CN208319311U - A kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band - Google Patents
A kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band Download PDFInfo
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- CN208319311U CN208319311U CN201721438623.2U CN201721438623U CN208319311U CN 208319311 U CN208319311 U CN 208319311U CN 201721438623 U CN201721438623 U CN 201721438623U CN 208319311 U CN208319311 U CN 208319311U
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- 238000010146 3D printing Methods 0.000 title claims abstract description 29
- 239000000758 substrate Substances 0.000 claims abstract description 24
- 238000003780 insertion Methods 0.000 claims abstract description 20
- 230000037431 insertion Effects 0.000 claims abstract description 20
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 14
- 206010002091 Anaesthesia Diseases 0.000 claims abstract description 7
- 230000037005 anaesthesia Effects 0.000 claims abstract description 7
- 238000013461 design Methods 0.000 claims abstract description 6
- 206010028980 Neoplasm Diseases 0.000 claims description 6
- 230000003902 lesion Effects 0.000 claims description 4
- 210000003625 skull Anatomy 0.000 claims description 4
- 210000004556 brain Anatomy 0.000 claims description 3
- 238000004080 punching Methods 0.000 claims description 3
- 206010030113 Oedema Diseases 0.000 claims description 2
- 238000005259 measurement Methods 0.000 claims description 2
- 238000005481 NMR spectroscopy Methods 0.000 claims 1
- 230000023597 hemostasis Effects 0.000 claims 1
- 238000007917 intracranial administration Methods 0.000 claims 1
- 238000001949 anaesthesia Methods 0.000 abstract description 3
- 210000003491 skin Anatomy 0.000 description 12
- 238000007639 printing Methods 0.000 description 8
- 239000006185 dispersion Substances 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000011282 treatment Methods 0.000 description 5
- 230000036407 pain Effects 0.000 description 4
- 238000002591 computed tomography Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000002615 epidermis Anatomy 0.000 description 3
- 239000002245 particle Substances 0.000 description 3
- 230000003444 anaesthetic effect Effects 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 230000029058 respiratory gaseous exchange Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000007920 subcutaneous administration Methods 0.000 description 2
- 230000036592 analgesia Effects 0.000 description 1
- 229940030225 antihemorrhagics Drugs 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 210000000038 chest Anatomy 0.000 description 1
- 230000000052 comparative effect Effects 0.000 description 1
- 230000008021 deposition Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 230000000025 haemostatic effect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000007674 radiofrequency ablation Methods 0.000 description 1
- 229920006395 saturated elastomer Polymers 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000010200 validation analysis Methods 0.000 description 1
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Abstract
The utility model relates to a kind of 3D printing personalization plunger type puncture for treating templates of the fixed device of band, including template substrate, template guide hole, puncture needle guide post, fine-tuning stent insertion hole, location hole, lightweight through-hole, laser positioning line, puncture needle number and sounding mark etc..This template puncture needle guide post can be removed at any time, remove rear pattern plate pilot hole be relatively large in diameter, length it is short, make local anaesthesia point location precisely and be easier to implement, larger-diameter bone drill can be easy to use, boring positioning is accurate.It is inserted into hole provided with fine-tuning stent at three, cooperation fine-tuning stent uses fine-tuning and fixed form position.Pin hole number and puncture needle insertion depth label is arranged in template substrate surface, prevents no sounding mark, misplugs puncture needle.This template personalized customization, it is preoperative according to each root puncture needle of the medical images careful design such as CT, magnetic resonance, it is precisely minimally invasive.Operating difficulty and operation risk are significantly reduced, young doctors learning cycle is reduced, commences business rapidly, more patients is made to be benefited.
Description
Technical field
The utility model relates to the field of medical instrument technology, the 3D printing personalization plunger of the fixed device of specifically a kind of band
Formula puncture for treating template.
