CN203341820U - Robot-assisted oblique tip flexible needle puncture system - Google Patents
Robot-assisted oblique tip flexible needle puncture system Download PDFInfo
- Publication number
- CN203341820U CN203341820U CN 201320377340 CN201320377340U CN203341820U CN 203341820 U CN203341820 U CN 203341820U CN 201320377340 CN201320377340 CN 201320377340 CN 201320377340 U CN201320377340 U CN 201320377340U CN 203341820 U CN203341820 U CN 203341820U
- Authority
- CN
- China
- Prior art keywords
- puncture
- flexible needle
- needle
- controller
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Landscapes
- Surgical Instruments (AREA)
Abstract
The utility model relates to a robot-assisted oblique tip flexible needle puncture system. An optical fiber force sensor is connected with a data collection card through optical fibers, the data collection card is connected with an input interface of a computer, a C-type arm is arranged in the puncture site and connected with the input interface of the computer, a three-dimensional electromagnetic positioning sensor is arranged in a groove in a flexible needle tip and connected with the input interface of the computer, an output interface of the computer is connected with the input end of a controller through a signal line, and the output end of the controller is connected with a puncture platform. According to the robot-assisted oblique tip flexible needle puncture system, the needle tip position can be obtained in a real-time mode, the needle tip stress can be obtained in a real-time mode, on-line correction can be carried out on the puncture strategy according to metaplasia, the phenomenon that an oblique tip flexible needle can bypass the non-puncture area and accurately reach the nidus is ensured, the puncture process is monitored by a doctor, and the safety of a puncture operation is ensured.
Description
Technical field
This utility model relates to splanchnocoel soft tissue puncture field of surgery, relates in particular to a kind of use robot assisted doctor and completes oblique sharp flexible needle soft tissue lancing system.
Background technology
Paracentesis are more typical technology in micro-wound surgical operation (Minimally Invasive Surgery), under image and the guiding of other heat transfer agent, the pin percutaneous is worn chamber and is entered the soft tissue target spot, completes medicine placement, biopsy, local anesthesia, the closely operation such as radiation and ablation.In the tradition puncture for treating, the doctor manually completes piercing process at C shape arm, the medical image watch-dog such as ultrasonic under monitoring.Although there is advanced medical image equipment to provide the visual feedback of puncture position for the doctor, but be subject to technical limitations, medical image equipment can only determine whether puncture is correct afterwards in puncture, can't be for operation provides guidance before puncture, the effect that punctures to a great extent still is subject to the subjective factors impacts such as doctors experience, emotion, muscle power.The doctor manually puncture to have precision low, the shortcoming such as be subject to that subjective factors affects.
For the shortcoming of manual puncture, the related researcher has proposed the robot assisted lancing system.In " the percutaneous kidney surgery mechanical hands lancing system " of Chinese patent CN102113904A, this is introduced.With manual puncture, compare, the robot assisted puncture has advantages of that precision is high, repeatable strong, and can alleviate patient's misery and doctor's degree of fatigue.This patent is towards traditional puncture needle, i.e. the rigidity puncture needle.In the process of puncture, rigidity lancet puncture track is almost straight line, but owing to organizing deformation, organize the characteristics such as non-uniform Distribution to make puncture needle needle point discontinuity, and the track that causes puncturing is straight line completely not, needle point and target position produce deviation, reduce surgical effect.In addition, the puncture track is close to straight line, makes some can't be arrived by can not the puncture focus of regional occlusion such as blood vessel, nerve, and this has limited paracentetic application.
For the shortcoming of conventional rigid pin, some research institutions have proposed the concept of oblique sharp flexible needle.Flexible needle, be needle body by elastomeric material preferably Nitinol make, needle point is asymmetric inclined-plane, in puncture, needle point is subject to the non-uniform force that tissue applies, needle point can be along deflected by force direction, by controlling pinpoint inclined plane towards controlling the flexible needle yawing moment, thereby control flexible needle puncture track, and then reach control needle point precision and walk around the regional purpose that can not puncture.
Blood vessel in soft tissue and nerve, the bending of flexible needle, make the needle point path planning in the face of all kinds of constraints such as obstacle, kinesiology, kinetics.Keeping away barrier and minimally invasive is the key factor that the needle point path planning is considered, takes into account the constraint of pin bending curvature simultaneously.Existing puncture planning algorithm carries out definite description to spatial obstacle, cause the expression of simple objects on configuration space complicated and very irregular, computation complexity also is Exponential growth, can not solve well the real-time planning problem under the nonholonomic restriction condition.
