CN201617950U - Magnetic resonance image-guided auxiliary positioning device - Google Patents
Magnetic resonance image-guided auxiliary positioning device Download PDFInfo
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- CN201617950U CN201617950U CN2010201100894U CN201020110089U CN201617950U CN 201617950 U CN201617950 U CN 201617950U CN 2010201100894 U CN2010201100894 U CN 2010201100894U CN 201020110089 U CN201020110089 U CN 201020110089U CN 201617950 U CN201617950 U CN 201617950U
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Abstract
The utility model relates to a magnetic resonance image-guided auxiliary positioning device which comprises an optical tracking system, a control module, a piezoelectric ceramic motion platform, and a photogenic organ, wherein the optical tracking system monitors the coordinate position of an intervention executing point and the azimuth angle of the photogenic organ; the control module is arranged at a magnetic resonance work station for receiving the coordinate position of an intervention executing point and the azimuth angle of the photogenic organ, calculating the displacement of a set angle corresponding to the photogenic organ, sending the displacement of the set angle to the piezoelectric ceramic motion platform and receiving the operation status information sent by the piezoelectric ceramic motion platform; the piezoelectric ceramic motion platform obtains the displacement of an actual angle and the displacement of the set angle, calculates the motion control quantity according to the displacement difference of the actual angle and the set angle, and regulates the angle displacement of the photogenic organ according to the motion control quantity; and the photogenic organ is arranged on the piezoelectric ceramic motion platform and projects on the intervention executing point. The magnetic resonance image-guided auxiliary positioning device reduces the error of a subjective mark, avoids the positioning error caused by motion of a patient, and improves the positioning accuracy and reliability.
Description
[technical field]
This utility model relates to medical instruments field, relates in particular to a kind of magnetic resonance image (MRI) guiding auxiliary locator.
[background technology]
Along with people improve constantly the requirement of quality of the life and quality of medical care, the Therapeutic Method that damages the Wicresoft little, that recovery is fast, effective more and more is subjected to people's attention.Wicresoft or interventional therapy under the image guiding are meant under the guiding of image documentation equipment, utilize percutaneous puncture apparatus or vessel catheter technology, and the pathological changes of intracorporeal organ is diagnosed and treated.Image guiding can help the doctor that pathological changes is carried out that depth is observed and accurate location, thereby reaches Wicresoft, targeting and therapeutic purposes efficiently.Compare with other image technologies, the minimally-invasive treatment under the guide of magnetic resonant image has unique advantage and development potentiality, is considered to image guiding optimal guiding of minimally-invasive treatment and monitoring means.
Minimally-invasive treatment mode under the guide of magnetic resonant image mainly contains two kinds: the one, and percutaneous puncture in treating promptly under guide of magnetic resonant image, utilizes puncture instrument, and directly puncturing by skin arrives contiguous intracorporeal organ, reaches Wicresoft and targeting diagnosis and treatment purpose; Another kind of mode is a vascular interventional treatment, is about to have in the conduit insertion blood vessel of treatment function, under the guiding of magnetic resonance image (MRI), conduit is delivered to the organ that needs treatment or is utilized conduit that the pathological changes of blood vessel itself is treated.Guide of magnetic resonant image minimally-invasive treatment technology is applied to clinical, and accuracy and safety are its primary requirements.The optimum selection that gets involved the path is the successful strong guarantee of treatment, with regard to point location is implemented in present intervention, be that the doctor is by watching scanogram mostly, manually select intervention in conjunction with the anatomical knowledge of self and implement point, on the one hand, this mode depends on doctor's subjective understanding and visual determination, has error unavoidably; On the other hand, motion also can cause position error between the enforcement when patient is scanned before art and treated, and influences therapeutic effect.
[utility model content]
Based on this, be necessary to provide that a kind of positioning accuracy is higher, stability magnetic resonance image (MRI) guiding preferably auxiliary locator.
