FR2555432A1 - Method for puncturing blood vessels combining a needle propeller with a Doppler ultrasonograph which guides it - Google Patents

Method for puncturing blood vessels combining a needle propeller with a Doppler ultrasonograph which guides it Download PDF

Info

Publication number
FR2555432A1
FR2555432A1 FR8318794A FR8318794A FR2555432A1 FR 2555432 A1 FR2555432 A1 FR 2555432A1 FR 8318794 A FR8318794 A FR 8318794A FR 8318794 A FR8318794 A FR 8318794A FR 2555432 A1 FR2555432 A1 FR 2555432A1
Authority
FR
France
Prior art keywords
doppler
needle
puncture
vessel
ultrasonograph
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.)
Pending
Application number
FR8318794A
Other languages
French (fr)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to FR8318794A priority Critical patent/FR2555432A1/en
Publication of FR2555432A1 publication Critical patent/FR2555432A1/en
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/06—Measuring blood flow
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150015—Source of blood
    • A61B5/15003—Source of blood for venous or arterial blood
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150053—Details for enhanced collection of blood or interstitial fluid at the sample site, e.g. by applying compression, heat, vibration, ultrasound, suction or vacuum to tissue; for reduction of pain or discomfort; Skin piercing elements, e.g. blades, needles, lancets or canulas, with adjustable piercing speed
    • A61B5/150106—Means for reducing pain or discomfort applied before puncturing; desensitising the skin at the location where body is to be pierced
    • A61B5/15016—Means for reducing pain or discomfort applied before puncturing; desensitising the skin at the location where body is to be pierced by accessories for bringing the piercing element into the body, e.g. through rotation of the piercing element
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150175—Adjustment of penetration depth
    • A61B5/15019—Depth adjustment mechanism using movable stops located inside the piercing device housing and limiting the travel of the drive mechanism
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150748—Having means for aiding positioning of the piercing device at a location where the body is to be pierced
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/153—Devices specially adapted for taking samples of venous or arterial blood, e.g. with syringes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/48—Other medical applications
    • A61B5/4887—Locating particular structures in or on the body
    • A61B5/489—Blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/08—Detecting organic movements or changes, e.g. tumours, cysts, swellings
    • A61B8/0833—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/42—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for desensitising skin, for protruding skin to facilitate piercing, or for locating point where body is to be pierced
    • A61M5/427—Locating point where body is to be pierced, e.g. vein location means using ultrasonic waves, injection site templates
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150374—Details of piercing elements or protective means for preventing accidental injuries by such piercing elements
    • A61B5/150381—Design of piercing elements
    • A61B5/150389—Hollow piercing elements, e.g. canulas, needles, for piercing the skin
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/15—Devices for taking samples of blood
    • A61B5/150007—Details
    • A61B5/150374—Details of piercing elements or protective means for preventing accidental injuries by such piercing elements
    • A61B5/150381—Design of piercing elements
    • A61B5/150503—Single-ended needles

Abstract

The invention relates to a method for puncturing blood vessels characterised by the coupling of a rapid needle propeller 1, 2, 6 with a Doppler-effect ultrasonograph which guides it 5, 8. The effect of this method is to reduce the trauma due to puncture, by the speed of propulsion of the needle. The effect of this method is to make the puncture easy and precise to perform by guiding of the needle, by means of a Doppler-effect ultrasonograph. The applications of this method essentially relate to human and veterinary medicine for the intra-vascular injection of therapeutic or diagnostic substances as well as for blood sampling.

Description

PROCEDE DE PONCTION DES VAISSEAUX SANGUINS ASSOCIANT UN
PROPULSEUR D AIGUILLE A UN ULTRASONOGRAPHE DOPPLER QUI
LE GUIDE.PROCESS FOR PUNCHING BLOOD VESSELS ASSOCIATING A
NEEDLE PROPELLER TO A DOPPLER ULTRASONOGRAPHER WHO
GUIDE.

La présente invention a trait à un procédé de ponction des vaisseaux sanguins associant un propulseur d aiguille à un vélocimètre Doppler ultrasonore qui le guide. Les appareils à effet Doppler ainsi que le-système de propulsion ne font donc pas en soi l'objet de cette invention. The present invention relates to a method for puncturing blood vessels associating a needle propellant with an ultrasonic Doppler velocimeter which guides it. Doppler effect devices and the propulsion system are therefore not in themselves the subject of this invention.

La ponction des vaisseaux, artères et veines, est indispensable en médecine humaine et vétérinaire à l'administration des nombreuses thérapeutiques ainsi qu'à l'injection de produits de contraste ou d'isotopes, destinés au diagnostic. The puncture of the vessels, arteries and veins is essential in human and veterinary medicine for the administration of numerous therapies as well as for the injection of contrast agents or isotopes, intended for diagnosis.

La ponction se fait actuellement à la main, ce qui a pour effet de provoquer un traumatisme des parois des vaisseaux et de tissus environnants, en raison de la lenteur de pénétration des aiguilles. The puncture is currently done by hand, which has the effect of causing trauma to the walls of the vessels and surrounding tissue, due to the slow penetration of the needles.