Current minimally invasive surgery lacks force transducer very much, can't sense operation apparatus force information organizationally, and clinical practice is limited to.
A kind of control method and equipment of flexible needle have been proposed in Chinese patent CN102018575A " the robot assisted flexible needle puncture real-time control system of soft tissue and method ", but in this patent, the flexible needle model is confined to the two dimension puncture, the prediction that uses a model of the stressed and tip position of needle point obtains, can't be applied to real-time control, do not have watch-dog to cause this patent can only be applied in vitro puncture experiment, and can't be applied to clinical.
The utility model content
For the deficiencies in the prior art, lancing system when this utility model provides a kind of oblique sharp flexible needle high-precision real.This system is used the 3 D electromagnetic alignment sensor to obtain the feedback of tip position information as control system; Use C shape arm monitoring piercing process, in conjunction with the 3 D electromagnetic alignment sensor, robot is controlled and plans online; Use Optical Fiber Force Sensor to obtain the contact force of needle point and tissue.Finally realize the hi-Fix of needle point and the on-line analysis of tissue physiology's characteristic, be mainly used in drug injection, test alive, local anesthesia and lump in soft tissue and melt etc.
The technical scheme that this utility model adopted for achieving the above object is: the oblique sharp flexible needle lancing system of a kind of robot assisted, and Optical Fiber Force Sensor is by the optical-fiber connection data capture card, and data collecting card connects the input interface of computer; It is on-the-spot that C type arm is arranged at puncture, with the input interface of computer, is connected; The 3 D electromagnetic alignment sensor is arranged in the groove of flexible needle needle point, with the input interface of computer, is connected, and the output interface of computer connects the input of controller by holding wire, and the outfan of controller connects the puncture platform.
Described Optical Fiber Force Sensor comprises laser instrument, optical isolator, spectroscope, power-light intensity conversion element and luminous intensity measurement module, laser instrument connects optical isolator and spectroscope successively by optical fiber, and spectroscope connects respectively luminous intensity measurement module and power-light intensity conversion element;
Described luminous intensity measurement module is connected to form in turn by photodiode, current-to-voltage convertor;
Described power-light intensity conversion element comprises on the optical fiber embedded in flexible needle needle point unit with grooves in outer wall, two illuminators on the phase closing surface.
Described puncture platform comprises detent mechanism and puncture mechanism, and wherein detent mechanism is the six degree of freedom mechanical arm, and end is fixedly connected with puncture mechanism, and puncture mechanism comprises linear electric motors, electric rotating machine and flexible needle.
Described controller comprises mechanical arm controller, linear electric motor controller and rotating machine controller;
Described mechanical arm controller connects the six degree of freedom mechanical arm, for controlling the location of flexible needle needle point,
Described linear electric motor controller connects linear electric motors, for controlling linear electric motors, makes flexible needle needle point straight-line feed;
Described rotating machine controller connects electric rotating machine, for controlling electric rotating machine and then controlling flexible needle needle point direction of rotation.
The utlity model has following beneficial effect and advantage:
1. this utility model, based on oblique sharp flexible needle force analysis, is set up the flexible needle kinetic model, can to model, carry out revising and making model more accurate online according to the stressed of needle point;
2. this utility model is used C type arm to complete the monitoring to tissue and puncture needle, can puncture be carried out to weight-normality and draw according to soft tissue deformation revise goal position, reduces the deviation caused due to deformation;
3. in this utility model, 3 D electromagnetic location can obtain tip position and attitude in real time, in twice C type arm imaging interval, for control algolithm provides the Real-time Feedback of tip position, makes control algolithm more stable, precisely;
4. this utility model is used the Optical Fiber Force Sensor based on Fabry-Perot interference principle (FBI) to obtain needle point power, not only can revise online kinetic model, also can obtain tissue physiology's characteristic, and then draw and the situation of histoorgan judge in time the organ lesion order of severity.
