CN206443710U - A kind of ultrasonic probe supporting device - Google Patents
A kind of ultrasonic probe supporting device Download PDFInfo
- Publication number
- CN206443710U CN206443710U CN201620884639.5U CN201620884639U CN206443710U CN 206443710 U CN206443710 U CN 206443710U CN 201620884639 U CN201620884639 U CN 201620884639U CN 206443710 U CN206443710 U CN 206443710U
- Authority
- CN
- China
- Prior art keywords
- linking arm
- ultrasonic probe
- help
- support
- arm
- 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 - Fee Related
Links
Landscapes
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
The utility model is related to a kind of ultrasonic probe supporting device, and described ultrasonic probe equipment is provided with fixed seat, the first linking arm, the second linking arm, supporting mechanism, support mechanism；The fixed seat includes vertical rod, sick bed geometrical clamp, fixed platform；Described fixed platform connects the first linking arm by the first revolute pair；The other end of first linking arm is provided with the end setting fit depressions of projection, the projection and the second linking arm；The second described linking arm is provided with rotating shaft, and the rotating shaft is from radially through the second linking arm；The second described linking arm is provided with supporting mechanism；The end of the second described linking arm is connected with support mechanism by the second revolute pair.Its advantage is shown：Instead of human hand control, help power uniform, persistently, ultrasonic probe is maintained a long-term stability in a certain tangent plane, is easy to fix scanning, continuous acoustic cavitation and PCI etc., stability and persistence are good, ultrasonic cavitation treatment curative effect, liberation manpower is greatly improved, cost is saved.
Description
Technical field
The utility model is related to technical field of medical instruments, specifically, is a kind of ultrasonic probe supporting device.
Background technology
Ultrasonic image is one of three big routine inspections in medical practice, its popularity, convenience and diagnostic result for applying
Fast the advantages of, widely welcome by doctor and patient.With the deep development of medical technology, ultrasonic image is progressively from image
Diagnostic medicine is to PCI medical science and accurate medical development transition.Wherein ultrasonic interventional therapy, ultrasound wave irradiation cavitation treatment, super
Accurate therapeutic treatment of sound etc., requires that ultrasonic probe scanning tangent plane keeps stable and continued for some time.This requires medical matters people
The arm of member keeps a kind of posture to help probe for a long time.Arm vacantly causes disease of hand, turned sour for a long time, or even causes shoulder
All inflammation etc., not only have a strong impact on the health of medical worker, and be difficult the stability for keeping probe.
In addition, medical worker will not only help ultrasonic probe in using ultrasonic probe scanning and interventional procedure, also
Need observation image and coordinate interventional treatment operation.However, because medical worker is in one side support ultrasonic probe control image,
While carrying out interventional procedure, when the two coordinates bad, often result in puncture needle or intervention equipment misses the target in monitor, and accidentally injure week
Enclose tissue.Several assistants are also needed to if necessary and coordinate participation, both add operation difficulty, medical treatment cost is improved again.
In summary, need the supporting device that a kind of replacement human hand controls ultrasonic probe badly, can both stablize, uniform help is visited
Head, again can assisting ultrasonic PCI and ultrasound wave irradiation treatment etc..It is finally reached the target of accurate medical treatment and Economy type medicine cost.
And yet there are no report on this ultrasonic probe supporting device.
The content of the invention
The purpose of this utility model is, for of the prior art not enough there is provided one kind replacement human hand control, to help power equal
Even, lasting, sensitivity is high, the ultrasonic probe supporting device of save medical resources.
To achieve the above object, the utility model is adopted the technical scheme that：
A kind of ultrasonic probe supporting device, described ultrasonic probe equipment is provided with fixed seat, the first linking arm, the second connection
Arm, supporting mechanism, support mechanism；The fixed seat includes vertical rod, sick bed geometrical clamp, fixed platform；Described fixed platform is led to
Cross the first revolute pair and connect the first linking arm；The other end of first linking arm is provided with projection, the projection and the second linking arm
End set fit depressions；The second described linking arm be provided with rotating shaft, the rotating shaft from radially run through the second linking arm,
Projection is run through in the center section of rotating shaft；The second described linking arm is provided with supporting mechanism；Described supporting mechanism include cross bar,
Guide groove, telescopic arm, sucker；The two ends of described cross bar are provided with work shape groove；Telescopic arm, telescopic arm are equipped with the work shape groove
It is socketed on the cross bar in work shape groove, the other end of telescopic arm is connected with sucker；The end of the second described linking arm leads to
Cross the second revolute pair and be connected with support mechanism；Described support mechanism includes first and helps part, the second support part, the 3rd to help
Hold part, the 4th support part, the 5th support part；Described first helps part, second to help part, the 3rd support portion
Part, the 4th help part, the 5th to help part to be separate.
