CN105147335B - A kind of ultrasonic probe rotating device and its application method and application - Google Patents
A kind of ultrasonic probe rotating device and its application method and application Download PDFInfo
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- CN105147335B CN105147335B CN201510669913.7A CN201510669913A CN105147335B CN 105147335 B CN105147335 B CN 105147335B CN 201510669913 A CN201510669913 A CN 201510669913A CN 105147335 B CN105147335 B CN 105147335B
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Abstract
The present invention discloses a kind of ultrasonic probe rotating device and its application method and application, it is main to include rotation magnetite, electric rotating machine and rotary steering part, rotate the output axis connection of magnetite and electric rotating machine, rotary steering part is connected in a manner of magnetic with rotation magnetite, and rotary magnetic flanks and the rotary steering part periphery are tangent.Technical solution of the present invention is by way of electric rotating machine drives magnetite, rotary steering part is driven to be rotated and controlled in time simultaneously, the unexpected displacement of unsymmetric structure ultrasonic probe is compensated with rotary steering part simultaneously, avoid motor out of control or unexpected displacement causes target organ deformation, device damage, even operation receiveing person is caused to accidentally injure, improve security of system.
Description
Technical field
The present invention relates to medical instruments field, more particularly, is related to the medicine equipment of operation on prostate.
Background technology
Prostate be human body it is very rare, have inside and outside dual secreting function property gland, such as chestnut, bottom upward,
Be affixed with bladder, point down, to urogenital diaphragm, before paste pubic symphysis, behind according to rectum, the centre of prostate gland have urine
Road passes through, and it is suitable for reading to hold urethra, so prostate is ill, urination is impacted first.When there is lesion in prostate, Yi Zhongfang
Method is " rectal touch ", the stereognosis prostate back side, is judged by the experience of doctor, and another method is to carry out prostate
Biopsy, i.e., from prostate take out tissue sub-fraction as sample, led under the microscope by virologist or medical practitioner
The research for crossing cell, tissue and organ is checked, more intuitively observe and judge.
Prostate biopsy is typically carried out in Urology Surgery, the used time about at 15-20 minutes, usually using endorectal ultrasonography
(TRUS) development of prostate is carried out, in the case where the development of endorectal ultrasonography helps, focal zone of the doctor using cell taking gun to prostate
Domain is sampled.During being sampled, cell taking gun may be selected to enter prostate through rectal wall, or Perineal approach, no matter
Which approach is selected, is required in the case where the development of endorectal ultrasonography helps, is avoided the peripheral organs such as urethra or tissue, avoid to week
The injury of side organ or tissue, thus the development quality of endorectal ultrasonography just as prostate biopsy important factor in order it
One.
In recent years, transrectal ultrasonography is imaged in prostate Minimally Invasive Surgery and is used widely, however, prior art
There are the following problems, reduces the reliability and security of equipment：
1. the unexpected displacement of ultrasonic probe inside cavity or rotating speed：The equipment applied in clinical at present, more using single motor control
The motion of ultrasonic probe processed.If motor is out of control in operation, the ultrasonic probe of intracavitary may be caused to produce uncontrollable displacement or rotating speed,
If can not in time retrieve, remedy, the injury to patient is easily caused, triggers malpractice, is a big hidden danger of operation.Therefore such as
What overcomes the motor influence out of control brought, has important clinical significance.
It is 2. defeated by motor more using gear connecting way in the prior art to realize the drive mechanism of ultrasonic probe rotation
Shaft drives ultrasonic probe rotation, it is necessary to extra structure and space are used for fixed gear through transmission, occupancy operating space compared with
Greatly, complicated in mechanical structure degree increase.Meanwhile gear drive has certain error, equipment precision is influenceed.
3. in currently used ultrasonic probe inside cavity, it be no lack of asymmetric ultrasonic probe (pop one's head in front central axle and hand
Handle central shaft is misaligned, such as probe distal end is thin, handle end is thick)；And the existing device for being used to clamp ultrasonic probe, it is use more
The design of symmetrical structure, homogeneous thickness, give tacit consent to the central shaft rotation around clamped position (ultrasonic probe handle), rather than around intracavitary
Target rotation portion (ultrasonic probe anterior) central shaft rotation, directly result in ultrasonic probe and make eccentric rotary in human body,
Targeted scans metallaxis may be caused, reduce imaging precision, or even damage ultrasonic probe protective case, cause the wound to operation receiveing person
Evil, trigger malpractice.
The content of the invention
It is an object of the invention to overcome the deficiencies of the prior art and provide a kind of ultrasonic probe rotating device, intracavitary is avoided
Asymmetric ultrasonic probe occurs eccentric rotary, causes unexpected displacement or rotating speed, injury, strengthening system safety are brought to patient
Property.