A kind of magnetic resonance image (MRI) guiding auxiliary locator, described device comprises:
Optical tracking system, monitoring get involved the coordinate position of enforcement point and the azimuth of luminous organ;
Control module, be located on the magnetic resonance work station, receive to get involved implement the azimuth of the coordinate position of point and luminous organ and calculate the set angle displacement of described luminous organ correspondence, and described set angle displacement is sent to the piezoelectric ceramics motion platform and receives the running state information that described piezoelectric ceramics platform sends;
The piezoelectric ceramics motion platform, link to each other with described control module, obtain the actual displacement angle of luminous organ and set angle displacement and calculate the motor control amount, adjust the angular displacement of described luminous organ according to described motor control amount according to the difference of set angle displacement and actual displacement angle; And
Luminous organ is installed in described piezoelectric ceramics motion platform, projects to get involved to implement point.
Preferably, described control module comprises:
The data sharing unit obtains the azimuth of coordinate position that get involved to implement point and luminous organ and sends to the angular displacement computing unit;
The angular displacement computing unit connects described data sharing unit, the angular displacement of calculating described luminous organ correspondence according to the declinometer of coordinate position that get involved to implement point and luminous organ; And
First communication unit connects described angular displacement computing unit, and the set angle displacement is sent to described piezoelectric ceramics motion platform.
Preferably, described set angle displacement and actual displacement angle include horizontal direction angular displacement and vertical direction angular displacement.
Preferably, described piezoelectric ceramics motion platform comprises second communication unit, detecting unit, processing unit, D/A switch unit, piezoelectric ceramic motor power amplification circuit and piezoelectric ceramic motor, described second communication unit links to each other with described control module, obtains the set angle displacement; Described detecting unit is installed in described piezoelectric ceramic motor, obtains the actual displacement angle of luminous organ; Described processing unit links to each other with described detecting unit, obtains the set angle displacement and the actual displacement angle of luminous organ, and obtains the motor control amount according to the difference of described set angle displacement and actual displacement angle; Described D/A switch unit links to each other with described piezoelectric ceramic motor power amplification circuit with described processing unit, described D/A conversion unit carries out D/A switch with described motor control amount, and the motor control analog quantity after will changing outputs to described piezoelectric ceramic motor power amplification circuit; Described piezoelectric ceramic motor power amplification circuit connects described piezoelectric ceramic motor, the motor control analog quantity is amplified the described piezoelectric ceramic motor of output control rotate.
Preferably, described detecting unit comprises at least two photoelectric encoders and at least two orthogonal coding testing circuits, an orthogonal coding testing circuit that detects the actual displacement angle pulse of corresponding horizontal direction at least at least in photoelectric encoder of the corresponding horizontal direction angular displacement of generation in described two photoelectric encoders pulse and described two the orthogonal coding testing circuits links to each other, another photoelectric encoder that produces corresponding vertical direction angular displacement pulse links to each other with the orthogonal coding testing circuit that another detects the pulse of corresponding vertical direction actual displacement angle, described at least two photoelectric encoders are installed in described piezoelectric ceramic motor rotor, and at least two orthogonal coding testing circuits all link to each other with the processing unit of the actual displacement angle of the described horizontal direction of calculating luminous organ according to detected pulsimeter and vertical direction.
Preferably, described piezoelectric ceramics motion platform also comprises the electromagnetic shielding unit, and described electromagnetic shielding unit is arranged on the outside of described second communication unit, detecting unit, processing unit, D/A switch unit, piezoelectric ceramic motor power amplification circuit and piezoelectric ceramic motor.
Preferably, first communication unit and second communication unit communicate by Ethernet.
Preferably, described piezoelectric ceramic motor comprises the ultrasound wave driver part, drives described piezoelectric ceramic motor and rotates.