The accompanying drawing explanation
Fig. 1 is this utility model system architecture diagram;
Fig. 2 is system construction drawing and the power-light intensity conversion element explanation enlarged drawing of Optical Fiber Force Sensor;
The schematic diagram that Fig. 3 is integrated sensor on flexible needle;
Wherein 1 is that laser instrument, 2 is that optical isolator, 3 is that spectroscope, 4 is that Optical Fiber Force Sensor, 5 is that laser beam, 6 is that illuminator, 7 is that photodiode, 8 is the current/voltage sensor.
The specific embodiment
Below in conjunction with drawings and Examples, this patent is described further.
Be illustrated in figure 1 system architecture diagram of the present utility model, this flexible needle lancing system comprises motion planning control section, sensing equipment and puncture platform.
First, according to tip position and perforation image information, puncture is carried out to online path planning, according to the feedback of C type arm imaging, the target location after being out of shape is reset, and according to oblique sharp flexible needle needle point, barrier and target location, flexible needle puncture track is carried out to weight-normality and draw, obtain new route programming result, then route programming result is passed to controller;
According to the needle point of Optical Fiber Force Sensor feedback, be subject to force information to carry out online path planning correction to the flexible needle model; Controller is subject to the feedback information of force information and 3 D electromagnetic alignment sensor to complete the control instruction that path planning partly transmits according to the flexible needle needle point, makes the flexible needle needle point puncture according to desired trajectory.
Second portion, sensing equipment comprises C type arm, Optical Fiber Force Sensor and 3 D electromagnetic alignment sensor.Wherein C type arm carries out imaging to the puncture tissue regions, is placed on as required around the puncture tissue; Optical Fiber Force sensing and 3 D electromagnetic alignment sensor are placed in flexible needle inside, complete the measurement to needle tip power and position.
C type arm is responsible for puncture regional soft tissue and puncture needle are carried out to imaging, and metaplasia information is provided.
For oblique sharp flexible needle is controlled in real time, need Real-time Obtaining to organize deformation and tip position to carry out, then puncture is carried out to weight-normality and draw, the control strategy of preoperative planning is revised, thereby reached the purpose of accurate control tip position.This utility model is used C type arm to obtain tissue image.Because C type arm is radiophotography, there is radiation hazradial bundle, and the imaging time of C type arm is longer, therefore should not frequently use.In this utility model, use at set intervals C type arm to carry out imaging to tissue, then image is processed, reset the target location after distortion; Carrying out accordingly weight-normality draws.
The 3 D electromagnetic alignment sensor is arranged at the flexible needle needle point, is responsible for real-time tracing tip position and attitude, according to movement instruction, flexible needle is punctured and carries out closed loop control.3 D electromagnetic alignment sensor sample frequency is high, can obtain position and the attitude information of needle point.In the interval of twice C type arm imaging, use this position to be controlled flexible needle.
The 3DGudiance DriveBAY DB-011-DD that the 3 D electromagnetic alignment sensor uses Ascension company to manufacture, be comprised of emitter, sensor and control unit.Emitter is set up Electromagnetic Field with Sources in working region.Sensor is comprised of two vertical coils, and coil is at the elect magnetic field induced potential of alternation, and passes voltage back control unit.Control unit, intensity and the frequency in the emission magnetic field of control sensor, accept the voltage signal of passing back from sensor, by position and the attitude of the two calculating sensor.In this utility model, sensor and flexible needle are fixed together, host computer obtains sensing station and attitude information by GetAsynchronousRecord or GetSynchronousRecord interface from control unit, thereby obtains the needle point coordinate in electromagnetic positioning system.
Optical Fiber Force Sensor is responsible for experiencing the needle point stressing conditions, then force feedback is arrived to the planning control part, and the physiological property of tissue is analyzed, and online state of an illness diagnosis is provided;
Third part, the puncture platform comprises two parts: detent mechanism and puncture mechanism.
Detent mechanism is the six degree of freedom mechanical arm, is arranged in as required in operating room; The fixing puncture of detent mechanism end mechanism, lay electric rotating machine and linear electric motors in puncture mechanism, realizes rotation and the straight-line feed control of flexible needle.In order to reduce line, the control unit of electric rotating machine and linear electric motors is placed in puncture mechanism to an extracting power supply cord and control unit holding wire.