The technical purpose of the present invention is achieved by following technical proposals：
Ultrasonic probe rotating device, including motor, magnetite and rotary steering part, wherein：
The quantity at least two of magnetite, the quantity at least two of motor, and magnetite only and motor it is defeated
Shaft is connected；
The contact of the excircle of the excircle of rotary steering part and magnetite is tangent, by magnetic force by rotary steering part and magnetic
Stone is attached together；
U-shaped groove structure is presented in the entirety of rotary steering part, from the opening of U-shaped groove structure to U-shaped groove structure
Bottom circular arc, the thickness of U-shaped groove are gradually thinning.Further, it is of the invention to increase security, the reliability of this structure
Ultrasonic probe rotating dress center controller, the controller is connected with motor, for the progress of the running status of motor
Detection in real time, and the signal to collecting is acted upon.When detecting some motor status exception, controller can give all electricity
Machine sends signal out of service, alarm of being concurrently out of order, doctor is known the system failure, stops operation in time, carries out subsequently
Processing, prevents the further injury to patient.
In the above-mentioned technical solutions, connection is better contacted with for rotary steering part and magnetite is better achieved, rotated
Swivelling chute is set on the outer surface of guiding parts, contacted for the external peripheral surface with magnetite, with realize both magnetic and
Both external peripheral surfaces it is tangent.Barrier is set at the both ends of swivelling chute, i.e., is set at swivelling chute both ends and is higher by rotation rooved face
The barrier of certain altitude, when rotary steering part turns to both ends extreme position, because the barrier at swivelling chute both ends, Bu Huiji
Continuous rotation, and then clamping ultrasonic probe therein is also stopped the rotation, avoid the uncontrollable rotation of over range of ultrasonic probe.
In the above-mentioned technical solutions, the magnetite that motor driven is attached thereto is rotated, and the rotation of magnetite is inhaled by magnetic force
It is attached, drive whole rotary steering part to be rotated, to realize the purpose for driving ultrasonic probe rotation.
In the above-mentioned technical solutions, the opening of U-shaped groove structure can accommodate ultrasonic probe handle and can smoothly take out
Or be put into, contacting tangent and generation between the two with the inner surface of rotary steering part in the outer surface of ultrasonic probe handle presss from both sides
The effect of holding, it is defined by ensureing that ultrasonic probe does not shake in U-shaped groove is put into, while realizes and put by ultrasonic probe handle
After entering rotary steering part, the common rotary part of ultrasonic probe handle and rotary steering part composition is anterior with ultrasonic probe
With identical Pivot axle.
In the above-mentioned technical solutions, the setting of magnetite is carried out along the circumference of rotary steering part, with rotary steering part
Vertically symmetrical face (i.e. vertical radial direction) be the plane of symmetry, be symmetrical arranged magnetite or asymmetric setting magnetite.
In the above-mentioned technical solutions, the quantity of magnetite is 2-4, and the quantity of motor is 2-4.
Magnetite and motor in the ultrasonic probe rotating device of the present invention can be placed in fixture, and by fixture and slide rail
It is used cooperatively, compared with prior art, the present invention controls the rotation of ultrasonic probe using motor synergetic structure, when an electricity
Machine is out of control, and remaining motor can suppress the abnormal motion of faulty motor, and ultrasonic probe turns caused by preventing motor abnormality motion
Speed mutation or high-speed and continuous rotation, increase security of system, avoid the injury to patient, from principle improve device security,
Reliability, and motor fault warning can be realized using controller, facilitate doctor to handle emergency case.Substitute tradition using magnetite
Gear connection structure, on the one hand, simplify mechanical complexity, avoid the error of gear structure, reduce the abrasion between part, reduce
Cost, operative space is saved, make clinically that matched pricking device used etc. can be closer to ultrasonic probe, so as to real
Now more accurate positioning and monitoring, on the other hand, magnetic-type connection is a kind of good structural cooperation, magnetite it is easy to disassemble and
Change, preferably ensure that the reliability of magnetic-type connection；Meanwhile magnetic-type connection is not belonging to be rigidly connected, and does not have mechanically
Engaging structure, even if guiding parts is rotated to the extreme position at both ends, the stall for the motor that will not also cause to be connected with magnetite,
Even damage equipment, and at most simply make magnetite with occurring the relative safety slided, enhance system before rotary steering part
Property.The rotation being made up of ultrasonic probe front portion, ultrasonic probe handle and rotary steering part, which is integrally considered, possesses symmetrical junction
Structure, now by controlling the rotation of rotary steering part, you can make the rotation including ultrasonic probe is overall to be visited around ultrasound
The rotation of procephalic central shaft, so as to ultrasonic probe inside cavity caused by compensating ultrasonic probe unsymmetric structure eccentric rotary and its
Adverse effect.
Brief description of the drawings
Fig. 1 is using the assembling structure schematic diagram of the ultrasonic probe rotating device of technical solution of the present invention, wherein 1 is rotation
Magnetite, 2 be electric rotating machine, and 3 be buckle structure, and 4 be rotary steering part, and 5 be fixture, and 6 be guide rail, and 7 is before ultrasonic probes
Portion, 8 be ultrasonic probe handle.
