CN208552018U - Auxiliary puncture device of robot - Google Patents
Auxiliary puncture device of robot Download PDFInfo
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- CN208552018U CN208552018U CN201721693434.XU CN201721693434U CN208552018U CN 208552018 U CN208552018 U CN 208552018U CN 201721693434 U CN201721693434 U CN 201721693434U CN 208552018 U CN208552018 U CN 208552018U
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- 210000004872 soft tissue Anatomy 0.000 claims abstract description 25
- 230000003902 lesion Effects 0.000 claims description 25
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 230000005855 radiation Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 description 6
- 238000013334 tissue model Methods 0.000 description 5
- 238000002059 diagnostic imaging Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000002604 ultrasonography Methods 0.000 description 3
- 229920000049 Carbon (fiber) Polymers 0.000 description 2
- 241000406668 Loxodonta cyclotis Species 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 2
- 239000004917 carbon fiber Substances 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 description 2
- 210000000056 organ Anatomy 0.000 description 2
- 230000035515 penetration Effects 0.000 description 2
- 208000019155 Radiation injury Diseases 0.000 description 1
- 238000002679 ablation Methods 0.000 description 1
- 238000001574 biopsy Methods 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000003365 glass fiber Substances 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000505 pernicious effect Effects 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses a robot-assisted puncture device provided by the utility model, which is used for acquiring focus images and soft tissue images of a puncture object and sending the focus images and the soft tissue images to a medical image acquisition device of a master control device; the main control device is used for processing focus images and soft tissue images of a puncture object sent by the medical image acquisition device to obtain a planned puncture path and controlling the puncture execution device to move along the puncture path to realize automatic puncture, and the main control device is respectively in signal connection with the medical image acquisition device and the puncture execution device; the puncture execution device comprises a puncture needle and a puncture power assembly for driving the puncture needle to move. The device can realize the automatic puncture to the focus, improves puncture efficiency, and reduces medical personnel's radiation hazard.
Description
Technical field
The utility model relates to medical auxiliary equipment fields, more specifically to a kind of robot assisted sting device.
Background technique
In tradition, doctor guides positioning body surface to wear when doing puncturing operation for patient, through medical images such as CT, X-ray machines
Point is pierced, then manually carries out puncturing operation according to experience by doctor, and doctor not abundant enough for experience, puncture process
In can also X-ray guidance under adjustment inserting needle direction until reach target position.
The problem is that: during doing puncturing operation, doctor can only manually be punctured, and excessive dependence is faced with doctor's
Bed experience, is unable to judge accurately and whether has arrived at optimum puncturing point, on the one hand cause very big operation risk, another party
Face repeatedly adjusts verifying due to needing ceaselessly to iterate through the medical imaging devices such as CT, until reach target position, make patient and
Medical worker is exposed under X-ray for a long time, causes medical worker and receives unnecessary radiation injury, and punctures effect
Rate is lower.
It need to be sentenced according to doctors experience in conclusion how to efficiently solve and reach optimum puncturing point in puncturing operation
Disconnected, the problems such as operation risk is big, be current those skilled in the art's urgent problem.
Utility model content
In view of this, the purpose of this utility model is to provide a kind of robot assisted sting device, to solve to puncture hand
The problems such as optimum puncturing point need to be judged according to doctors experience, operation risk is big is reached when art.
In order to achieve the above object, the utility model provides the following technical solutions:
A kind of robot assisted sting device, comprising:
For obtain puncture object lesion image and soft tissue shadow's picture and be sent to master control set medical image obtain
Device；
Lesion image and soft tissue shadow's picture for the puncture object sent according to the medical image acquisition device
It is handled, the puncture path after being planned, and controls puncture executive device and moved along the puncture path to realize
The master control set of automatic puncturing, the master control set execute dress with the medical image acquisition device and the puncture respectively
Confidence number connection；
The puncture Power Component for puncturing executive device and including puncture needle and driving the puncture needle mobile.
It preferably, further include being connect with the master control set signal, capable of remotely controlling the puncture needle synchronizing moving
Virtual piercing assembly, for the master control set according to the movement of the virtual piercing assembly, puncture needle described in synchronously control is mobile.