Above-mentioned magnetic resonance image (MRI) guiding auxiliary locator, follow the trail of patient's motion by optical tracking system, detect and get involved the coordinate position of implementing point, the set angle displacement that control module goes out the luminous organ correspondence according to the position calculation that gets involved the enforcement point, the piezoelectric ceramics motion platform obtains actual displacement angle, again according to set angle displacement and actual displacement angle, draw the motor control amount of piezoelectric ceramics motion platform, control piezoelectric ceramics motion platform rotates, thereby adjust the azimuth of luminous organ, reach accurate irradiation and get involved an enforcement point position, reduced the error that subjective labelling brings, avoid patient's motion to cause position error, improved positioning accuracy and reliability.
Simultaneously, adopt luminous organ to project and get involved the enforcement point, this device can be arranged on main field, guaranteed the nuclear magnetic resonance quality away from magnetic resonance.
In addition, adopt piezoelectric ceramic motor to guarantee operate as normal under magnetic resonance environment; Adopt the pulse that produces corresponding to angular displacement to calculate actual displacement angle, calculating simply, accurately; Adopt the azimuth of adjusting horizontal direction and vertical direction angular displacement realization adjustment luminous organ, simple, convenient; Adopt the electromagnetic shielding unit, the assurance electronic equipment is better worked under magnetic resonance environment, and does not disturb nuclear magnetic resonance.
[description of drawings]
Fig. 1 is a magnetic resonance image (MRI) guiding auxiliary locator structural representation among the embodiment;
Fig. 2 is a magnetic resonance image (MRI) guiding auxiliary locator structural representation among another embodiment.
[specific embodiment]
As depicted in figs. 1 and 2, a kind of magnetic resonance image (MRI) guiding auxiliary locator comprises optical tracking system 10, is located at control module 20, piezoelectric ceramics motion platform 30 and the luminous organ 40 of magnetic resonance work station.Wherein:
The coordinate position of point is implemented in the intervention that optical tracking system 10 is used to monitor the azimuth of luminous organ 40 and patient's focus, and luminous organ 40 azimuths that monitor and patient are got involved the coordinate position of implementing point sends to control module 20.In one embodiment, the light supply apparatus of optical tracking system is installed on patient body, patient is moved in operation, optical tracker 10 can detect timely that patient moves and patient's new position, monitor the azimuth of luminous organ 40 simultaneously, the azimuth of detected patient location and luminous organ 40 is transferred in the control module 20.In addition, optical tracking system 10 can be mated with the coordinate system of magnetic resonance imaging system, promptly obtains the mutual transformational relation between the coordinate position of the coordinate position of optical tracking system 10 and magnetic resonance imaging system.
Control module 20 is located on the magnetic resonance work station.Control module 20 is calculated to get involved according to the coordinate Mapping of magnetic resonance coordinate system and optical coordinate system and is implemented the coordinate position of point in optical coordinate system, obtain the azimuth of luminous organ 40, the set angle displacement of calculating luminous organ 40 correspondences according to the declinometer of coordinate position that get involved to implement point and luminous organ 40, and this set angle displacement sent to piezoelectric ceramics motion platform 30.Control module 20 receives the physical location of luminous organ 40 of optical tracking systems 10 transmission and patient's position, adjusts timely and gets involved the coordinate position of implementing point.In one embodiment, control module 20 is transferred to piezoelectric ceramics motion platform 30 by wireless ethernet with the set angle displacement of these luminous organ 40 correspondences.Coordinate Mapping is an optical tracking system 10 and the coordinate of magnetic resonance imaging system mates, and obtains mapping relations between the coordinate position of magnetic resonance imaging system and the optical system position.The initial value in the azimuth of luminous organ 40 is to draw by the surgery planning system.Carrying out before interventional procedure begins, use the magnetic resonance imaging system that patient is carried out focus partial sweep before the art, the doctor is provided with the focus point on the image before art, adopt the surgery planning system according near the organizational structure relation focus, calculate optimum intervention and implement point, obtain the magnetic resonance coordinate system position of getting involved implementation path and getting involved the point, it is the position that control module 20 gets involved the optical coordinate of implementing point according to magnetic resonance coordinate system position calculation, obtains the azimuth of luminous organ 40.