La ponction est actuellement guidée par la vue pour les veines très superficielles, par la palpation manuelle pour les artères et par des repères anatomiques pour les veines profondes. Dans ces deux dernières circonstances la précision de la ponction est sujette à erreur dans un nombre important de cas, en raison des variations anatomiques, de la difficulté de palper les pouls, ce qui nécessite de la répéter plusieurs fois, ce qui aggrave son caractère traumatisant, pour parfois ne pas aboutir à la pénétration souhaitée dans le vaisseau. De plus, aucune information ne permet d'éviter une ponction dans une zone dangereuse du fait de la pathologie du vaisseau : thrombus dans une veine, thrombus ou rétrécissement focale dans une artère. The puncture is currently guided by sight for very superficial veins, by manual palpation for the arteries and by anatomical landmarks for the deep veins. In these last two circumstances the precision of the puncture is subject to error in a significant number of cases, due to the anatomical variations, the difficulty of palpating the pulses, which requires it to be repeated several times, which aggravates its traumatic nature. , to sometimes not achieve the desired penetration into the vessel. In addition, there is no information to avoid a puncture in a dangerous area due to the pathology of the vessel: thrombus in a vein, thrombus or focal narrowing in an artery.

La présente invention se propose de remédier à ces inconvénients en permettant une ponction moins traumatisante grâce à une grande vitesse de pénétration de l'aiguille (qui de plus peut être bien plus fine que celles qui sont nécessaires à la ponction manuelle), en guidant précisemment la
Ponction sur le vaisseau choisi (et en reconnaissant de plus les zones dangereuses : rétrécissements, thrombus) grâce au guidage de l'aiguille par la sonde d'un vélo- cimètre Doppler â ultrasons simplement posée sur la peau, le signal Doppler détectant le vaisseau circulant et ses éventuelles anomalies.The present invention proposes to remedy these drawbacks by allowing a less traumatic puncture thanks to a high speed of penetration of the needle (which moreover can be much finer than those which are necessary for manual puncture), by guiding precisely the
Puncture on the chosen vessel (and moreover recognizing the dangerous zones: narrowing, thrombus) thanks to the guidance of the needle by the probe of a Doppler ultrasound cycle-meter simply placed on the skin, the Doppler signal detecting the vessel circulating and its possible anomalies.

Enfin, cette ponction est moins douloureuse pour le patient en raison de la pénétration rapide de l'aiguille, mais aussi du fait que par sa précision, elle n'a pas besoin d'être repetée.  Finally, this puncture is less painful for the patient because of the rapid penetration of the needle, but also because of its precision, it does not need to be repeated.

La présente invention se caractérise donc par le couplage d'une sonde d'ultrasonographe a effet Doppler un dispositif de ponction rapide des vaisseaux sanguins, tel qu'il est schématisé sur les figures I et Il.  The present invention is therefore characterized by the coupling of a Doppler ultrasound probe to a rapid puncture device for blood vessels, as shown schematically in Figures I and II.

La figure I représente le dispositif en position avant le tir, la figure Il représente le dispositif en fin de tir. Figure I shows the device in position before the shot, Figure II shows the device at the end of the shot.

Le dispositif de ponction rapide est constitué d'un porte aiguille (1) monté sur un propulseur (2) constitué soit d'un ressort a détente dont on peut régler la tension et la longueur de détente par des gâchettes sur crémaillère (3), afin d'obtenir la force et la longueur de pénétration désirée, soit d'un électro aimant piloté dans sa course par le temps de passage du courant dans la bobine (4). The rapid puncture device consists of a needle holder (1) mounted on a thruster (2) consisting of either a detent spring, the tension and the detent length of which can be adjusted by triggers on rack (3), in order to obtain the desired force and length of penetration, either of an electromagnet controlled in its stroke by the time of passage of the current in the coil (4).

Le dispositif Doppler est constitué d'une sonde (5) solidaire du dispositif de~ponction au moyen d'un porte-sonde (6) avec lequilelle entretient des rapports réglables de direction, de décalage et d'angulation, au moyen de molettes et rotules (7). The Doppler device consists of a probe (5) integral with the puncture device by means of a probe holder (6) with which it maintains adjustable ratios of direction, offset and angulation, by means of knobs and ball joints (7).

Le système Doppler (8) est soit un vélocirnètre ultrasonore a émission continue, focalisée et directionnelle, qui donne précisément la direction, la vitesse et éventuellement les anomalies de 1'hémodynamique du vaisseau à ponctionner, soit un vélocimètre ultrasonore à émission pulsée qui a pour avantage de reconnaître, en plus des données fournies par le Doppler à émission continue, la profondeur exacte du vaisseau (9) par rapport au plan cutané (10) permettant de définir de surcroit la profondeur de pénétration optimale de l'aiguille (11). Le réglage de la profondeur de pénétration de l'aiguille pouvant être soit manuel(3) (4), soit automatique par l'appareil Doppler pulsé réglant la course de l'électro aimant en fonction de la mesure automatique par Doppler pulsé de la profondeur du vaisseau, au moyen d'un aéclencheur électronique (12). The Doppler system (8) is either an ultrasonic velocirneter with continuous, focused and directional emission, which gives precise direction, speed and possibly anomalies in the hemodynamics of the vessel to be punctured, or an ultrasonic velocimeter with pulsed emission which advantage of recognizing, in addition to the data provided by the continuous emission Doppler, the exact depth of the vessel (9) relative to the cutaneous plane (10) allowing to define in addition the optimal penetration depth of the needle (11). The adjustment of the needle penetration depth can be either manual (3) (4) or automatic by the pulsed Doppler device regulating the stroke of the electromagnet according to the automatic pulsed Doppler depth measurement of the vessel, by means of an electronic trigger (12).