Preferably, the virtual piercing assembly is handle or virtual puncture needle.
Preferably, it is equipped between the puncture Power Component and the puncture needle for detecting between the puncture needle and soft tissue
The force snesor of resistance signal, the force snesor are connect with the master control set signal.
Preferably, the mechanical arm for puncturing Power Component and including bracket and being provided thereon, the bracket are equipped with sliding rail
Part is slided with engaged therewith, and the mechanical arm slides part and be removably fixedly connected with described.
Preferably, the medical image acquisition device is specially medical image CT machine.
Preferably, the master control set includes main controller and the display being connected separately with the main controller, operation
Panel and roller-ball mouse.
Preferably, further include the angular transducer being connect respectively with the virtual piercing assembly and the main controller signal and
The move angle of the virtual piercing assembly and depth are sent to the main controller by displacement sensor in real time.
Preferably, the mechanical arm is specially that power follows mechanical arm.
Robot assisted sting device provided by the utility model, for obtaining the lesion image and soft tissue that puncture object
Image and the medical image acquisition device for being sent to master control set；Puncture object for being sent according to medical image acquisition device
Lesion image and soft tissue shadow's picture handled, the puncture path after being planned, and control puncture executive device along puncture
The master control set to realize automatic puncturing is moved in path, and master control set is executed with medical image acquisition device and puncture respectively
The connection of device signal；Puncture the puncture Power Component that executive device includes puncture needle and drives puncture needle mobile.
Using robot assisted sting device provided by the utility model, puncture pair is obtained by medical image acquisition device
The lesion of elephant and soft-tissue image are simultaneously sent to controller, and controller handles it, the puncture path after being planned, control
System punctures executive device and moves realization puncture along puncture path, which can realize the automatic puncturing to lesion, improve and puncture effect
Rate, and reduce the radiation hazradial bundle of medical staff.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is only
It is some embodiments of the utility model, for those of ordinary skill in the art, in the premise not made the creative labor
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural schematic diagram of robot assisted sting device provided by the embodiment of the utility model；
Fig. 2 is a kind of structural representation of the master control set of robot assisted sting device provided by the embodiment of the utility model
Figure；
Fig. 3 is a kind of structural representation of the mechanical arm of robot assisted sting device provided by the embodiment of the utility model
Figure.
It is marked in attached drawing as follows:
Medical image CT machine 1 punctures Power Component 2, master control set 3, virtual piercing assembly 4, display 5, roller-ball mouse
6, mainframe box 7, mechanical arm 8, puncture needle 10, operation panel 11.
Specific embodiment
The utility model embodiment discloses a kind of robot assisted sting device, reaches when solving puncturing operation best
The problems such as point of puncture need to be judged according to doctors experience, operation risk is big.
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
Every other embodiment obtained, fall within the protection scope of the utility model.
Fig. 1-Fig. 3 is please referred to, Fig. 1 is a kind of structure of robot assisted sting device provided by the embodiment of the utility model
Schematic diagram；Fig. 2 is a kind of structural representation of the master control set of robot assisted sting device provided by the embodiment of the utility model
Figure；Fig. 3 is a kind of structural schematic diagram of the mechanical arm of robot assisted sting device provided by the embodiment of the utility model.
In a kind of specific embodiment, robot assisted sting device provided by the utility model, comprising:
For obtain puncture object lesion image and soft tissue shadow's picture and be sent to master control set 3 medical image obtain
Device；
Wherein, medical image acquisition device can be specially CT machine, X-ray machine or B ultrasound machine etc., can be set according to actual needs
It sets, as long as identical technical purpose can be reached, specific device is not construed as limiting.
The lesion image and soft tissue shadow's picture of puncture object for being sent according to medical image acquisition device are handled,
Puncture path after being planned, and control and puncture executive device and moved master control to realize automatic puncturing along puncture path
Device 3, master control set 3 are connect with medical image acquisition device and puncture executive device signal respectively；
Puncture the puncture Power Component 2 that executive device includes puncture needle 10 and drives puncture needle 10 mobile.