In another embodiment, control module 20 comprises data sharing unit 200, angular displacement computing unit 210 and first communication unit 220.Data sharing unit 200 obtains the coordinate position of intervention enforcement point in the optical coordinate system and the azimuth of luminous organ.Angular displacement computing unit 210 links to each other with data sharing unit 200, implements the set angle displacement that the declinometer of the coordinate position of point and luminous organ 40 is calculated luminous organ 40 correspondences according to the intervention of obtaining.The set angle displacement of this luminous organ 40 comprises the horizontal direction rotational displacement and the vertical direction rotational displacement of luminous organ 40.First communication unit 220 links to each other with angular displacement computing unit 210, and the set angle displacement of this luminous organ 40 is sent.
Piezoelectric ceramics motion platform 30 receives the set angle displacement of luminous organ 40 and obtains the actual displacement angle of luminous organ 40, calculate the motor control amount of piezoelectric ceramics motion platform 30 according to the difference of set angle displacement and actual displacement angle, and running state information is fed back to control module 20.Wherein, actual displacement angle is the angular displacement that piezoelectric ceramics motion platform 30 drives luminous organ 40 actual rotation, and promptly luminous organ 40 rotates the angular displacement that feeds back to.
In one embodiment, piezoelectric ceramics motion platform 30 comprises second communication unit 300, processing unit 310, D/A switch unit 320, piezoelectric ceramic motor power amplification circuit 330, piezoelectric ceramic motor 340, detecting unit 350 and electromagnetic shielding unit 360.Second communication unit 300 is used for communicating with control module 20, receives the set angle displacement of the luminous organ of control module 20 transmission.Wherein, second communication unit 300 receives the data and the order of control module 20 transmission with interrupt mode.Processing unit 310 all links to each other with D/A switch unit 320, second communication unit 300 and detecting unit 350, receive the set angle displacement of second communication unit 300 transmission and the actual displacement angle of the luminous organ 40 that detecting unit 350 detects, and calculate the motor control amount of piezoelectric ceramics motion platform 30 and this motor control amount is outputed to D/A switch unit 320 according to the difference of set angle displacement and actual displacement angle.Wherein, the motor control amount can passing ratio integration control algorithm computation draw.D/A switch unit 320 is converted to analog quantity with the motor control amount, and analog quantity is outputed to piezoelectric ceramic motor power amplification circuit 330.Piezoelectric ceramic motor power amplification circuit 330 receives the motor control analog quantity, rotates according to motor control analog quantity control piezoelectric ceramic motor 340.Detecting unit 350 is installed on the rotor of piezoelectric ceramic motor 340, obtains the actual displacement angle that luminous organ 40 rotates.Electromagnetic shielding unit 360 is arranged on the outside of second communication unit 300, processing unit 310, D/A switch unit 320, piezoelectric ceramic motor power amplification circuit 330, piezoelectric ceramic motor 340, detecting unit 350, guarantee that electronic equipment can be in operate as normal under the magnetic resonance environment, and do not disturb nuclear magnetic resonance.Piezoelectric ceramic motor 340 comprises the ultrasound wave driver part, drives piezoelectric ceramic motor 340 and rotates.The driver of piezoelectric ceramic motor 340 and motion guide rail adopt no magnetic material with the shielding electromagnetism, this piezoelectric ceramic motor 340 does not produce any magnetic field, can under magnetic resonance environment, work, and the main magnet of above-mentioned magnetic resonance image (MRI) guiding auxiliary locator installation site and magnetic resonance device has certain distance, can not influence the nuclear magnetic resonance quality.Preferably, when piezoelectric ceramics motion platform 30 is installed in far when regional from the nuclear magnetic resonance zone, can not disturb image quality.In addition, first communication unit 220 and second communication unit 300 can be the ethernet communication unit.