Le dispositif de ponction rapide est donc solidaire du dispositif du recueil du signal Doppler en un ensemble léger et maniable, dans lequel sont réglables à volonté la direction du tir de l'aiguille dans les 3 dimensions de l'espace par rapport à la direction du signal Doppler recueilli. The rapid puncture device is therefore integral with the device for collecting the Doppler signal in a light and handy assembly, in which the direction of firing of the needle is adjustable at will in the 3 dimensions of the space relative to the direction of the Doppler signal collected.

De plus, l'utilisation d'un Doppler pulsé permet de régler la profondeur de pénétration de l'aiguille selon la distance mesurée du vaisseau par rapport à la peau. In addition, the use of a pulsed Doppler allows the penetration depth of the needle to be adjusted according to the measured distance of the vessel from the skin.

Ces caractéristiques rendent, par rapport aux méthodes manuelles habituelles, la ponction des vaisseaux à la fois plus simple, plus rapide, plus précise et plus sure d'exécution pour le praticien, moins traumatisante et moins douloureuse dans ses effets pour le patient.  These characteristics make, compared to the usual manual methods, the puncture of the vessels at the same time simpler, faster, more precise and safer to execute for the practitioner, less traumatic and less painful in its effects for the patient.

Claims (5)

REVENDICATIONS 1. Procédé de ponction des vaisseaux caractérisé par le fait qu'il associe un système de ponction (1, 2, 6) avec un système de repérage de vaisseau par ultrasonographie Doppler bi-directionnel ou non à émission continue ou pulsée. (5~)~  1. A method for puncturing vessels, characterized in that it combines a puncture system (1, 2, 6) with a system for locating a vessel by bi-directional Doppler ultrasound or not with continuous or pulsed emission. (5 ~) ~ 2. Procédé selon la revendication 1 caractérisé par le fait que la ponction est rapide (1) et réglable (3) (4) (12) dans sa course. 2. Method according to claim 1 characterized in that the puncture is rapid (1) and adjustable (3) (4) (12) in its course. 3. Procédé selon les revendications 1 et 2 caractérisé par le fait que le repérage du vaisseau par la sonde a ultrasonographie Doppler guide la direction de tir du système de ponction rapide, au moyen d'une articulation entre le système propulseur de l'aiguille et le système de repérage du vaisseau permettant de régler leurs rapports de direction, de décalage et d'angulation (3). 3. Method according to claims 1 and 2 characterized in that the identification of the vessel by the Doppler ultrasound probe guides the direction of fire of the rapid puncture system, by means of an articulation between the propellant system of the needle and the vessel tracking system for adjusting their direction, offset and angulation ratios (3). 4. Procédé selon les revendications 1, 2 et 3 caractérisé par le fait qu'il permet de régler la profondeur de pénétration souhaitée de l'aiguille par rapport au plan cutané. 4. Method according to claims 1, 2 and 3 characterized in that it allows to adjust the desired penetration depth of the needle relative to the skin. 5. Procédé -selon les revendications 1, 2, 3 et 4 caractérisé par le fait que la profondeur de pénétration de l'aiguille utile pour atteindre le vaisseau par rapport au plan cutané peut être repérée par llultra- sonographie Doppler à émission pulsé et commandée automatiquement (4) (5)  5. Method - according to claims 1, 2, 3 and 4 characterized in that the depth of penetration of the needle useful for reaching the vessel relative to the skin plane can be identified by llopraography Doppler pulsed emission and controlled automatically (4) (5)
FR8318794A 1983-11-25 1983-11-25 Method for puncturing blood vessels combining a needle propeller with a Doppler ultrasonograph which guides it Pending FR2555432A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
FR8318794A FR2555432A1 (en) 1983-11-25 1983-11-25 Method for puncturing blood vessels combining a needle propeller with a Doppler ultrasonograph which guides it

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR8318794A FR2555432A1 (en) 1983-11-25 1983-11-25 Method for puncturing blood vessels combining a needle propeller with a Doppler ultrasonograph which guides it

Publications (1)

Publication Number Publication Date
FR2555432A1 true FR2555432A1 (en) 1985-05-31

Family

ID=9294508

Family Applications (1)

Application Number Title Priority Date Filing Date
FR8318794A Pending FR2555432A1 (en) 1983-11-25 1983-11-25 Method for puncturing blood vessels combining a needle propeller with a Doppler ultrasonograph which guides it

Country Status (1)

Country Link
FR (1) FR2555432A1 (en)