Further, described rotating shaft two ends are provided with spacing ring.
Further, described work shape groove combines what is formed by two disks and cross bar.
Further, the first described revolute pair and the second revolute pair are equipped with spherical hollow space and rotating sphere.
Further, the sucker is tubaeform.
Further, the first support part is clamped in the side of ultrasonic probe, and second helps part and the 3rd to help part
It is clamped in offside and the front side of ultrasonic probe, the 4th helps part to be located at the rear side of probe, and the 5th support part is also fitted in super
Inner surface on rear side of sonic probe, and be in " people " font with probe.
Further, described first part, second is helped to help part, the 3rd to help part, the 4th to help part, the
Five support parts are equipped with least one swivel joint.
Further, described swivel joint includes sub- guide groove, female guide groove, rotary shaft.
Further, in the chimeric female guide groove of described sub- guide groove；The rotary shaft runs through connexon guide groove and mother
Guide groove；Described sub- guide groove is rotated by rotary shaft in female guide groove.
Further, the fixed seat is provided with controller；The controller includes the first linking arm control module, second
Linking arm control module, supporting mechanism control module, support mechanism controls module；First link control module is used to control first
The rotation of linking arm；Second linking arm module is used to control the second linking arm to rotate；Described supporting mechanism module is used to control
The motion of supporting mechanism；Described helps mechanism module to be used for the motion for controlling to help mechanism.
The utility model advantage is：
1st, a kind of ultrasonic probe supporting device of the present utility model, instead of human hand control, helps power uniform, persistently so that
Ultrasonic probe can maintain a long-term stability in a certain tangent plane, be easy to fix scanning, continuous acoustic cavitation and PCI etc., stability
It is good with persistence, ultrasonic cavitation treatment curative effect, liberation manpower is greatly improved, cost is saved；
2nd, fixed seat is provided with sick bed geometrical clamp, and sick bed geometrical clamp can be fixed on to the beside sickbed edge of patient, space-consuming
It is small, while convenient operation；First linking arm is rotated by first can realize radial rotating so that help mechanism in clamping correspondence
Ultrasonic probe when, ultrasonic probe can be clamped in three dimensions；
3rd, fixed seat can keep stabilization to other parts, because other parts except fixed seat are work as needed
Dynamic, fixed seat is used as other component activity benchmark so that whole equipment connects compact, good reliability；
4th, the second linking arm can realize its axial rotation by rotary shaft, in addition, and the first linking arm is in radial rotating
When, the second linking arm radial rotating is also driven simultaneously, and such second linking arm can be rotated in the axial direction also can be in radial direction side
To rotation so that the support mechanism being connected on the second linking arm can be helped ultrasonic probe from axially and radially direction
Control；
5th, provided with supporting mechanism, with supporting role, the stability of its whole device is strengthened, it is to avoid help mechanism, second
Linking arm and the first linking arm etc. are in vacant state, influence the support effect to ultrasonic probe；
Pair 6th, provided with the second revolute pair, the second revolute pair is mainly from part, and the position for helping mechanism is adjusted, i.e.,
The position of mechanism is helped to do accurate adjustment, it is ensured that to help mechanism closely to help on ultrasonic probe；
7th, helping mechanism to include first helps part, second to help part, the 3rd to help part, the 4th to help part, the
Five help part；Under support state, the first support part is clamped in the side of ultrasonic probe, and second helps part and the 3rd to help
Part is clamped in offside and the front side of ultrasonic probe, and the 4th support part and the 5th support part are mainly fitted in ultrasonic probe
Inner surface, makes full use of the planform of ultrasonic probe afterwards, and first, second, third, fourth helps part respectively before left and right
Rear is to acting on ultrasonic probe, and the 5th helps part good in " people " font stability with probe so that ultrasonic probe is difficult
Come off, ultrasonoscopy is stablized clear；
8. provided with swivel joint so that first helps part, second to help part, the 3rd to help part, the 4th support portion
Part, the 5th help part by swivel joint energy rotoflector, regulation as needed, to the support stablizing effect of ultrasonic probe
It is good.