Detent mechanism is determined the attitude of flexible needle puncture mechanism according to preoperative planning, reach predetermined attitude after mechanism locked.Detent mechanism is active/passive, can drag the detent mechanism end to precalculated position by the doctor, and behind the arrival precalculated position, detent mechanism is locked; The precalculated position automated movement that also can obtain according to planning, behind the arrival target location, mechanism is locked.The structural design of detent mechanism and control algolithm are very ripe in association area, at this, exceed and repeat.
Known according to the principle of flexible needle: need to there be two degree of freedom, straight-line feed and Spin Control in puncture mechanism.Straight-line feed is responsible for the feeding of flexible needle and is controlled; The inclined-plane that Spin Control is responsible for flexible needle towards, control the yawing moment of needle point.After detent mechanism is locked, according to algorithm, puncture is planned controlled strategy; Based on this, control feeding and the rotation of flexible needle.
Be illustrated in figure 2 system construction drawing and the power-light intensity conversion element explanation enlarged drawing of Optical Fiber Force Sensor.Optical Fiber Force Sensor is comprised of laser generation, power-light intensity conversion and luminous intensity measurement three parts, and is connected by spectroscope.Part occurs laser is mainly laser instrument, produces the monochromatic light of fixed frequency.Power-light intensity conversion portion core is power-light intensity conversion element, and as shown in illuminator in Fig. 26, conversion element is comprised of reflection cavity and two optical fiber that are fixed in reflection cavity, between two optical fiber, reflective distance is arranged.Conversion element is placed in the flexible needle needle point, by conduction optical fiber, it is connected with spectroscope.The luminous intensity measurement part is comprised of photodiode, current-to-voltage convertor, data collecting card and PC.
Power-light intensity conversion element 4 embeds the flexible needle needle point.Laser instrument 1 Emission Lasers, after optical isolator 2, be divided into two bundle laser through spectroscope 3, a road completes the conversion from the light intensity to voltage through photodiode 7 and current-to-voltage convertor 8, and through data collecting system, analog voltage is converted into to digital value, the reference value using it as incident illumination; Another road is transferred to power-light intensity conversion element 4, in power-light intensity conversion element, laser beam 5 completes two secondary reflections through two illuminators 6, reflected light interferes in optical fiber, coherent light is two-way in spectroscope punishment, one road coherent light reaches optical isolator 2 places to be stopped, and another road coherent light completes the reflective light intensity measurement through photodiode 7 and current-to-voltage convertor 8.Concern the inner twice catoptrical phase contrast of computing power-light intensity conversion element 4 by light intensity and coherent light phase contrast, and then obtain two distances between illuminator 6, draw the stressed size in top according to the stressed relation of variable in distance and sensor top, complete force measurement.
As shown in Figure 3, be the schematic diagram of integrated sensor on flexible needle, on needle body, there is impartial groove to be used for laying sensor.Optical Fiber Force Sensor and electromagnetic location sensor are placed in groove, are fixed on the flexible needle end, to measure accurately the stressed and position of flexible needle needle point.
Equipment for reflection and projecting laser bundle in sensor is beam splitter, and this element is made by plate one or more layers film at optical glass surface.When beam of laser projects on beam splitter, by reflection and refraction, laser is divided into two bundles or multi beam, and reflection can be controlled by the character of plated film with the beam intensity ratio of refraction.
After the acquisition needle point is stressed, it is combined with tissue characteristics, analyzes the physiological property of tissue, as the state of an illness diagnosis basis of tissue or organ.
Claims (4)
1. the oblique sharp flexible needle lancing system of robot assisted, is characterized in that, Optical Fiber Force Sensor is by the optical-fiber connection data capture card, and data collecting card connects the input interface of computer; It is on-the-spot that C type arm is arranged at puncture, with the input interface of computer, is connected; The 3 D electromagnetic alignment sensor is arranged in the groove of flexible needle needle point, with the input interface of computer, is connected, and the output interface of computer connects the input of controller by holding wire, and the outfan of controller connects the puncture platform.
2. the oblique sharp flexible needle lancing system of robot assisted according to claim 1, it is characterized in that: described Optical Fiber Force Sensor comprises laser instrument, optical isolator, spectroscope, power-light intensity conversion element and luminous intensity measurement module, laser instrument connects optical isolator and spectroscope successively by optical fiber, and spectroscope connects respectively luminous intensity measurement module and power-light intensity conversion element;
Described luminous intensity measurement module is connected to form in turn by photodiode, current-to-voltage convertor;
Described power-light intensity conversion element comprises on the optical fiber embedded in flexible needle needle point unit with grooves in outer wall, two illuminators on the phase closing surface.