Cited By (65)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0260953A2 (en) * 1986-09-18 1988-03-23 Paul G. Yock Device for use in the cannulation of blood vessels
WO1993012726A1 (en) * 1991-12-23 1993-07-08 Friedhelm Steinweg Device for injecting or tapping joint cavities
EP0712294A1 (en) * 1993-08-05 1996-05-22 Cardiovascular Dynamics, Inc. Coaxial cable vascular access system
DE19530869A1 (en) * 1995-08-22 1997-02-27 Sterimed Gmbh Puncturing and / or catheterizing device for probing nerves
EP1101443A3 (en) * 1999-11-17 2002-01-09 Bayer Corporation Electronic lancing device
WO2003088851A1 (en) 2001-06-12 2003-10-30 Pelikan Technologies, Inc. Tissue penetration device
EP1499247A1 (en) * 2002-04-19 2005-01-26 Pelikan Technologies Inc. Tissue penetration device
EP1501409A1 (en) * 2002-04-19 2005-02-02 Pelikan Technologies Inc. Method and apparatus for a multi-use body fluid sampling device
EP1501410A2 (en) * 2002-04-19 2005-02-02 Pelikan Technologies Inc. Method and apparatus for penetrating tissue
GB2406794A (en) * 2003-10-06 2005-04-13 Inverness Medical Ltd Piezoelectric lancing device
EP1585558A2 (en) * 2002-09-05 2005-10-19 Pelikan Technologies Inc. Methods and apparatus for lancet actuation
WO2007023433A1 (en) * 2005-08-23 2007-03-01 Koninklijke Philips Electronics N.V. Medical data acquisition system
CN100448405C (en) * 2003-11-18 2009-01-07 微星科技股份有限公司 Intravenous device
US7648468B2 (en) 2002-04-19 2010-01-19 Pelikon Technologies, Inc. Method and apparatus for penetrating tissue
US7666149B2 (en) 1997-12-04 2010-02-23 Peliken Technologies, Inc. Cassette of lancet cartridges for sampling blood
US7674232B2 (en) 2002-04-19 2010-03-09 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7682318B2 (en) 2001-06-12 2010-03-23 Pelikan Technologies, Inc. Blood sampling apparatus and method
US7699791B2 (en) 2001-06-12 2010-04-20 Pelikan Technologies, Inc. Method and apparatus for improving success rate of blood yield from a fingerstick
US7717863B2 (en) 2002-04-19 2010-05-18 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7731729B2 (en) 2002-04-19 2010-06-08 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7749174B2 (en) 2001-06-12 2010-07-06 Pelikan Technologies, Inc. Method and apparatus for lancet launching device intergrated onto a blood-sampling cartridge
US7822454B1 (en) 2005-01-03 2010-10-26 Pelikan Technologies, Inc. Fluid sampling device with improved analyte detecting member configuration
US7833171B2 (en) 2002-04-19 2010-11-16 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7841992B2 (en) 2001-06-12 2010-11-30 Pelikan Technologies, Inc. Tissue penetration device
US7850621B2 (en) 2003-06-06 2010-12-14 Pelikan Technologies, Inc. Method and apparatus for body fluid sampling and analyte sensing
US7862520B2 (en) 2002-04-19 2011-01-04 Pelikan Technologies, Inc. Body fluid sampling module with a continuous compression tissue interface surface
US7874994B2 (en) 2002-04-19 2011-01-25 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7892185B2 (en) 2002-04-19 2011-02-22 Pelikan Technologies, Inc. Method and apparatus for body fluid sampling and analyte sensing
US7901365B2 (en) 2002-04-19 2011-03-08 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7901362B2 (en) 2002-04-19 2011-03-08 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7909778B2 (en) 2002-04-19 2011-03-22 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7909777B2 (en) 2002-04-19 2011-03-22 Pelikan Technologies, Inc Method and apparatus for penetrating tissue
US7914465B2 (en) 2002-04-19 2011-03-29 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7976476B2 (en) 2002-04-19 2011-07-12 Pelikan Technologies, Inc. Device and method for variable speed lancet
US8221334B2 (en) 2002-04-19 2012-07-17 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8262614B2 (en) 2003-05-30 2012-09-11 Pelikan Technologies, Inc. Method and apparatus for fluid injection
US8267870B2 (en) 2002-04-19 2012-09-18 Sanofi-Aventis Deutschland Gmbh Method and apparatus for body fluid sampling with hybrid actuation
US8333710B2 (en) 2002-04-19 2012-12-18 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US8360992B2 (en) 2002-04-19 2013-01-29 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8435190B2 (en) 2002-04-19 2013-05-07 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8439872B2 (en) 1998-03-30 2013-05-14 Sanofi-Aventis Deutschland Gmbh Apparatus and method for penetration with shaft having a sensor for sensing penetration depth
US8556829B2 (en) 2002-04-19 2013-10-15 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8574895B2 (en) 2002-12-30 2013-11-05 Sanofi-Aventis Deutschland Gmbh Method and apparatus using optical techniques to measure analyte levels
US8579831B2 (en) 2002-04-19 2013-11-12 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8641644B2 (en) 2000-11-21 2014-02-04 Sanofi-Aventis Deutschland Gmbh Blood testing apparatus having a rotatable cartridge with multiple lancing elements and testing means
US8652831B2 (en) 2004-12-30 2014-02-18 Sanofi-Aventis Deutschland Gmbh Method and apparatus for analyte measurement test time
US8668656B2 (en) 2003-12-31 2014-03-11 Sanofi-Aventis Deutschland Gmbh Method and apparatus for improving fluidic flow and sample capture
US8702624B2 (en) 2006-09-29 2014-04-22 Sanofi-Aventis Deutschland Gmbh Analyte measurement device with a single shot actuator
US8721671B2 (en) 2001-06-12 2014-05-13 Sanofi-Aventis Deutschland Gmbh Electric lancet actuator
US8784335B2 (en) 2002-04-19 2014-07-22 Sanofi-Aventis Deutschland Gmbh Body fluid sampling device with a capacitive sensor
US8828203B2 (en) 2004-05-20 2014-09-09 Sanofi-Aventis Deutschland Gmbh Printable hydrogels for biosensors
US8945910B2 (en) 2003-09-29 2015-02-03 Sanofi-Aventis Deutschland Gmbh Method and apparatus for an improved sample capture device
US8965476B2 (en) 2010-04-16 2015-02-24 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US9144401B2 (en) 2003-06-11 2015-09-29 Sanofi-Aventis Deutschland Gmbh Low pain penetrating member
US9226699B2 (en) 2002-04-19 2016-01-05 Sanofi-Aventis Deutschland Gmbh Body fluid sampling module with a continuous compression tissue interface surface
US9248267B2 (en) 2002-04-19 2016-02-02 Sanofi-Aventis Deustchland Gmbh Tissue penetration device
US9314194B2 (en) 2002-04-19 2016-04-19 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US9351680B2 (en) 2003-10-14 2016-05-31 Sanofi-Aventis Deutschland Gmbh Method and apparatus for a variable user interface
US9375169B2 (en) 2009-01-30 2016-06-28 Sanofi-Aventis Deutschland Gmbh Cam drive for managing disposable penetrating member actions with a single motor and motor and control system
US9386944B2 (en) 2008-04-11 2016-07-12 Sanofi-Aventis Deutschland Gmbh Method and apparatus for analyte detecting device
US9427532B2 (en) 2001-06-12 2016-08-30 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US9775553B2 (en) 2004-06-03 2017-10-03 Sanofi-Aventis Deutschland Gmbh Method and apparatus for a fluid sampling device
US9795747B2 (en) 2010-06-02 2017-10-24 Sanofi-Aventis Deutschland Gmbh Methods and apparatus for lancet actuation
US9820684B2 (en) 2004-06-03 2017-11-21 Sanofi-Aventis Deutschland Gmbh Method and apparatus for a fluid sampling device
CN109620411A (en) * 2018-12-18 2019-04-16 中国科学院苏州生物医学工程技术研究所 Needling mechanism for Minimally Invasive Surgery Needle-driven Robot