Background technique
With the progress of medical technology, tumour is accurate, minimally invasive, personalized treatment technology is developed rapidly, coaxial biopsy,
The minimally-invasive treatments such as microwave, RF ablation, seeds implanted are widely used in clinic.But previous doctor needs in the case where B ultrasound, CT are guided
Manually insertion puncture needle, learning cycle is long, poor accuracy, and repeatability is low, and expected therapeutic effect is often not achieved.With 3D
The continuous application of printing technique in medicine, various 3D printings are coplanar, non-co-planar guiding puncture template greatly improve
The precision of Minimally Invasive Surgery, reduces operation risk and difficulty, and more patients is made to be benefited.
However, all puncture needle track angles of the coplanar template of 3D printing are consistent, complete personalized precisely treatment can not achieve；
Non-co-planar template needle track is directed to each patient's personalized designs, although accomplishing personalized precisely treatment, but still has the disadvantage in that
(1) guide post is longer, and aperture is smaller, often occurs that entry point skin analgesia is difficult to carry out after being put into template, but takes
The anesthesia of lower template epidermis can not determine the awkward situation of entry point again, it is often necessary to a wide range of epidermis anesthesia, whole body or caudal anaesthesia
Instead of increasing the pain of patient.
(2) since positioning, design and printing need 2-5 days, the influence of the factors such as tumor size, position, position, breathing,
Often will appear in art and preoperative positioning there are certain deviations, be not inconsistent with Design needle track, do not accomplish to adjust in real time in art, deposit
In the risk of operative failure.
(3) non-co-planar template can not fix after reset without reliably fixing device, often need hand steered, increase operation hardly possible
Degree.
(4) it encounters skull, be not available the bone drill that diameter is greater than puncture hole when rib cage blocks, use puncture needle or small ruler
When very little bone drill punches, the more difficult extraction of puncture needle increases operating difficulty.
(5) there is no sounding mark, more people is often needed to confirm depth repeatedly, increase operating time.
Utility model content
In view of the above-mentioned problems, the 3D printing personalization plunger type that the utility model is intended to provide a kind of fixed device of band punctures
Template is treated, guide post can be removed by applying for puncture needle guide post at any time while guaranteeing accurate, implement epidermis fiber crops
The punching of liquor-saturated and bone drill；It is inserted into the application that hole cooperates fine-tuning stent by fine-tuning stent at three, keeps template fixed more precisely and can be with
Deviation caused by compensation changes because of position, breathing, knub position in art is saved operating time, is subtracted to reduce puncturing operation difficulty
Hypopathia people's pain.
A kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band, including template substrate, template guide hole,
Puncture needle guide post, fine-tuning stent insertion hole, location hole, lightweight through-hole, laser positioning line, puncture needle number and sounding mark
Deng.
The template substrate is input to the customization of 3D modeling software personalisation using the preoperative CT scan data of patient, with puncture portion
Position skin surface is bonded completely.
Further, CT data are directed into preoperative planning software and design needle track and records, according to preoperative plan needle track
The ladder-like template guide hole that height is less than 10mm, the template when multiple puncture needles are more dispersed is arranged in position and angle on substrate
Guide hole is respectively set, and diameter is arranged according to used puncture needle guide post outer diameter.
Further, guide post can reach ladder-like after depth according to needing to remove or be inserted at any time guide hole in operation
Template guide hole automatic spacing, prevent from being inserted into it is too deep template is lifted off skin, single guide post is designed using industrial software, is individually made
It makes, guides column length about 20mm, outer diameter can need personal settings with what is anaesthetized according to bone drill, and internal diameter is according to used puncture needle
Diameter setting.
Further, when all puncture needles compare concentration, can one height of concentrated setting it is ladder-like less than 10mm
Template integrates guide hole, may include all plan needle tracks, and needle column card hole is arranged in guide hole side wall.