3. the oblique sharp flexible needle lancing system of robot assisted according to claim 1, it is characterized in that: described puncture platform comprises detent mechanism and puncture mechanism, wherein detent mechanism is the six degree of freedom mechanical arm, end is fixedly connected with puncture mechanism, and puncture mechanism comprises linear electric motors, electric rotating machine and flexible needle.
4. the oblique sharp flexible needle lancing system of robot assisted according to claim 1, it is characterized in that: described controller comprises mechanical arm controller, linear electric motor controller and rotating machine controller;
Described mechanical arm controller connects the six degree of freedom mechanical arm, for controlling the location of flexible needle needle point,
Described linear electric motor controller connects linear electric motors, for controlling linear electric motors, makes flexible needle needle point straight-line feed;
Described rotating machine controller connects electric rotating machine, for controlling electric rotating machine and then controlling flexible needle needle point direction of rotation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320377340 CN203341820U (en) | 2013-06-27 | 2013-06-27 | Robot-assisted oblique tip flexible needle puncture system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320377340 CN203341820U (en) | 2013-06-27 | 2013-06-27 | Robot-assisted oblique tip flexible needle puncture system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203341820U true CN203341820U (en) | 2013-12-18 |
Family
ID=49741769
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320377340 Expired - Lifetime CN203341820U (en) | 2013-06-27 | 2013-06-27 | Robot-assisted oblique tip flexible needle puncture system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203341820U (en) |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104007027A (en) * | 2014-06-17 | 2014-08-27 | 河北大学 | Biological soft tissue characteristic test and mechanical parameter calibration system |
| CN104248471A (en) * | 2013-06-27 | 2014-12-31 | 中国科学院沈阳自动化研究所 | Robot-assisted oblique-tip flexible needle puncture system and method |
| CN105852939A (en) * | 2016-06-03 | 2016-08-17 | 王洪奎 | Automatic real-time positioning and puncturing robot arm for CT |
| CN106377303A (en) * | 2016-11-18 | 2017-02-08 | 凌安东 | Abdominal wall puncture device for laparoscope based on photo-excitation laser detection positioning |
| CN108392254A (en) * | 2018-04-12 | 2018-08-14 | 上海埃斯埃医械塑料制品有限公司 | intelligent lumbar puncture needle |
| CN108538138A (en) * | 2018-06-21 | 2018-09-14 | 青海大学 | A kind of acquisition punctures the kinetic control system and its application method of experimental data information |
| CN108775981A (en) * | 2018-06-12 | 2018-11-09 | 南昌大学 | A kind of high-precision differential type diaphragm optical fiber pressure capsule system |
| CN108814689A (en) * | 2018-06-12 | 2018-11-16 | 南昌大学 | A kind of differential type diaphragm optical fiber pressure capsule system |
| CN109009444A (en) * | 2018-08-23 | 2018-12-18 | 广州医科大学附属第医院 | A kind of electromagnetic type force feedback puncturing operation auxiliary device and robot puncturing system |
| CN109044530A (en) * | 2018-07-17 | 2018-12-21 | 哈尔滨理工大学 | A kind of multi-modal sensory perceptual system and data fusion method of operation on prostate robot |
| CN110537983A (en) * | 2019-09-26 | 2019-12-06 | 重庆博仕康科技有限公司 | Photo-magnetic integrated puncture surgery navigation platform |
| WO2023006075A1 (en) * | 2021-07-30 | 2023-02-02 | 北京迈迪斯医疗技术有限公司 | Puncture instrument |
-
2013
- 2013-06-27 CN CN 201320377340 patent/CN203341820U/en not_active Expired - Lifetime
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104248471A (en) * | 2013-06-27 | 2014-12-31 | 中国科学院沈阳自动化研究所 | Robot-assisted oblique-tip flexible needle puncture system and method |
| CN104007027A (en) * | 2014-06-17 | 2014-08-27 | 河北大学 | Biological soft tissue characteristic test and mechanical parameter calibration system |
| CN104007027B (en) * | 2014-06-17 | 2016-08-24 | 河北大学 | A kind of biologic soft tissue characteristic test and mechanics parameter calibration system |