Master control set 3 can be connected with medical image acquisition device and puncture executive device signal respectively by glass fiber cables bus
It connects, certainly, in other embodiments, can also be attached by way of wireless telecommunications, can voluntarily select connection type,
It is within the protection scope of the present utility model.Puncturing Power Component 2 can be specially the Power Components such as mechanical arm 8, and puncture needle 10 is general
It is removably fixedly connected with Power Component 2 is punctured, such as in other embodiments, can voluntarily be set certainly by clamp
It sets puncture needle 10 and punctures the connection type of Power Component 2, it is within the protection scope of the present utility model.
In one embodiment, can be controlled remotely by a computer mechanical arm 8 drives puncture needle 10 to realize movement, mechanical arm
The 8 high-accuracy mechanical arm 8 preferably for no less than 5 axis freedom degrees is generally in the settable nonmetallic puncture fixture in its top
Weak radiography material is made, such as carbon fiber, can be configured according to actual needs.It is of course also possible to be punctured by mobile manually
Needle 10 reaches body puncture point, and adjusts the needle angle of puncture needle 10, it is preferable that mechanical arm 8 is specially that power follows mechanical arm
8, in such cases, 8 motor pattern of mechanical arm is preferably that power follows 8 mode of mechanical arm, realizes power by manual mobile mechanical arm 8
It follows, specifically, can voluntarily be selected.
In order in the course of surgery, grasp the positional relationship of puncture needle 10 and target in time, medical imaging devices can
It is scanned according to preset rules to object is punctured, in one embodiment, preset rules can be to scan one to it every 30 seconds
It is secondary, certainly, in other embodiments, can be voluntarily configured according to operation complexity etc., or can also when needed into
Row scanning, it is within the protection scope of the present utility model.
Using robot assisted sting device provided by the utility model, puncture pair is obtained by medical image acquisition device
The lesion of elephant and soft-tissue image are simultaneously sent to controller, and controller handles it, the puncture path after being planned, control
System punctures executive device and moves realization puncture along puncture path, which can realize the automatic puncturing to lesion, improve and puncture effect
Rate, and reduce the radiation hazradial bundle of medical staff.
Specifically, further including being connect with 3 signal of master control set, capable of remotely controlling virtually wearing for 10 synchronizing moving of puncture needle
Pierce component 4, movement of the master control set 3 according to virtual piercing assembly 4, the movement of synchronously control puncture needle 10.
In general, virtual piercing assembly 4 is connect with control device signal, doctor can operate virtual puncture according to puncture path
The progress real-time operation of component 4, in conjunction with display 5, observation punctures structure in subject in real time, instantly single stepping step and puncture
When path offer path is consistent, it can default automatically and carry out next step operation, single stepping step and puncture path are different instantly
It, can be by carrying out real-time operation to virtual piercing assembly 4 when such as encountering blood vessel or other organs when cause, virtual piercing assembly 4 will
The Actual paths signal such as angle and depth of puncture needle 10 is sent to controller, and practical puncture path signal is sent to by controller
Puncture needle 10, the inserting needle of synchronously control puncture needle 10 can carry out the automatic guarantor of puncture needle 10 when puncture needle 10 reaches target
It holds, or selection is detached from puncture needle 10 and resets, doctor can enter operating room and carry out the operation such as subsequent biopsy, ablation.This method
Can puncture object operation it is complex when, can remotely control virtual piercing assembly 4 by the auxiliary operation of doctor and realize to wearing
The puncture inserting needle of object is pierced, operation risk is reduced, improves and punctures efficiency.
In one embodiment, virtual piercing assembly 4 can be handle or virtual puncture needle, pass through handle or virtual puncture
The rotational angle of needle and mobile depth realize the synchronously control to puncture needle 10, can be by the way that corresponding angle detection device is being arranged
Real time data transmitting is realized with depth detection apparatus, and the angle and depth for operating virtual piercing assembly 4 according to doctor are to be sent to
Master control set 3, master control set 3 are sent to puncture needle 10, to realize the real-time synchronization to puncture needle 10, certainly, in other implementations
In example, the actual form of virtual piercing assembly 4 can also be voluntarily selected, is herein only more preferred embodiment, at this
In the protection scope of utility model.