Cited By (142)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0260953A3 (en) * 1986-09-18 1989-04-05 Paul G. Yock Device for use in the cannulation of blood vessels
EP0260953A2 (en) * 1986-09-18 1988-03-23 Paul G. Yock Device for use in the cannulation of blood vessels
WO1993012726A1 (en) * 1991-12-23 1993-07-08 Friedhelm Steinweg Device for injecting or tapping joint cavities
EP0712294A1 (en) * 1993-08-05 1996-05-22 Cardiovascular Dynamics, Inc. Coaxial cable vascular access system
EP0712294A4 (en) * 1993-08-05 1996-10-16 Cardiovascular Dynamics Inc Coaxial cable vascular access system
DE19530869A1 (en) * 1995-08-22 1997-02-27 Sterimed Gmbh Puncturing and / or catheterizing device for probing nerves
US7666149B2 (en) 1997-12-04 2010-02-23 Peliken Technologies, Inc. Cassette of lancet cartridges for sampling blood
US8439872B2 (en) 1998-03-30 2013-05-14 Sanofi-Aventis Deutschland Gmbh Apparatus and method for penetration with shaft having a sensor for sensing penetration depth
EP1101443A3 (en) * 1999-11-17 2002-01-09 Bayer Corporation Electronic lancing device
AU777483B2 (en) * 1999-11-17 2004-10-21 Bayer Corporation Electronic lancing device
US8641644B2 (en) 2000-11-21 2014-02-04 Sanofi-Aventis Deutschland Gmbh Blood testing apparatus having a rotatable cartridge with multiple lancing elements and testing means
US9802007B2 (en) 2001-06-12 2017-10-31 Sanofi-Aventis Deutschland Gmbh Methods and apparatus for lancet actuation
US8343075B2 (en) 2001-06-12 2013-01-01 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US9427532B2 (en) 2001-06-12 2016-08-30 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US8845550B2 (en) 2001-06-12 2014-09-30 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US8721671B2 (en) 2001-06-12 2014-05-13 Sanofi-Aventis Deutschland Gmbh Electric lancet actuator
US8679033B2 (en) 2001-06-12 2014-03-25 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US8641643B2 (en) 2001-06-12 2014-02-04 Sanofi-Aventis Deutschland Gmbh Sampling module device and method
US9694144B2 (en) 2001-06-12 2017-07-04 Sanofi-Aventis Deutschland Gmbh Sampling module device and method
US8622930B2 (en) 2001-06-12 2014-01-07 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US7909775B2 (en) 2001-06-12 2011-03-22 Pelikan Technologies, Inc. Method and apparatus for lancet launching device integrated onto a blood-sampling cartridge
US8382683B2 (en) 2001-06-12 2013-02-26 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US9937298B2 (en) 2001-06-12 2018-04-10 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US8360991B2 (en) 2001-06-12 2013-01-29 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US7682318B2 (en) 2001-06-12 2010-03-23 Pelikan Technologies, Inc. Blood sampling apparatus and method
US7699791B2 (en) 2001-06-12 2010-04-20 Pelikan Technologies, Inc. Method and apparatus for improving success rate of blood yield from a fingerstick
US7981055B2 (en) 2001-06-12 2011-07-19 Pelikan Technologies, Inc. Tissue penetration device
US8337421B2 (en) 2001-06-12 2012-12-25 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
WO2003088851A1 (en) 2001-06-12 2003-10-30 Pelikan Technologies, Inc. Tissue penetration device
US7749174B2 (en) 2001-06-12 2010-07-06 Pelikan Technologies, Inc. Method and apparatus for lancet launching device intergrated onto a blood-sampling cartridge
US8282577B2 (en) 2001-06-12 2012-10-09 Sanofi-Aventis Deutschland Gmbh Method and apparatus for lancet launching device integrated onto a blood-sampling cartridge
US8216154B2 (en) 2001-06-12 2012-07-10 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US7841992B2 (en) 2001-06-12 2010-11-30 Pelikan Technologies, Inc. Tissue penetration device
US7850622B2 (en) 2001-06-12 2010-12-14 Pelikan Technologies, Inc. Tissue penetration device
US8211037B2 (en) 2001-06-12 2012-07-03 Pelikan Technologies, Inc. Tissue penetration device
US8206317B2 (en) 2001-06-12 2012-06-26 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US8206319B2 (en) 2001-06-12 2012-06-26 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US8162853B2 (en) 2001-06-12 2012-04-24 Pelikan Technologies, Inc. Tissue penetration device
US8123700B2 (en) 2001-06-12 2012-02-28 Pelikan Technologies, Inc. Method and apparatus for lancet launching device integrated onto a blood-sampling cartridge
US8016774B2 (en) 2001-06-12 2011-09-13 Pelikan Technologies, Inc. Tissue penetration device
US9560993B2 (en) 2001-11-21 2017-02-07 Sanofi-Aventis Deutschland Gmbh Blood testing apparatus having a rotatable cartridge with multiple lancing elements and testing means
US8333710B2 (en) 2002-04-19 2012-12-18 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US7674232B2 (en) 2002-04-19 2010-03-09 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7909777B2 (en) 2002-04-19 2011-03-22 Pelikan Technologies, Inc Method and apparatus for penetrating tissue
US7909774B2 (en) 2002-04-19 2011-03-22 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7914465B2 (en) 2002-04-19 2011-03-29 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7938787B2 (en) 2002-04-19 2011-05-10 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7959582B2 (en) 2002-04-19 2011-06-14 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7976476B2 (en) 2002-04-19 2011-07-12 Pelikan Technologies, Inc. Device and method for variable speed lancet