In one embodiment, detecting unit 350 comprises at least two photoelectric encoders and at least two orthogonal coding testing circuits.At least two photoelectric encoders are installed on the rotor of piezoelectric ceramic motor 340, and at least two orthogonal coding testing circuits link to each other with processing unit 310.A photoelectric encoder links to each other with orthogonal encoder testing circuit at least two orthogonal encoder testing circuits at least two photoelectric encoders, and another photoelectric encoder links to each other with another orthogonal encoder testing circuit.At least two photoelectric encoders produce the pulse corresponding to actual displacement angle, and photoelectric encoder produces the pulse corresponding to the horizontal direction angular displacement, and another photoelectric encoder produces the pulse corresponding to the vertical direction angular displacement; At least two orthogonal encoder testing circuits detect the pulse corresponding to actual displacement angle, orthogonal encoder testing circuit detects the pulse corresponding to the actual displacement angle of horizontal direction, another orthogonal encoder testing circuit detects the pulse corresponding to the actual displacement angle of vertical direction, and give processing unit 310 with detected burst transmissions corresponding to horizontal direction and vertical direction actual displacement angle, processing unit 310 is calculated the actual displacement angle of horizontal direction of luminous organ and the actual displacement angle of vertical direction according to pulsimeter.
Luminous organ 40 is installed on the piezoelectric ceramics motion platform 30.Luminous organ 40 is used for luminous projecting and gets involved the enforcement point.Luminous organ 40 rotates along with the rotation of piezoelectric ceramics motion platform 30.Rotation by piezoelectric ceramics motion platform 30, adjust the azimuth of luminous organ 40, in the present embodiment, by rotating piezoelectric ceramics motion platform 30, adjust luminous organ 40 in the horizontal direction with vertical direction generation angular displacement, thereby realize adjusting the azimuth of luminous organ 40.
The work process of above-mentioned magnetic resonance image (MRI) guiding auxiliary locator is: the azimuth of optical tracking system 10 monitoring luminous organs 40 and the intervention of patient's focus are implemented the coordinate position of point and are transferred to control module 20.Control module 20 gets access to the coordinate position in the optical coordinate system that get involved to implement point and the azimuth of luminous organ 40, angular displacement computing unit 210 is calculated the set angle displacement according to declinometer, first communication unit 220 is transferred to piezoelectric ceramics motion platform 30 with the set angle displacement, the detecting unit 350 of piezoelectric ceramics motion platform 30 detects actual displacement angle, processing unit 310 draws the motor control amount according to the difference of set angle displacement and actual displacement angle, piezoelectric ceramic motor power amplification circuit 330 rotates the azimuth of adjusting luminous organ 40 according to motor control amount control piezoelectric ceramic motor 350, luminous organ 40 is projected get involved the enforcement point.
Above-mentioned magnetic resonance image (MRI) guiding auxiliary locator, follow the trail of patient's motion by optical tracking system, detect and get involved the coordinate position of implementing point, the set angle displacement that control module goes out the luminous organ correspondence according to the position calculation that gets involved the enforcement point, the piezoelectric ceramics motion platform obtains actual displacement angle, again according to set angle displacement and actual displacement angle, draw the motor control amount of piezoelectric ceramics motion platform, control piezoelectric ceramics motion platform rotates, thereby adjust the azimuth of luminous organ, reach accurate irradiation and get involved an enforcement point position, reduced the error that subjective labelling brings, avoid patient's motion to cause position error, improved positioning accuracy and reliability.
Simultaneously, adopt luminous organ to project and get involved the enforcement point, this device can be arranged on main field, guaranteed the nuclear magnetic resonance quality away from magnetic resonance.
In addition, adopt piezoelectric ceramic motor to guarantee operate as normal under magnetic resonance environment; Adopt the pulse that produces corresponding to angular displacement to calculate actual displacement angle, calculating simply, accurately; Adopt the azimuth of adjusting horizontal direction and vertical direction angular displacement realization adjustment luminous organ, simple, convenient; Adopt the electromagnetic shielding unit, the assurance electronic equipment is better worked under magnetic resonance environment, and does not disturb nuclear magnetic resonance.