9th, provided with controller；The controller includes the first linking arm control module, the second linking arm control module, support
Mechanism controls module, support mechanism controls module, its operation is Automated condtrol, and operation more facilitates.
Brief description of the drawings
Accompanying drawing 1 is a kind of this bright ultrasonic probe supporting device structural representation.
Accompanying drawing 2 is the first linking arm and the second linking arm partial structural diagram.
Accompanying drawing 3 is the first linking arm and the second linking arm junction fractionation structural representation.
Accompanying drawing 4 is supporting mechanism structural representation.
Accompanying drawing 5 is that the first revolute pair splits schematic diagram.
Accompanying drawing 6 is support structural scheme of mechanism.
Accompanying drawing 7 is rotary joint structure schematic diagram
Accompanying drawing 8 is that swivel joint splits schematic diagram.
Accompanying drawing 9 is this bright another ultrasonic probe supporting device structural representation.
Embodiment
The embodiment that the utility model is provided is elaborated below in conjunction with the accompanying drawings.
The reference and part being related in accompanying drawing are as follows：
1. the vertical rod of fixed seat 11.
12. the fixed platform of sick bed geometrical clamp 13.
2. the projection of the first linking arm 21.
3. the groove of the second linking arm 31.
4. the spacing ring of rotating shaft 41.
5. the supporting mechanism of the first revolute pair 6.
61. the disk of cross bar 62.
63. the telescopic arm of work shape groove 64.
65. sucker 7. helps mechanism
71. first helps part 72. second to help part
73. the 3rd helps part 74. the 4th to help part
75. the 5th helps the swivel joint of part 76.
The 761. sub- female guide grooves of guide groove 762.
The controller of 763. rotary shaft 8.
81. the linking arm control module of the first linking arm control module 82. second
83. supporting mechanism control module 84. helps mechanism controls module
9. the spherical hollow space 91 of the second revolute pair 91.
92. rotating sphere
Embodiment 1
Fig. 1 is refer to, Fig. 1 is a kind of this bright ultrasonic probe supporting device structural representation.A kind of ultrasonic probe is helped
Device, described ultrasonic probe equipment is provided with fixed seat 1, the first linking arm 2, the second linking arm 3, supporting mechanism 6, support mechanism
7；The fixed seat 1 includes vertical rod 11, sick bed geometrical clamp 12, fixed platform 13；Described fixed platform 13 is rotated by first
Pair 5 connects the first linking arm 2；The other end of first linking arm 2 is provided with projection 21, the linking arm 3 of projection 21 and second
End sets groove 31 to be engaged；The second described linking arm 3 is provided with rotating shaft 4, and the rotating shaft 4 is from radially through the second connection
Arm 3, the two ends of rotating shaft 4 are provided with spacing ring 41, and projection 21 is run through in the center section of rotating shaft 4 (see Fig. 2 and Fig. 3)；Described second connects
Arm 3 is connect provided with supporting mechanism 6；Described supporting mechanism 6 includes cross bar 61, guide groove, telescopic arm 64, sucker 65；Described
The two ends of cross bar 61 are provided with work shape groove 63；Telescopic arm 64 is equipped with the work shape groove 63, telescopic arm 64 is socketed in positioned at work shape
On cross bar 61 in groove 63, the other end of telescopic arm 64 is connected with sucker 65, and sucker 65 is shaped as tubaeform, and telescopic arm 64 can be
360 degree of rotations in guide groove；Described work shape groove 63 is combined (see Fig. 4) for being formed by two disks 62 and cross bar 61；It is described
The second linking arm 3 end by the second revolute pair 9 be connected with support mechanism 7；The first described revolute pair 5 and second is rotated
Pair 9 is equipped with spherical hollow space 91 and rotating sphere 92 (see Fig. 5)；
Fig. 6 is refer to, figure is to help the schematic diagram of mechanism 7, and described support mechanism 7 includes first and helps part 71, second
Part the 72, the 3rd is helped to help part the 73, the 4th to help part the 74, the 5th to help part 75；Described first help part 71,
Second helps part the 72, the 3rd to help part the 73, the 4th to help part the 74, the 5th to help part 75 to be separate；It is described
First help part 71, second help part the 72, the 3rd help part the 73, the 4th help part the 74, the 5th help part 75
It is equipped with least one swivel joint 76.So that first helps part 71, second to help part 72, the 3rd to help part 73, the
Four support parts the 74, the 5th help part 75 to be bent by swivel joint 76.