US7901362B2 (en) 2002-04-19 2011-03-08 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7981056B2 (en) 2002-04-19 2011-07-19 Pelikan Technologies, Inc. Methods and apparatus for lancet actuation
US7988644B2 (en) * 2002-04-19 2011-08-02 Pelikan Technologies, Inc. Method and apparatus for a multi-use body fluid sampling device with sterility barrier release
US7901365B2 (en) 2002-04-19 2011-03-08 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US8062231B2 (en) 2002-04-19 2011-11-22 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US8079960B2 (en) 2002-04-19 2011-12-20 Pelikan Technologies, Inc. Methods and apparatus for lancet actuation
US7892185B2 (en) 2002-04-19 2011-02-22 Pelikan Technologies, Inc. Method and apparatus for body fluid sampling and analyte sensing
US8157748B2 (en) 2002-04-19 2012-04-17 Pelikan Technologies, Inc. Methods and apparatus for lancet actuation
US7875047B2 (en) 2002-04-19 2011-01-25 Pelikan Technologies, Inc. Method and apparatus for a multi-use body fluid sampling device with sterility barrier release
US8197423B2 (en) 2002-04-19 2012-06-12 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US8202231B2 (en) 2002-04-19 2012-06-19 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US7874994B2 (en) 2002-04-19 2011-01-25 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US7862520B2 (en) 2002-04-19 2011-01-04 Pelikan Technologies, Inc. Body fluid sampling module with a continuous compression tissue interface surface
EP1499247A1 (en) * 2002-04-19 2005-01-26 Pelikan Technologies Inc. Tissue penetration device
US7833171B2 (en) 2002-04-19 2010-11-16 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US8221334B2 (en) 2002-04-19 2012-07-17 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8235915B2 (en) 2002-04-19 2012-08-07 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US9907502B2 (en) 2002-04-19 2018-03-06 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US9839386B2 (en) 2002-04-19 2017-12-12 Sanofi-Aventis Deustschland Gmbh Body fluid sampling device with capacitive sensor
US8267870B2 (en) 2002-04-19 2012-09-18 Sanofi-Aventis Deutschland Gmbh Method and apparatus for body fluid sampling with hybrid actuation
EP1501409A1 (en) * 2002-04-19 2005-02-02 Pelikan Technologies Inc. Method and apparatus for a multi-use body fluid sampling device
US9795334B2 (en) 2002-04-19 2017-10-24 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US7731729B2 (en) 2002-04-19 2010-06-08 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US8337420B2 (en) 2002-04-19 2012-12-25 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US7717863B2 (en) 2002-04-19 2010-05-18 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US8337419B2 (en) 2002-04-19 2012-12-25 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US7708701B2 (en) 2002-04-19 2010-05-04 Pelikan Technologies, Inc. Method and apparatus for a multi-use body fluid sampling device
US9072842B2 (en) 2002-04-19 2015-07-07 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8360992B2 (en) 2002-04-19 2013-01-29 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8366637B2 (en) 2002-04-19 2013-02-05 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US7648468B2 (en) 2002-04-19 2010-01-19 Pelikon Technologies, Inc. Method and apparatus for penetrating tissue
US8382682B2 (en) 2002-04-19 2013-02-26 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8388551B2 (en) 2002-04-19 2013-03-05 Sanofi-Aventis Deutschland Gmbh Method and apparatus for multi-use body fluid sampling device with sterility barrier release
US8403864B2 (en) 2002-04-19 2013-03-26 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8414503B2 (en) 2002-04-19 2013-04-09 Sanofi-Aventis Deutschland Gmbh Methods and apparatus for lancet actuation
US8430828B2 (en) 2002-04-19 2013-04-30 Sanofi-Aventis Deutschland Gmbh Method and apparatus for a multi-use body fluid sampling device with sterility barrier release
US8435190B2 (en) 2002-04-19 2013-05-07 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
EP1501410A4 (en) * 2002-04-19 2009-01-07 Pelikan Technologies Inc Method and apparatus for penetrating tissue
US8491500B2 (en) 2002-04-19 2013-07-23 Sanofi-Aventis Deutschland Gmbh Methods and apparatus for lancet actuation
US8496601B2 (en) 2002-04-19 2013-07-30 Sanofi-Aventis Deutschland Gmbh Methods and apparatus for lancet actuation
US8556829B2 (en) 2002-04-19 2013-10-15 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8562545B2 (en) 2002-04-19 2013-10-22 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US9724021B2 (en) 2002-04-19 2017-08-08 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8579831B2 (en) 2002-04-19 2013-11-12 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US7909778B2 (en) 2002-04-19 2011-03-22 Pelikan Technologies, Inc. Method and apparatus for penetrating tissue
US8636673B2 (en) 2002-04-19 2014-01-28 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
EP1501410A2 (en) * 2002-04-19 2005-02-02 Pelikan Technologies Inc. Method and apparatus for penetrating tissue
EP1499247A4 (en) * 2002-04-19 2008-10-08 Pelikan Technologies Inc Tissue penetration device