The above embodiment has only expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but can not therefore be interpreted as the restriction to claim of the present invention.Should be pointed out that for the person of ordinary skill of the art without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (8)
1. a magnetic resonance image (MRI) is guided auxiliary locator, it is characterized in that described device comprises:
Optical tracking system, monitoring get involved the coordinate position of enforcement point and the azimuth of luminous organ;
Control module, be located on the magnetic resonance work station, receive to get involved implement the azimuth of the coordinate position of point and luminous organ and calculate the set angle displacement of described luminous organ correspondence, and described set angle displacement is sent to the piezoelectric ceramics motion platform and receives the running state information that described piezoelectric ceramics platform sends;
The piezoelectric ceramics motion platform, link to each other with described control module, obtain the actual displacement angle of luminous organ and set angle displacement and calculate the motor control amount, adjust the angular displacement of described luminous organ according to described motor control amount according to the difference of set angle displacement and actual displacement angle; And
Luminous organ is installed in described piezoelectric ceramics motion platform, projects to get involved to implement point.
2. magnetic resonance image (MRI) guiding auxiliary locator according to claim 1 is characterized in that described control module comprises:
The data sharing unit obtains the azimuth of coordinate position that get involved to implement point and luminous organ and sends to the angular displacement computing unit;
The angular displacement computing unit connects described data sharing unit, the angular displacement of calculating described luminous organ correspondence according to the declinometer of coordinate position that get involved to implement point and luminous organ; And
First communication unit connects described angular displacement computing unit, and the set angle displacement is sent to described piezoelectric ceramics motion platform.
3. magnetic resonance image (MRI) guiding auxiliary locator according to claim 1 is characterized in that described set angle displacement and actual displacement angle include horizontal direction angular displacement and vertical direction angular displacement.
4. magnetic resonance image (MRI) guiding auxiliary locator according to claim 2, it is characterized in that, described piezoelectric ceramics motion platform comprises second communication unit, detecting unit, processing unit, D/A switch unit, piezoelectric ceramic motor power amplification circuit and piezoelectric ceramic motor, described second communication unit links to each other with described control module, obtains the set angle displacement; Described detecting unit is installed in described piezoelectric ceramic motor, obtains the actual displacement angle of luminous organ; Described processing unit links to each other with described detecting unit, obtains the set angle displacement and the actual displacement angle of luminous organ, and obtains the motor control amount according to the difference of described set angle displacement and actual displacement angle; Described D/A switch unit links to each other with described piezoelectric ceramic motor power amplification circuit with described processing unit, described D/A conversion unit carries out D/A switch with described motor control amount, and the motor control analog quantity after will changing outputs to described piezoelectric ceramic motor power amplification circuit; Described piezoelectric ceramic motor power amplification circuit connects described piezoelectric ceramic motor, the motor control analog quantity is amplified the described piezoelectric ceramic motor of output control rotate.
5. magnetic resonance image (MRI) guiding auxiliary locator according to claim 4, it is characterized in that, described detecting unit comprises at least two photoelectric encoders and at least two orthogonal coding testing circuits, an orthogonal coding testing circuit that detects the actual displacement angle pulse of corresponding horizontal direction at least at least in photoelectric encoder of the corresponding horizontal direction angular displacement of generation in described two photoelectric encoders pulse and described two the orthogonal coding testing circuits links to each other, another photoelectric encoder that produces corresponding vertical direction angular displacement pulse links to each other with the orthogonal coding testing circuit that another detects the pulse of corresponding vertical direction actual displacement angle, described at least two photoelectric encoders are installed in described piezoelectric ceramic motor, and at least two orthogonal coding testing circuits all link to each other with the processing unit of the actual displacement angle of the described horizontal direction of calculating luminous organ according to detected pulsimeter and vertical direction.