Fig. 7 and Fig. 8 are refer to, Fig. 7 is structural representation under the confined state of swivel joint 76.Fig. 8 is that swivel joint 76 is torn open
Structural representation under isloation state.Described swivel joint 76 includes sub- guide groove 761, female guide groove 762, rotary shaft 763；It is described
The chimeric female guide groove 762 of sub- guide groove 761 in；The rotary shaft 763 is through connexon guide groove 761 and female guide groove 762；
Described sub- guide groove 761 is rotated by female guide groove 762.
It should be noted that：The first described linking arm 2 is linked together by the fixed seat 1 of the first revolute pair 5, the
One linking arm 2 can radially turn relative to the effect rotated, the i.e. rotating manner is realized with fixed seat 1 around the first linking arm 2
Dynamic, in actual use, the first linking arm 2 can be rotated relative to fixed seat 1, can be easy to operate, can be according to patient's
Position is adjusted；
Fixed seat 1 can keep stabilization to other parts, because other parts except fixed seat 1 are work as needed
Dynamic, fixed seat 1 is used as other component activity benchmark so that whole equipment connects compact, good reliability.
Projection 21 on the junction of the linking arm 3 of first linking arm 2 and second, the first linking arm 2 is entrenched in first
In groove 31 on linking arm 2, then by inserting connection so that the second linking arm 3 is relative to the first linking arm 2 around rotating shaft 4
Rotate, i.e. the second linking arm 3 can planar walk around dynamic, the i.e. rotation substantive axial rotation made along the first linking arm 2,
In addition, the first linking arm 2 around it is fixed rotate be substantially radial rotation, its corresponding second linking arm 3 is also radially to turn
Dynamic, so, the first cursor can realize two frees degree, and one is to realize axial rotation by rotating shaft 4, and one is by the
One revolute pair 5 realizes radial rotating, in use, and the operation to probe is unrestricted, can be from axially and radially adjusting
The locus of first cursor, so that the need for better meeting ultrasonic probe clamping.
Described supporting mechanism 6 includes cross bar 61, guide groove, telescopic arm 64, sucker 65.Main function is supporting role,
Using telescopic suction bar, can adjustment length as needed, moreover, expansion link can rotate in guide groove, using process
It is middle according to clamped support needs, can flexibly select its position；Provided with sucker 65, sucker 65 utilizes air pressure vacuum principle, as long as suction
Disk 65 is fitted in patient skin surface, can be achieved with support and fixes；Sucker 65 uses tubaeform, advantages of good adsorption effect.
Described support mechanism 7 is connected by the second revolute pair 9 with the second linking arm 3 so that help mechanism 7 can be along
It can rotate, the need for coordinating ultrasonic probe to help；Described support mechanism 7 includes first and helps part 71, second to help
Part the 72, the 3rd helps part the 73, the 4th to help part the 74, the 5th to help part 75；Under support state, 5 support parts are in
" writing posture " is distributed in the left, right, front and rear of probe, and to control the stability of probe, i.e., the first support part 71 is clamped in super
The side of sonic probe, the second support part 72 and the 3rd helps part 73 to be clamped in offside and the front side of ultrasonic probe, and the 4th helps
Hold part 74 and the 5th and help the main rear inner surface for being fitted in ultrasonic probe of part 75, play the stable effect of auxiliary.
Embodiment 2
The present embodiment is substantially the same manner as Example 1, and its difference is, refer to Fig. 9, and Fig. 9 is of the present utility model
Another structure of ultrasonic schematic diagram.The present embodiment fixed seat 1 is provided with controller 88；The controller 88 includes first and connected
Connect arm control module 81, the second linking arm control module 82, the control module of supporting mechanism 83, support mechanism controls module 84；The
One link control module 81 is used for the rotation for controlling the first linking arm 2；Second linking arm module 82 is used to control the second linking arm 3
Rotate；Described supporting mechanism module 83 is used for the motion for controlling supporting mechanism 6；Described support mechanism module 84 is used to control
Help the motion of mechanism 7.Compared with Example 1, its operation is Automated condtrol for this implementation, and operation more facilitates.