Believe specifically, puncturing and being equipped between Power Component 2 and puncture needle 10 for detecting resistance between puncture needle 10 and soft tissue
Number force snesor, force snesor connect with 3 signal of master control set.
By sending the resistance signal between puncture needle 10 and soft tissue in real time to controller, controller is fed back to virtually
Piercing assembly 4, enables the doctor's resistance of real-time synchronization puncture needle 10 suffered by patient's body when operating virtual piercing assembly 4
Power guarantees virtual effect.In other embodiments, it also can choose suitable device for force feedback.
Further, puncturing Power Component includes bracket and the mechanical arm 8 that is provided thereon, bracket be equipped with sliding rail and and its
Part is slided in cooperation, mechanical arm 8 with slide part and be removably fixedly connected.
Bracket setting generally corresponding with CT lathe, to simplify the conversion of space coordinate between CT lathe, bracket is equipped with machine
Tool arm 8, mechanical arm 8 are generally the mechanical arm 8 of no less than five freedom degrees, and bracket is equipped with sliding rail and slides part, mechanical arm 8 with
It slides part to be generally removably fixedly connected, such as is connected through a screw thread, by sliding rail and the cooperation for sliding part, realize to machine
The coarse adjustment of tool arm 8 and the patient's body surface point of puncture drives puncture needle 10 to realize position accurate adjustment, to realize puncture needle by mechanical arm 8
The movement of 10 initial positions to body puncture point in other embodiments, can also puncture the tool of force piece certainly with self-setting
Body form, it is within the protection scope of the present utility model as long as being able to drive puncture needle 10 reaches corresponding position.
On the basis of the various embodiments described above, medical image acquisition device is specially medical image CT machine 1, in other implementations
In example, or the devices such as X-ray machine, B ultrasound machine can be selected voluntarily.
Further, master control set 3 includes main controller and the display 5, the operation panel that are connected separately with main controller
11 and roller-ball mouse 6.Doctor can rebuild lesion threedimensional model and week to medical image by operation panel 11, roller-ball mouse 6
Side soft tissue model, makes rational planning for puncture path, carries out puncture emulation.
It further, further include the angular transducer being connect respectively with virtual piercing assembly 4 and main controller signal and position
The move angle of virtual piercing assembly 4 and depth are sent to main controller by displacement sensor in real time.It is virtually worn by obtaining in real time
The puncture angle and depth of needle of component 4 are pierced, synchronously control puncture needle 10 is moved accordingly, realize that accurate remote punctures,
Certainly, in other embodiments, other detection devices also can be set and carry out Real-time Feedback, in the protection model of the utility model
In enclosing.
In a kind of specific embodiment, which includes master control set 3, punctures Power Component 2, mechanical arm 4 and doctor
Image CT machine 1 is learned, master control set 3 punctures Power Component 2, mechanical arm 4 and medical image CT machine 1 as kilomega optic fiber cable bus
Connecting communication.Before puncturing operation, doctor rebuilds medical image by operation panel 11 on master control set 3 and roller-ball mouse 6
Lesion threedimensional model and soft tissue model plan reasonable puncture path, carry out puncture emulation.In art, carried out to object is punctured
CT scan, image data are uploaded to master control set 3, and master control set 3 is analyzed by puncturing the image section parameter of object lesion, control
System punctures Power Component 2 and CT coordinate matchings, and 10 pinpoint movement of puncture needle of 8 end of mechanical arm is extremely punctured the default of object
Point of puncture operates puncture procedure device by virtual puncture needle and is remotely controlled the control progress puncturing operation of puncture needle 10, puncture needle 10
It is clamped by puncture needle fixture and is connect with the mechanical arm of mechanical arm 8, puncture needle fixture, can be in real time puncturing through equipped with force snesor
Power in journey is converted to electric signal and is uploaded to penetration control, then is fed back to by penetration control control puncture procedure device and virtually worn
Component 4 is pierced, to achieve the purpose that puncture needle force feedback.