Further, the integrated needle column that setting length about 20mm in guide hole is integrated in template, by the preoperative every root puncture of plan
Needle space coordinate is input in 3D modeling software and simulates puncture needle, and puncture needle is arranged in integrated needle column by Boolean calculation and leads
Needle column screen post corresponding with needle column card hole is arranged in hole, outer wall.Integrated needle column is separately printed with template, can be taken at any time in art
Lower and insertion, ladder-like template integrates guide hole automatic spacing after reaching depth, prevents from being inserted into too deep template is lifted off skin.
Further, fine-tuning stent is inserted into hole at template substrate setting three, and it is solid to can be inserted into matching used fine-tuning stent
Solid plate passes through fine-tuning stent fine-tuning template position and fixation when skin surface oedema or deforming template can not be bonded.
Further, template substrate setting is greater than location hole at 4, and position of positioning hole is according to skin mark point when preoperative positioning
Position setting.
Further, it in template substrate outer surface two laser positioning lines arranged in a crossed manner, is drawn with skin when preoperative positioning
Line is overlapped, and is carried laser rays using CT and is assisted contraposition, can auxiliary template accurate positioning.
Further, several lightweight through-holes are arranged in template substrate, can mitigate weight and save cost again, can also pass through
Through-hole pressing haemostatic.
Further, every root puncture needle number consecutively, measurement reach the insertion depth at guide post, and by the volume of puncture needle
It number is tagged at the corresponding every needle track of template with depth parameter.The needle track that Shi doctor can mark according to template surface of performing the operation is numbered
Puncture needle is inserted into deep identification.
The template can be printed by 3D printer, at present Fused Deposition Modeling (FDM) technology comparative maturity, for printing
The template, can quickly obtain template, more preferable stereolithography apparatus method (SLA, DLP), and print speed faster, forms more smart
Standard reduces the waiting time of patient.
Compared with the existing technology, the utility model has the beneficial effects that:
(1) this template personalized customization, it is preoperative according to each root puncture needle of CT image Precise spraying, it is precisely minimally invasive.Template
It makes more softwares to be used cooperatively, is input to 3D printer printing after can freely exporting the stl file slice of needs, greatly reduces and set
Cost of manufacture is counted, patient's burden is mitigated, social benefit is obvious.
(2) puncture needle guide post can be removed at any time, remove rear pattern plate pilot hole be relatively large in diameter, length it is short, can be easy to use
Larger-diameter bone drill, boring positioning are accurate.It obviates that needle post holes diameter is small and longer disadvantage, keeps local anaesthesia point location smart
It is quasi- and be easier to implement, alleviate the pain of patient.
(3) fine-tuning stent is inserted into hole at this template-setup three, cooperation fine-tuning stent use can fixed form, when body surface shape
State and knub position can also be with fixed forms after fine-tuning template in art when changing, and can remove guide post, from biggish
Puncture needle is inserted into template direction hole, according to needing manually to adjust puncture needle angle insertion inside tumor in art, reduces operation
The risk of failure.
(4) setting pin hole in this template substrate surface is numbered and puncture needle insertion depth marks, can be according to sounding mark in art
It is inserted into puncture needle, prevents from not numbering, sounding mark misplugs puncture needle.
(5) device, which is applied manually to puncture relative to doctor, can reduce operating difficulty, operating time, CT when reducing operation
Scanning validation number reduces suffered roentgen dose X in patient's art simultaneously, reduces young doctors minimally-invasive treatment learning cycle, opens rapidly
Exhibition industry business, makes more patients be benefited.