6. magnetic resonance image (MRI) guiding auxiliary locator according to claim 4, it is characterized in that, described piezoelectric ceramics motion platform also comprises the electromagnetic shielding unit, and described electromagnetic shielding unit is arranged on the outside of described second communication unit, detecting unit, processing unit, D/A switch unit, piezoelectric ceramic motor power amplification circuit and piezoelectric ceramic motor.
7. magnetic resonance image (MRI) guiding auxiliary locator according to claim 4 is characterized in that first communication unit and second communication unit communicate by Ethernet.
8. magnetic resonance image (MRI) guiding auxiliary locator according to claim 4 is characterized in that described piezoelectric ceramic motor comprises the ultrasound wave driver part, drives described piezoelectric ceramic motor and rotates.
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|---|---|---|---|
| CN2010201100894U CN201617950U (en) | 2010-02-02 | 2010-02-02 | Magnetic resonance image-guided auxiliary positioning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010201100894U CN201617950U (en) | 2010-02-02 | 2010-02-02 | Magnetic resonance image-guided auxiliary positioning device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103181822A (en) * | 2011-12-30 | 2013-07-03 | 上海爱立峰医疗科技有限公司 | Positioning apparatus for magnetic resonance puncture guiding surgical system |
| CN103181764A (en) * | 2011-12-30 | 2013-07-03 | 上海爱立峰医疗科技有限公司 | Magnetic resonance scanning positioning system and directivity positioning scanning method |
| CN103516254A (en) * | 2012-06-15 | 2014-01-15 | 佳能株式会社 | Driving device for vibration-type actuator and medical system using same |
| CN109939368A (en) * | 2017-12-20 | 2019-06-28 | 深圳先进技术研究院 | High-strength focus supersonic therapeutic system, method and device under guided by magnetic resonance |
-
2010
- 2010-02-02 CN CN2010201100894U patent/CN201617950U/en not_active Expired - Lifetime
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103181822A (en) * | 2011-12-30 | 2013-07-03 | 上海爱立峰医疗科技有限公司 | Positioning apparatus for magnetic resonance puncture guiding surgical system |
| CN103181764A (en) * | 2011-12-30 | 2013-07-03 | 上海爱立峰医疗科技有限公司 | Magnetic resonance scanning positioning system and directivity positioning scanning method |
| CN103181822B (en) * | 2011-12-30 | 2015-07-22 | 上海爱立峰医疗科技有限公司 | Positioning apparatus for magnetic resonance puncture guiding surgical system |
| CN103516254A (en) * | 2012-06-15 | 2014-01-15 | 佳能株式会社 | Driving device for vibration-type actuator and medical system using same |
| CN103516254B (en) * | 2012-06-15 | 2015-12-23 | 佳能株式会社 | For vibration-type actuator drive unit and use its medical system |
| CN109939368A (en) * | 2017-12-20 | 2019-06-28 | 深圳先进技术研究院 | High-strength focus supersonic therapeutic system, method and device under guided by magnetic resonance |
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Effective date of registration: 20191219 Address after: 518000 b714, Shenzhen Institute of advanced technology, Chinese Academy of Sciences, 1068 Xueyuan Avenue, Taoyuan Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: Shenzhen National Research Institute of high performance Medical Devices Co.,Ltd. Address before: Room office building No. 1068 Shenzhen Institute of advanced technology A-301 518000 in Guangdong city of Shenzhen province Nanshan District Shenzhen University city academy Avenue Patentee before: Shenzhen shen-tech advanced Cci Capital Ltd. Effective date of registration: 20191219 Address after: Room office building No. 1068 Shenzhen Institute of advanced technology A-301 518000 in Guangdong city of Shenzhen province Nanshan District Shenzhen University city academy Avenue Patentee after: Shenzhen shen-tech advanced Cci Capital Ltd. Address before: 1068 No. 518055 Guangdong city in Shenzhen Province, Nanshan District City Xili Road School of Shenzhen University Patentee before: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY |
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Granted publication date: 20101103 |