US9498160B2 (en) 2002-04-19 2016-11-22 Sanofi-Aventis Deutschland Gmbh Method for penetrating tissue
US9339612B2 (en) 2002-04-19 2016-05-17 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
EP1501409A4 (en) * 2002-04-19 2008-10-08 Pelikan Technologies Inc Method and apparatus for a multi-use body fluid sampling device
US8690796B2 (en) 2002-04-19 2014-04-08 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US9314194B2 (en) 2002-04-19 2016-04-19 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US9248267B2 (en) 2002-04-19 2016-02-02 Sanofi-Aventis Deustchland Gmbh Tissue penetration device
US8784335B2 (en) 2002-04-19 2014-07-22 Sanofi-Aventis Deutschland Gmbh Body fluid sampling device with a capacitive sensor
US8808201B2 (en) 2002-04-19 2014-08-19 Sanofi-Aventis Deutschland Gmbh Methods and apparatus for penetrating tissue
US9226699B2 (en) 2002-04-19 2016-01-05 Sanofi-Aventis Deutschland Gmbh Body fluid sampling module with a continuous compression tissue interface surface
US8845549B2 (en) 2002-04-19 2014-09-30 Sanofi-Aventis Deutschland Gmbh Method for penetrating tissue
US9186468B2 (en) 2002-04-19 2015-11-17 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US8905945B2 (en) 2002-04-19 2014-12-09 Dominique M. Freeman Method and apparatus for penetrating tissue
US9089678B2 (en) 2002-04-19 2015-07-28 Sanofi-Aventis Deutschland Gmbh Method and apparatus for penetrating tissue
US9089294B2 (en) 2002-04-19 2015-07-28 Sanofi-Aventis Deutschland Gmbh Analyte measurement device with a single shot actuator
EP1585558A4 (en) * 2002-09-05 2009-01-07 Pelikan Technologies Inc Methods and apparatus for lancet actuation
EP1585558A2 (en) * 2002-09-05 2005-10-19 Pelikan Technologies Inc. Methods and apparatus for lancet actuation
US9034639B2 (en) 2002-12-30 2015-05-19 Sanofi-Aventis Deutschland Gmbh Method and apparatus using optical techniques to measure analyte levels
US8574895B2 (en) 2002-12-30 2013-11-05 Sanofi-Aventis Deutschland Gmbh Method and apparatus using optical techniques to measure analyte levels
US8262614B2 (en) 2003-05-30 2012-09-11 Pelikan Technologies, Inc. Method and apparatus for fluid injection
US7850621B2 (en) 2003-06-06 2010-12-14 Pelikan Technologies, Inc. Method and apparatus for body fluid sampling and analyte sensing
US8251921B2 (en) 2003-06-06 2012-08-28 Sanofi-Aventis Deutschland Gmbh Method and apparatus for body fluid sampling and analyte sensing
US9144401B2 (en) 2003-06-11 2015-09-29 Sanofi-Aventis Deutschland Gmbh Low pain penetrating member
US10034628B2 (en) 2003-06-11 2018-07-31 Sanofi-Aventis Deutschland Gmbh Low pain penetrating member
US8945910B2 (en) 2003-09-29 2015-02-03 Sanofi-Aventis Deutschland Gmbh Method and apparatus for an improved sample capture device
GB2406794B (en) * 2003-10-06 2008-03-05 Inverness Medical Ltd A lancing device using a piezoelectric actuator
GB2406794A (en) * 2003-10-06 2005-04-13 Inverness Medical Ltd Piezoelectric lancing device
US9351680B2 (en) 2003-10-14 2016-05-31 Sanofi-Aventis Deutschland Gmbh Method and apparatus for a variable user interface
CN100448405C (en) * 2003-11-18 2009-01-07 微星科技股份有限公司 Intravenous device
US9561000B2 (en) 2003-12-31 2017-02-07 Sanofi-Aventis Deutschland Gmbh Method and apparatus for improving fluidic flow and sample capture
US8668656B2 (en) 2003-12-31 2014-03-11 Sanofi-Aventis Deutschland Gmbh Method and apparatus for improving fluidic flow and sample capture
US8296918B2 (en) 2003-12-31 2012-10-30 Sanofi-Aventis Deutschland Gmbh Method of manufacturing a fluid sampling device with improved analyte detecting member configuration
US9261476B2 (en) 2004-05-20 2016-02-16 Sanofi Sa Printable hydrogel for biosensors
US8828203B2 (en) 2004-05-20 2014-09-09 Sanofi-Aventis Deutschland Gmbh Printable hydrogels for biosensors
US9775553B2 (en) 2004-06-03 2017-10-03 Sanofi-Aventis Deutschland Gmbh Method and apparatus for a fluid sampling device
US9820684B2 (en) 2004-06-03 2017-11-21 Sanofi-Aventis Deutschland Gmbh Method and apparatus for a fluid sampling device
US8652831B2 (en) 2004-12-30 2014-02-18 Sanofi-Aventis Deutschland Gmbh Method and apparatus for analyte measurement test time
US7822454B1 (en) 2005-01-03 2010-10-26 Pelikan Technologies, Inc. Fluid sampling device with improved analyte detecting member configuration
WO2007023433A1 (en) * 2005-08-23 2007-03-01 Koninklijke Philips Electronics N.V. Medical data acquisition system
US8702624B2 (en) 2006-09-29 2014-04-22 Sanofi-Aventis Deutschland Gmbh Analyte measurement device with a single shot actuator
US9386944B2 (en) 2008-04-11 2016-07-12 Sanofi-Aventis Deutschland Gmbh Method and apparatus for analyte detecting device
US9375169B2 (en) 2009-01-30 2016-06-28 Sanofi-Aventis Deutschland Gmbh Cam drive for managing disposable penetrating member actions with a single motor and motor and control system
US8965476B2 (en) 2010-04-16 2015-02-24 Sanofi-Aventis Deutschland Gmbh Tissue penetration device
US9795747B2 (en) 2010-06-02 2017-10-24 Sanofi-Aventis Deutschland Gmbh Methods and apparatus for lancet actuation
CN109620411A (en) * 2018-12-18 2019-04-16 中国科学院苏州生物医学工程技术研究所 Needling mechanism for Minimally Invasive Surgery Needle-driven Robot
CN109620411B (en) * 2018-12-18 2023-09-05 中国科学院苏州生物医学工程技术研究所 Needle insertion mechanism for minimally invasive surgery puncture robot