Detailed description of the invention
A kind of 3D printing personalization plunger type puncture for treating (dispersion guide hole) template use state of the fixed device of band of Fig. 1 is shown
It is intended to；
A kind of 3D printing personalization plunger type puncture for treating (dispersion guide hole) template substrate structure of the fixed device of band of Fig. 2 is shown
It is intended to；
A kind of 3D printing personalization plunger type puncture for treating (dispersion guide hole) template use state of the fixed device of band of Fig. 3 is cutd open
Face schematic diagram；
A kind of 3D printing personalization plunger type puncture for treating (dispersion guide hole) template needle rod structure of the fixed device of band of Fig. 4 shows
It is intended to；
A kind of 3D printing personalization plunger type puncture for treating (integrated guide hole) template use state of the fixed device of band of Fig. 5 is shown
It is intended to；
A kind of 3D printing personalization plunger type puncture for treating (integrated guide hole) template substrate structure of the fixed device of band of Fig. 6 is shown
It is intended to；
A kind of 3D printing personalization plunger type puncture for treating (integrated guide hole) template use state of the fixed device of band of Fig. 7 is cutd open
Face schematic diagram；
A kind of 3D printing personalization plunger type puncture for treating (integrated guide hole) template-directed rod structure of the fixed device of band of Fig. 8
Schematic diagram；
In figure: 1- substrate；2- template guide hole；The single puncture needle guide post of 3-；4- puncture needle；5- location hole；6- lightweight
Through-hole；7- fine-tuning stent is inserted into hole；8- laser positioning line；9- tumour；10- puncture hole；11- skin；21- template is integrated to be led
Hole；22- integrates needle column card hole；23- integrates needle column；24- needle column screen post；25- needle column card hole；26- punctures needle guide holes；
27- pin hole number；28- puncture needle insertion depth label.
Specific embodiment
Combined with specific embodiments below and attached drawing is described in further details the utility model.
A kind of embodiment 1: 3D printing personalization plunger type puncture for treating (dispersion guide hole) template of the fixed device of band
A kind of 3D printing personalization plunger type puncture for treating (dispersion guide hole) mould of the fixed device of band as shown in Figs 1-4
Plate, including substrate 1, template guide hole 2；Single puncture needle guide post 3；Location hole 5；Lightweight through-hole 6；Fine-tuning stent is inserted into hole 7；
Laser positioning line 8；Pin hole number 27 and puncture needle insertion depth label 28.Template guide hole, location hole, lightweight are set on substrate
Through-hole, fine-tuning stent are inserted into hole, laser positioning line, and guide post is individually designed, is inserted into template guide hole after printing.
The application method of above-mentioned puncture template are as follows: patient's pre-operative surgical position, vacuum pad is fixed to carry out Enhanced CT, sentences
The positional relationship of the disconnected risk organs such as lesion and peripheral vessels, nerve, CT data are imported into preoperative planning software and formulate art
Preceding plan, 3D modeling design software make template and guide post, 3D printer printing shaping, reset patient using vacuum pad in art
Position places personalized plunger type template in operative site, aligns skin label, contraposition by die plate locating holes, laser positioning line
Three fine-tuning stent insertion fine-tuning stent insertion hole fixed forms are worn by template guide hole anaesthetic skin by single after accurate
Pricker guide post is put into template guide hole, and in center level insertion puncture needle at subcutaneous 2-3cm, CT scan judges tumour position
It sets, confirms template alignment situation and puncture needle trend, can be by fine-tuning stent fine-tuning template after aligning accurately, insertion is all
Guide post and puncture needle.If bone blocks, guide post can be removed, insertion appropriate boring head is punched using bone drill at guide hole, beaten
Guide post is placed into behind hole, and puncture needle is inserted by guide post, determines that every is worn according to the number of template surface and sounding mark
The planned depth of pricker, puncture needle melt according to preoperative plan or are put into particle after reaching depth.
A kind of embodiment 2: 3D printing personalization plunger type puncture for treating (integrated guide hole) template of the fixed device of band.
The 3D printing personalization plunger type puncture for treating template of the fixed device of a kind of band as shown in figures 5-8, including substrate
1, template integrates guide hole 21；Integrated needle column 23, location hole 5；Lightweight through-hole 6；Fine-tuning stent is inserted into hole 7；Laser positioning line 8,
Pin hole number 27 and puncture needle insertion depth label 28.Template guide hole, location hole, lightweight through-hole, fine tuning branch are set on substrate
Frame is inserted into hole, laser positioning line, and the individually designed printing of guide post is inserted into template guide hole.