A kind of ultrasonic probe supporting device of the present utility model, instead of human hand control, helps power uniform, persistently so that super
Sonic probe can maintain a long-term stability in a certain tangent plane, be easy to fix scanning, continuous acoustic cavitation and PCI etc., stability and
Persistence is good, and ultrasonic cavitation treatment curative effect, liberation manpower is greatly improved, cost is saved；Fixed seat 1 can be kept to other parts
Stabilization, because other parts except fixed seat 1 are activities as needed, fixed seat 1 as other component activity benchmark,
So that whole equipment connects compact, good reliability；Fixed seat 1 is provided with sick bed geometrical clamp 12, can fix sick bed geometrical clamp 12
On the beside sickbed edge of patient, occupy little space, while convenient operation；First linking arm 2 is rotated by first and can realized radially
Rotate so that help mechanism 7 when clamping corresponding ultrasonic probe, ultrasonic probe can be clamped in three dimensions；
Second linking arm 3 can realize its axial rotation by rotary shaft, in addition, and the first linking arm 2 is in radial rotating, also simultaneously
The radial rotating of the second linking arm 3 is driven, such second linking arm 3 can be rotated in the axial direction can also rotate in radial direction,
The support mechanism 7 being connected on the second linking arm 3 is enabled to carry out support control to ultrasonic probe from axially and radially direction；
Provided with supporting mechanism 6, with supporting role, strengthen the stability of its whole device, it is to avoid help mechanism 7, the second linking arm 3 with
And the grade of the first linking arm 2 is in vacant state, the support effect to ultrasonic probe is influenceed；Rotated provided with the second revolute pair 9, second
Mainly the position for helping mechanism 7 is adjusted from part for pair 9, i.e., do accurate adjustment to the position for helping mechanism 7, it is ensured that help
Mechanism 7 is held closely to help on ultrasonic probe；Helping mechanism 7 to include the first support part 71, second helps part the 72, the 3rd to help
Holding part the 73, the 4th helps part the 74, the 5th to help part 75；Under support state, the first support part 71 is clamped in ultrasonic spy
The side of head, the second support support part 73 of part 72 and the 3rd is clamped in offside and the front side of ultrasonic probe, the 4th support portion
Part 74 and the 5th helps the main rear inner surface for being fitted in ultrasonic probe of part 75, makes full use of the structure shape of ultrasonic probe
Shape, first, second, third, fourth support part is acted on ultrasonic probe from left-right and front-back direction respectively, and the 5th helps part
It is good in " people " font stability with probe so that ultrasonic probe is difficult for drop-off, and ultrasonoscopy is stablized clear；Provided with controller 88；
The controller 88 include the first linking arm control module 81, the second linking arm control module 82, supporting mechanism control module 83,
Mechanism controls module 84 is helped, its operation is Automated condtrol, operation more facilitates.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
Art personnel, on the premise of the utility model method is not departed from, can also make some improvement and supplement, and these improve and supplemented
Also it should be regarded as protection domain of the present utility model.
Claims (7)
1. a kind of ultrasonic probe supporting device, it is characterised in that described ultrasonic probe equipment is provided with fixed seat, the first connection
Arm, the second linking arm, supporting mechanism, support mechanism；The fixed seat includes vertical rod, sick bed geometrical clamp, fixed platform；Described
Fixed platform connects the first linking arm by the first revolute pair；The other end of first linking arm be provided with projection, the projection with
The end of second linking arm sets fit depressions；The second described linking arm is provided with rotating shaft, and the rotating shaft is from radially running through
Projection is run through in second linking arm, the center section of rotating shaft；The second described linking arm is provided with supporting mechanism；Described support machine
Structure includes cross bar, guide groove, telescopic arm, sucker；The two ends of described cross bar are provided with work shape groove；It is equipped with and stretches in the work shape groove
Contracting arm, telescopic arm is socketed on the cross bar in work shape groove, and the other end of telescopic arm is connected with sucker；The second described connection
The end of arm is connected with support mechanism by the second revolute pair；Described support mechanism includes first and helps part, second to help
Part, the 3rd help part, the 4th to help part, the 5th to help part；Described first help part, second help part,
3rd helps part, the 4th to help part, the 5th to help part to be separate；First support part is clamped in ultrasonic probe
Side, the second support part and the 3rd support part be clamped in offside and the front side of ultrasonic probe, and the 4th support part is located at
The rear side of probe, the 5th support part is also fitted in inner surface on rear side of ultrasonic probe, and is in " people " font with probe；Described
One support part, the second support part, the 3rd support part, the 4th support part, the 5th support part are equipped with least one
Swivel joint.