Similar Documents

Publication Publication Date Title
FR2555432A1 (en) Method for puncturing blood vessels combining a needle propeller with a Doppler ultrasonograph which guides it
US4582061A (en) Needle with ultrasonically reflective displacement scale
US10363015B2 (en) Method and apparatus for determining the location of a medical instrument with respect to ultrasound imaging, and a medical instrument to facilitate such determination
US10448850B2 (en) Photoacoustic flowmetry systems and methods
DE60022544T2 (en) TREATMENT OF EYE DISEASES
ES2425388T3 (en) Apparatus for guiding and positioning an endovascular device
US9987089B2 (en) Device and a method for imaging-guided photothermal laser therapy for cancer treatment
US20100298702A1 (en) Needle insertion systems and methods
US20080275396A1 (en) Cannula Inserting System
US20060241342A1 (en) Optically guided penetration catheters and their methods of use
US20080221519A1 (en) System for Guiding a Probe Over the Surface of the Skin of a Patient or an Animal
JP6271543B2 (en) Ultrasound imaging
US10238367B2 (en) Devices, systems, and methods for targeted cannulation
WO2001010295A1 (en) Optoacoustic monitoring of blood oxygenation
Xia et al. Interventional photoacoustic imaging of the human placenta with ultrasonic tracking for minimally invasive fetal surgeries
JP2008536612A (en) Cannula insertion system with tissue analysis means
KR101737440B1 (en) Integrated intravascular photoacoustic/ultrasound catheter, and system and method for co-registered imaging
JP2005296635A (en) Method and apparatus for measuring biological information
US10966750B2 (en) Needle assembly with reverberation feature to facilitate ultrasound guidance of the needle assembly
TWI226839B (en) Intravenous injection device
RU2526414C2 (en) Method and device for endoluminal treatment of blood vessel
CN206102712U (en) Blood vessel navigation based on relevant tomography technique of near -infrared
US20150208925A1 (en) Photoacoustic Needle Insertion Platform
WO2014144709A2 (en) Methods and systems for characterizing an object
JP2019150296A (en) Ultrasonic image analysis device, catheter system, and program