The application method of above-mentioned puncture template are as follows: patient's pre-operative surgical position, vacuum pad is fixed to carry out Enhanced CT, sentences
The positional relationship of the disconnected risk organs such as lesion and peripheral vessels, nerve, formulates preoperative plan, and 3D modeling design software makes template
With integrated needle column, 3D printer printing shaping resets patient posture using vacuum pad in art, place personalized plunger type template in
Operative site aligns skin label by die plate locating holes, laser positioning line, fine-tuning stent is inserted into fine tuning after contraposition is accurate
Bracket inserts in the hole fixed form.Guide hole anaesthetic skin, bone drill punching are integrated by template, the more applicable cranium brain particle of this template is planted
Enter, when the arrangement of cranium brain seeds implanted puncture needle sector, puncture needle crosspoint can be placed at skull bone plate, pass through mould at this time
Plate integrates guide hole and bone drill is guided to make a call to a skull hole, can meet the insertion of spininess puncture needle, reduces patient's pain to the full extent.
Integrated needle column is put into template to integrate in guide hole, needle column screen post and the contraposition of needle column card hole are accurate, by wearing in integrated needle column
Pricker guide hole is inserted into puncture needle at subcutaneous 2-3cm, and CT scan judges knub position, confirms that template alignment situation and puncture needle are walked
To, can by fine-tuning stent fine-tuning template until align it is accurate after, all puncture needles are inserted into, according to the number and depth of template surface
Scale designation, which determines, melts according to preoperative plan or is put into particle after the planned depth of every root puncture needle, puncture needle reach depth.
The above case study on implementation is merely to illustrate the technical solution of the utility model, rather than its limitations.Other are referring to aforementioned
Case study on implementation carries out the modification of structure or technical principle to the utility model, or modifies replacement or group for partial content
Dress, it does not separate the essence of the corresponding technical solution the utility model relates to technical solution spirit and scope.
The content being not described in detail in this specification belongs to the prior art well known to professional and technical personnel in the field.
Claims (9)
1. a kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band, it is characterised in that: including substrate (1),
Single puncture needle guide post (3), integrated needle column (23)；Setting template guide hole (2), location hole (5), lightweight are logical on substrate (1)
Hole (6), fine-tuning stent insertion hole (7), laser positioning line (8), pin hole number (27), puncture needle insertion depth label (28).
2. a kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band according to claim 1, special
Sign is: the substrate (1) is input to 3D modeling software personalisation using image scans data such as the preoperative CT of patient, nuclear magnetic resonance
Customization, is bonded completely with site of puncture skin surface.
3. a kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band according to claim 1, special
Sign is: the mould that height is less than 10mm being arranged on substrate according to coordinates such as the needle track position of preoperative planning software design, angles
Plate guide hole (2), when more root puncture needles are more dispersed, template guide hole is respectively set, and the coordinates such as position, angle are consistent with puncture needle,
Diameter is arranged according to used single puncture needle guide post (3) outer diameter.
4. a kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band according to claim 1, special
Sign is: guide post it is automatic can to reach depth rear pattern plate guide hole (2) according to needing to remove or be inserted at any time template guide hole in operation
Limit, can prevent from being inserted into it is too deep template is lifted off skin, single guide post is designed using industrial software, separately fabricated, guide post
Length about 20mm, outer diameter can according in bone drill diameter and art anesthesia need to be arranged, internal diameter according to be arranged using puncture needle diameter.
5. a kind of 3D printing personalization plunger type puncture for treating mould of the fixed device of band according to claim 1 to 4
Plate, it is characterised in that: when all puncture needles compare concentration or intracranial tumour seeds implanted can one height of concentrated setting be less than
The template of 10mm integrates guide hole (21), and including all plan needle tracks, integrated needle column card hole (22) is arranged in guide hole side wall；It is integrated
It is arranged in needle column (23) according to every root puncture needle coordinate of preoperative plan and punctures needle guide holes (26), outer wall setting is opposite with card hole
The needle column screen post (24) answered；Integrated needle column is separately printed with template, can be according to the needs of anesthesia and bone drill punching at any time in art
It removes and is inserted into, integrated needle column template is more suitable for cranium brain seeds implanted, can make a call to a cranium using bone drill by integrated guide hole
Bone hole is just able to satisfy all puncture needles and passes through the through lesion of skull.