| CN105852939A (en) * | 2016-06-03 | 2016-08-17 | 王洪奎 | Automatic real-time positioning and puncturing robot arm for CT |
| CN105852939B (en) * | 2016-06-03 | 2019-04-09 | 王洪奎 | CT is automatically positioned in real time punctures mechanical hand |
| CN106377303A (en) * | 2016-11-18 | 2017-02-08 | 凌安东 | Abdominal wall puncture device for laparoscope based on photo-excitation laser detection positioning |
| CN108392254A (en) * | 2018-04-12 | 2018-08-14 | 上海埃斯埃医械塑料制品有限公司 | intelligent lumbar puncture needle |
| CN108814689A (en) * | 2018-06-12 | 2018-11-16 | 南昌大学 | A kind of differential type diaphragm optical fiber pressure capsule system |
| CN108775981A (en) * | 2018-06-12 | 2018-11-09 | 南昌大学 | A kind of high-precision differential type diaphragm optical fiber pressure capsule system |
| CN108814689B (en) * | 2018-06-12 | 2024-06-04 | 南昌大学 | Differential diaphragm optical fiber pressure sensing system |
| CN108538138A (en) * | 2018-06-21 | 2018-09-14 | 青海大学 | A kind of acquisition punctures the kinetic control system and its application method of experimental data information |
| CN109044530A (en) * | 2018-07-17 | 2018-12-21 | 哈尔滨理工大学 | A kind of multi-modal sensory perceptual system and data fusion method of operation on prostate robot |
| CN109009444A (en) * | 2018-08-23 | 2018-12-18 | 广州医科大学附属第医院 | A kind of electromagnetic type force feedback puncturing operation auxiliary device and robot puncturing system |
| CN109009444B (en) * | 2018-08-23 | 2023-09-01 | 广州医科大学附属第一医院 | Electromagnetic force feedback puncture operation auxiliary device and robot puncture system |
| CN110537983A (en) * | 2019-09-26 | 2019-12-06 | 重庆博仕康科技有限公司 | Photo-magnetic integrated puncture surgery navigation platform |
| WO2023006075A1 (en) * | 2021-07-30 | 2023-02-02 | 北京迈迪斯医疗技术有限公司 | Puncture instrument |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203341820U (en) | Robot-assisted oblique tip flexible needle puncture system | |
| CN104248471B (en) | A kind of robot assisted beveled tip flexible needle lancing system and method | |
| US11445988B2 (en) | Systems and methods for using x-ray field emission to determine instrument position and orientation | |
| JP7072603B2 (en) | Systems and methods for segmentation during surgery | |
| US11957424B2 (en) | Systems and methods for planning multiple interventional procedures | |
| CN102860841B (en) | Aided navigation system and method of puncture operation under ultrasonic image | |
| US11633125B2 (en) | Systems and methods for navigation based on ordered sensor records | |
| JP7133582B2 (en) | Systems and methods for interventional treatment planning | |
| US11571258B2 (en) | Path planning method with artificial potential field based on obstacle classification and medical system for steering flexible needle | |
| CN104540439B (en) | System and method for the registration of multiple visual systemes | |
| US10258413B2 (en) | Human organ movement monitoring method, surgical navigation system and computer readable medium | |
| WO2022188651A1 (en) | Surgical system | |
| US20160070878A1 (en) | Systems and methods for pre-operative modeling | |
| WO2017080016A1 (en) | Skin laser treatment assistant robot and assistance method thereof | |
| KR20160042889A (en) | Systems and methods for medical procedure confirmation | |
| CN205411945U (en) | Skin swashs phototherapy auxiliary machinery people | |
| CN101879089B (en) | Needle guiding support device | |
| JP2016533849A (en) | Shape sensor system for locally movable targets | |
| CN201591639U (en) | Needle body support bracket | |
| CN102090932A (en) | CT guided lung puncture positioning instrument | |
| CN110478628A (en) | Clinical lithotomy position targeting seeds implanted robot man-machine safety interactive system and method | |
| Zhang et al. | Study on the control method and optimization experiment of prostate soft tissue puncture | |
| CN201394077Y (en) | Needle body guiding and supporting device | |
| CN215739083U (en) | Ultrasonic probe positioning device capable of measuring depth and angle | |
| CN118303977A (en) | Visual card-backing cloth needle positioning system and path planning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20131218 |