and a first bevel gear is connected to an output shaft of the first driving mechanism; the axis of the first guide wire driving wheel is connected with a second bevel gear through a connecting shaft; the first bevel gear and the second bevel gear are meshed.
7. The guidewire alignment and rotation synchronization actuator of claim 6, wherein the connecting shaft is slidably coupled to the second bevel gear.
8. The synchronous guide wire linear and rotary actuator according to claim 7, wherein a slide rail is arranged on the outer wall of the connecting shaft, a through hole is formed in the middle of the second bevel gear, and a sliding groove is formed in the inner wall of the through hole; the sliding rail is connected in the sliding rail in a sliding way.
9. Surgical instrument, characterized in that a synchronous linear and rotary actuator of the guide wire according to any of claims 1-8 is used.
10. A surgical robot, wherein the surgical instrument according to claim 9 is used.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310077707.1A CN116036445A (en) | 2023-01-31 | 2023-01-31 | Guide wire linear and rotary synchronous executing mechanism, surgical instrument and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310077707.1A CN116036445A (en) | 2023-01-31 | 2023-01-31 | Guide wire linear and rotary synchronous executing mechanism, surgical instrument and surgical robot |
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| CN116036445A true CN116036445A (en) | 2023-05-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310077707.1A Pending CN116036445A (en) | 2023-01-31 | 2023-01-31 | Guide wire linear and rotary synchronous executing mechanism, surgical instrument and surgical robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117045940A (en) * | 2023-08-08 | 2023-11-14 | 上海神玑医疗科技有限公司 | Guide wire motion control unit and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083784A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Catheter or guide wire operating device for vessel interventional operation |
| CN103157170A (en) * | 2013-02-25 | 2013-06-19 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device based on two-point clamping |
| CN103550913A (en) * | 2013-10-31 | 2014-02-05 | 张广舜 | Body building wrist force exerciser |
| CN106512306A (en) * | 2016-12-11 | 2017-03-22 | 王丹 | Energy-saving and environmental-friendly outdoor physical fitness equipment |
-
2023
- 2023-01-31 CN CN202310077707.1A patent/CN116036445A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103083784A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Catheter or guide wire operating device for vessel interventional operation |
| CN103157170A (en) * | 2013-02-25 | 2013-06-19 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device based on two-point clamping |
| CN103550913A (en) * | 2013-10-31 | 2014-02-05 | 张广舜 | Body building wrist force exerciser |
| CN106512306A (en) * | 2016-12-11 | 2017-03-22 | 王丹 | Energy-saving and environmental-friendly outdoor physical fitness equipment |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117045940A (en) * | 2023-08-08 | 2023-11-14 | 上海神玑医疗科技有限公司 | Guide wire motion control unit and device |
| CN117045940B (en) * | 2023-08-08 | 2024-05-03 | 上海神玑医疗科技有限公司 | Guide wire motion control unit and device |
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