6. a kind of 3D printing personalization plunger type puncture for treating mould of the fixed device of band according to claim 1 to 4
Plate, it is characterised in that: fine-tuning stent is inserted into hole at template substrate setting three, can be inserted into matching used fine-tuning stent stent
Plate can pass through fine-tuning stent fine-tuning template position and fixation when skin surface oedema or deforming template can not be bonded.
7. a kind of 3D printing personalization plunger type puncture for treating mould of the fixed device of band according to claim 1 to 4
Plate, it is characterised in that: many places location hole is arranged in template substrate, and position of positioning hole is arranged according to skin mark point when preoperative positioning,
In template substrate outer surface two laser positioning lines arranged in a crossed manner, carrying laser rays auxiliary by CT makes itself and skin when positioning
Setting-out is overlapped, and is accurately positioned template position；Several lightweight through-holes are set, weight can be mitigated and save cost again, it can also be by
Pressure hemostasis.
8. a kind of 3D printing personalization plunger type puncture for treating mould of the fixed device of band according to claim 1 to 4
Plate, it is characterised in that: every root puncture needle number consecutively, measurement lesion reaches the insertion depth at guide post, and puncture needle is compiled
It number is tagged at the corresponding every needle track of template with depth information；Operation Shi doctor can according to marked in template needle track number and
Depth is inserted into puncture needle.
9. a kind of 3D printing personalization plunger type puncture for treating mould of the fixed device of band according to claim 1 to 4
Plate, it is characterised in that: the template designs inserting needle path by preoperative planning system, can be with by 3D modeling software design guide plate
Meaning export stl file, is converted to the data that printer can identify for stl file using the Slice Software that 3D printer is defaulted,
It is printed using 3D printer.
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| CN201721438623.2U CN208319311U (en) | 2017-11-01 | 2017-11-01 | A kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721438623.2U CN208319311U (en) | 2017-11-01 | 2017-11-01 | A kind of 3D printing personalization plunger type puncture for treating template of the fixed device of band |
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| CN208319311U true CN208319311U (en) | 2019-01-04 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236672A (en) * | 2019-06-03 | 2019-09-17 | 福建省立医院 | A kind of brain tumor procedures plate and its manufacturing method |
| CN114404824A (en) * | 2022-02-17 | 2022-04-29 | 哈尔滨工业大学 | Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system realized by applying same and constant force tracking method |
| CN114617615A (en) * | 2022-02-17 | 2022-06-14 | 磅客策(上海)智能医疗科技有限公司 | Surgical robot navigation system and navigation method thereof |
-
2017
- 2017-11-01 CN CN201721438623.2U patent/CN208319311U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110236672A (en) * | 2019-06-03 | 2019-09-17 | 福建省立医院 | A kind of brain tumor procedures plate and its manufacturing method |
| CN110236672B (en) * | 2019-06-03 | 2020-05-05 | 福建省立医院 | Brain tumor operation board and manufacturing method thereof |
| CN114404824A (en) * | 2022-02-17 | 2022-04-29 | 哈尔滨工业大学 | Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system realized by applying same and constant force tracking method |
| CN114617615A (en) * | 2022-02-17 | 2022-06-14 | 磅客策(上海)智能医疗科技有限公司 | Surgical robot navigation system and navigation method thereof |
| CN114404824B (en) * | 2022-02-17 | 2023-05-05 | 哈尔滨工业大学 | Puncture template based on optical positioning, auxiliary radiotherapy constant force tracking system and method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190104 |