Master control set specific work process are as follows: receive puncture object medical image signal, to puncture object lesion and
Soft tissue is modeled, and lesion threedimensional model and soft tissue model are obtained；Wherein, the medical image for puncturing object can pass through CT
The equipment such as machine, X-ray machine or B ultrasound are obtained, in general, above-mentioned apparatus is scanned to object is punctured, and by the doctor after scanning
Image signal transmitting is learned to computer, computer can model the lesion and soft tissue that puncture object by modeling software,
Such as Mimics software can voluntarily select suitable modeling software, in the protection scope of the utility model according to actual needs
It is interior.
According to lesion threedimensional model and soft tissue model, puncture path is planned；According to obtained lesion threedimensional model and soft
Tissue model, specifically, can in conjunction with puncture object the practical patient's condition and doctors experience, integration obtain from puncture object body surface to
The puncture path of lesion target spot, wherein may include a variety of puncture paths, one can be chosen and be used as optimal puncture path, and carried out
Storage.
According to puncture path, the body puncture point and needle angle for puncturing object are determined；Optimal according to above-mentioned acquisition is worn
Path is pierced, the needle angle for puncturing the body puncture point and puncture needle of object is obtained.
According to body puncture point and needle angle, control punctures executive device and is moved to corresponding body puncture position, wears
Thorn executive device includes puncture needle and the puncture Power Component for driving puncture needle movement；
In one embodiment, can be controlled remotely by a computer mechanical arm drives puncture needle to realize movement, and mechanical arm can
The preferably not less than high-accuracy mechanical arm of 5 axis freedom degrees is generally weak make in the settable nonmetallic puncture fixture in its top
Shadow material is made, such as carbon fiber, can be configured according to actual needs.It is of course also possible to be arrived by moving puncture needle manually
Up to body puncture point, and the needle angle of puncture needle is adjusted, in such cases, manipulator motion mode is preferably that power follows machinery
Arm mode, specifically, can voluntarily be selected.
According to puncture path, controls puncture needle and punctured to target.
Specifically, control puncture needle is punctured to target according to puncture path, specifically include:
Real time position and the target position scanned according to preset rules and puncture the puncture needle that object obtains are obtained, in real time
Puncture path is corrected, and controls puncture needle and is punctured to target.
In order in the course of surgery, grasp the positional relationship of puncture needle and target in time, medical imaging devices can root
Be scanned according to preset rules to object is punctured, in one embodiment, preset rules can for every 30 seconds to its run-down,
Certainly, in other embodiments, it can be voluntarily configured, or can also be swept when needed according to operation complexity etc.
It retouches, it is within the protection scope of the present utility model, the real time position of puncture needle that controller obtains scanning and target
Position carries out data processing, and is corrected in real time to puncture path, and then controls puncture needle and punctured to target,
Guarantee mobile accurate of puncture needle in the course of surgery, prevent bleeding caused by due to there is blood vessel or touch other organs or its
His pernicious consequence.
Further, it according to puncture path, controls puncture needle and is punctured to target, specifically included:
It receives the virtual piercing assembly synchronous with puncture needle and actually wearing for object puncture is punctured to virtual according to puncture path
Path signal is pierced, is punctured according to practical puncture path signal synchronously control puncture needle to object is punctured.
The resistance signal between puncture needle and soft tissue is obtained, and resistance signal is sent to virtual piercing assembly.
On the basis of the various embodiments described above, according to body puncture point and needle angle, it is mobile that control punctures executive device
To corresponding body puncture position, further includes:
Obtain respectively space relative coordinate between space relative coordinate, lesion and the body puncture point between lesion and CT and
CT with the space relative coordinate of puncture needle；
Determine the space relative coordinate between body puncture point and puncture needle.
In order to realize automatic inserting needle of the puncture needle from initial position to target, medical imaging devices acquisition can be first passed through
Lesion and the space relative coordinate where object between CT is punctured, the space relative coordinate between lesion and body puncture point and CT
With the space relative coordinate of puncture needle, and then the space relative coordinate between body puncture point and puncture needle is determined, realize puncture needle
The automatic inserting needle of point from initial position to body puncture, and then according to puncture path, pass through matching body surface point of puncture and inserting needle angle
Degree, realizes the automatic inserting needle of puncture needle.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The foregoing description of the disclosed embodiments can be realized professional and technical personnel in the field or using originally practical new
Type.Various modifications to these embodiments will be readily apparent to those skilled in the art, and determine herein
The General Principle of justice can be realized in other embodiments without departing from the spirit or scope of the present utility model.Cause
This, the present invention will not be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The widest scope consistent with features of novelty.