2. ultrasonic probe supporting device according to claim 1, it is characterised in that described rotating shaft two ends are provided with spacing
Ring.
3. ultrasonic probe supporting device according to claim 1, it is characterised in that described work shape groove by two disks with
And cross bar combines what is formed.
4. ultrasonic probe supporting device according to claim 1, it is characterised in that the first described revolute pair and second turn
Dynamic pair is equipped with spherical hollow space and rotating sphere.
5. ultrasonic probe supporting device according to claim 1, it is characterised in that the sucker is tubaeform.
6. ultrasonic probe supporting device according to claim 1, it is characterised in that described swivel joint includes sub- guide rail
Groove, female guide groove, rotary shaft.
7. ultrasonic probe supporting device according to claim 6, it is characterised in that the chimeric female guide rail of described sub- guide groove
In groove；The rotary shaft is through connexon guide groove and female guide groove；Described sub- guide groove is by rotary shaft in female guide groove
It is middle to rotate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620884639.5U CN206443710U (en) | 2016-08-16 | 2016-08-16 | A kind of ultrasonic probe supporting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620884639.5U CN206443710U (en) | 2016-08-16 | 2016-08-16 | A kind of ultrasonic probe supporting device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206443710U true CN206443710U (en) | 2017-08-29 |
Family
ID=59662520
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620884639.5U Expired - Fee Related CN206443710U (en) | 2016-08-16 | 2016-08-16 | A kind of ultrasonic probe supporting device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206443710U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236136A (en) * | 2016-08-16 | 2016-12-21 | 上海市第人民医院 | A kind of ultrasonic probe helps equipment |
-
2016
- 2016-08-16 CN CN201620884639.5U patent/CN206443710U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106236136A (en) * | 2016-08-16 | 2016-12-21 | 上海市第人民医院 | A kind of ultrasonic probe helps equipment |
| CN106236136B (en) * | 2016-08-16 | 2023-06-06 | 上海市第一人民医院 | Ultrasonic probe supporting equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107411821B (en) | Five degree of freedom flexibility Needle-driven Robot | |
| CN107049443A (en) | A kind of lung puncture robot main body mechanism of CT images guiding in real time | |
| CN206792462U (en) | A kind of therapeutic system for cardiovascular interventional operation | |
| CN206151580U (en) | Tight fixing device of supplementary flexible needle holder of accurate target puncture soft tissue target of robot | |
| CN107507503B (en) | It is a kind of for train rotation handle method mechanical simulation apparatus | |
| CN101991901A (en) | Robotic drive for catheter | |
| CN113081282A (en) | Six-degree-of-freedom CT-compatible breathing compensation needle puncture robot | |
| CN104490477A (en) | Multi-degree-of-freedom single-incision surgical robot for laparoscopic surgery | |
| CN107456709B (en) | Medical treatment is recovered with treadmill auxiliary motion device | |
| CN106236135A (en) | A kind of ultrasonic examination device | |
| CN206443710U (en) | A kind of ultrasonic probe supporting device | |
| CN112426207A (en) | Four-degree-of-freedom fixed support used in lung puncture operation of hospital | |
| CN111643188A (en) | Puncture surgical robot device | |
| CN207721863U (en) | A kind of prostate biopsy mechanism | |
| CN107625543A (en) | The flexible intervention needle system of magnetic resonance compatible hand-portable | |
| CN109223053A (en) | A kind of prostate biopsy robot | |
| CN206214356U (en) | A kind of therapeutic system | |
| CN103417193B (en) | Vestibule diagnosing and treating bed | |
| CN107260475A (en) | A kind of three-dimensional inertia position of foetus adjusting device and application method | |
| CN217938333U (en) | Pneumatic rigidity-variable six-freedom-degree CT-MRI needle puncture robot | |
| CN106236136A (en) | A kind of ultrasonic probe helps equipment | |
| CN206651872U (en) | Spinal movement half restricts formula spinal operation robot | |
| CN206761888U (en) | A kind of basin bottom detection means | |
| CN206603817U (en) | Knee joint micro-wound operation robot | |
| CN213821654U (en) | Clinical puncture auxiliary positioning device of intracardiac branch of academic or vocational study |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170829 Termination date: 20200816 |