Claims (9)
1. a kind of robot assisted sting device characterized by comprising
For obtaining the lesion image and soft tissue shadow's picture and the medical image acquisition device for being sent to master control set that puncture object；
The lesion image and soft tissue shadow's picture of the puncture object for being sent according to the medical image acquisition device carry out
Processing, the puncture path after being planned, and control puncture executive device and moved along the puncture path to realize automatically
The master control set punctured, the master control set are believed with the medical image acquisition device and the puncture executive device respectively
Number connection；
The puncture Power Component for puncturing executive device and including puncture needle and driving the puncture needle mobile.
2. robot assisted sting device according to claim 1, which is characterized in that further include believing with the master control set
Number connection can remotely control the virtual piercing assembly of the puncture needle synchronizing moving, and the master control set is according to described virtual
The movement of piercing assembly, puncture needle described in synchronously control are mobile.
3. robot assisted sting device according to claim 2, which is characterized in that the virtual piercing assembly is handle
Or virtual puncture needle.
4. robot assisted sting device according to claim 1, which is characterized in that the puncture Power Component with it is described
Be equipped with force snesor for detecting resistance signal between the puncture needle and soft tissue between puncture needle, the force snesor with it is described
The connection of master control set signal.
5. robot assisted sting device according to claim 4, which is characterized in that the puncture Power Component includes branch
Frame and the mechanical arm being provided thereon, the bracket are equipped with sliding rail and engaged therewith slide part, the mechanical arm and the cunning
Row part is removably fixedly connected.
6. robot assisted sting device according to claim 1-5, which is characterized in that the medical image obtains
Taking device is specially medical image CT machine.
7. robot assisted sting device according to claim 6, which is characterized in that the master control set includes main controller
With display, operation panel and the roller-ball mouse being connected separately with the main controller.
8. robot assisted sting device according to claim 2, which is characterized in that further include virtually being worn with described respectively
The angular transducer and displacement sensor that thorn component is connected with the main controller signal, by the movement of the virtual piercing assembly
Angle and depth are sent to the main controller in real time.
9. robot assisted sting device according to claim 5, which is characterized in that the mechanical arm is specially that power follows
Mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721693434.XU CN208552018U (en) | 2017-12-07 | 2017-12-07 | Auxiliary puncture device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721693434.XU CN208552018U (en) | 2017-12-07 | 2017-12-07 | Auxiliary puncture device of robot |
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| Publication Number | Publication Date |
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| CN208552018U true CN208552018U (en) | 2019-03-01 |
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| CN201721693434.XU Active CN208552018U (en) | 2017-12-07 | 2017-12-07 | Auxiliary puncture device of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928791A (en) * | 2017-12-07 | 2018-04-20 | 上海钛米机器人科技有限公司 | Robot-assisted puncture method, system and device |
| CN112890957A (en) * | 2021-01-14 | 2021-06-04 | 北京美迪云机器人科技有限公司 | Magnetic induction remote positioning system and method |
-
2017
- 2017-12-07 CN CN201721693434.XU patent/CN208552018U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107928791A (en) * | 2017-12-07 | 2018-04-20 | 上海钛米机器人科技有限公司 | Robot-assisted puncture method, system and device |
| CN112890957A (en) * | 2021-01-14 | 2021-06-04 | 北京美迪云机器人科技有限公司 | Magnetic induction remote positioning system and method |
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Address after: 201203 Shanghai City, Pudong New Area Xiang Ke Lu 111 No. 3 building 902903 room Patentee after: Shanghai TIMI robot Co.,Ltd. Address before: 201203 Shanghai City, Pudong New Area Xiang Ke Lu 111 No. 3 building 902903 room Patentee before: SHANGHAI TMI ROBOT TECHNOLOGY Co.,Ltd. |