Fig. 2 is the connected mode schematic diagram of electric rotating machine and rotation magnetite in technical solution of the present invention, wherein 1 is rotary magnetic
Stone, 2 be electric rotating machine.
Fig. 3 is the attachment structure schematic diagram of electric rotating machine in technical solution of the present invention, rotation magnetite and rotary steering part,
Wherein 1 is rotation magnetite, and 2 be electric rotating machine, and 4 be rotary steering part, and 4-1 is swivelling chute, and 4-2 is barrier.
Fig. 4 is electric rotating machine in technical solution of the present invention, the mounting structure schematic diagram for rotating magnetite, wherein 1 is rotary magnetic
Stone, 2 be electric rotating machine, and 5 be fixture.
Fig. 5 is the mounting structure schematic diagram that magnetite and rotary steering part are rotated in technical solution of the present invention, wherein 1 is rotation
Turn magnetite, 4 be rotary steering part, and 5 be fixture.
Fig. 6 is the design principle schematic diagram of rotary steering part in technical solution of the present invention, wherein 4 be rotary steering portion
Part, 42 be the 3rd circumference (i.e. the excircle of rotary steering part), and 7 be that ultrasonic probe is anterior, and 71 be ultrasonic probe front
The round center of circle, 72 be that ultrasonic probe front justifies (i.e. the first circumference), and 8 be ultrasonic probe handle, and 81 be ultrasonic probe handle
The center of circle of section circle, 82 be that (i.e. the second circumference) is justified in ultrasonic probe handle section, and R3 is the radius of ultrasonic probe front circle,
R2 is the radius of rotary steering part excircle, and R1 is the radius of ultrasonic probe handle section circle.
Fig. 7 is to rotate magnetite in the present invention to be symmetrically installed schematic diagram, wherein 1 is rotation magnetite, 4 be rotary steering
Part, 8 be ultrasonic probe handle.
Fig. 8 is the asymmetric mounting means schematic diagram of the rotation magnetite of the present invention, wherein 1 is rotation magnetite, 4 lead for rotation
To part, 8 be ultrasonic probe handle.
Embodiment
Technical scheme is further illustrated with reference to specific embodiment.
As shown in Figure 1, using asymmetric ultrasonic probe, that is, front central axle of popping one's head in is misaligned with handle center axle, spy
Front end is thin for head, handle end is thick, ultrasonic probe handle is fixed in rotary steering part and using fixing device (such as buckle knot
Structure) fixed.(rotation) magnetite is connected with the output shaft of (rotation) motor, and magnetite and motor are fixedly mounted on into fixture
In, rotary steering part and rotation magnetite joint, i.e. the excircle of the excircle of rotary steering part and rotation magnetite is tangent,
Rotary steering part and rotation magnetite are attached together by magnetic force, now electric rotating machine drives the rotation magnetite being attached thereto
Rotated, the rotation of magnetite drives whole rotary steering part to be rotated, drive ultrasound to visit to realize by magnetic-adsorption
The purpose of head rotation.Whole fixture is arranged on guide rail, and can be relatively moved along guide rail, to drive ultrasonic probe
It is movable.
As shown in Figure 2, the output axis connection of magnetite and electric rotating machine is rotated, and can be revolved around motor output shaft
Turn, it is identical with parameter using bi-motor Collaborative Control mode, the characteristic of two motors.The quantity of electric rotating machine is 2, rotary magnetic
The quantity of stone is 2, and a rotation magnetite is only connected with an electric rotating machine.As shown in Figure 4, the rotation magnetite after connection
It is arranged on electric rotating machine in fixture along the direction parallel with fixture horizontal length, the size of magnetite and motor is can consolidate
The proper motion of miscellaneous part that Dingan County is mounted in fixture, does not influence to be arranged on outside fixture is advisable.Two motors are in fixation
It is spaced in intervals and is configured in part, similarly rotation magnetite is spaced in intervals in fixture is configured.This spacing
The respective independent operation of two motors and two magnetites can be kept, and ensures that overall installation coordinates, such as between 5-50mm
Away from.
Controller (not shown) is connected with electric rotating machine, and the running status (such as rotating speed, steering) of motor is entered
Row detection in real time, when a motor status in two motors are abnormal (such as speed runaway), another normal motor can carry
For the torque opposite with the torque direction that faulty motor provides, to suppress the abnormal motion of faulty motor, rotary steering portion is avoided
The rotating speed of part is undergone mutation, and is further prevented ultrasonic probe from continuous, rotation at a high speed occurs, is increased security of system, avoid to suffering from
The injury of person.Further, it is strengthening system reliability, the operating state signal of two motors of the controller to collecting is subject to
Processing, sends signal out of service to two all motors, alarm of being concurrently out of order, doctor is known the system failure, and
When stop operation, carry out subsequent treatment, prevent the further injury to patient.After abnormal motor receives stop signal, if
It can not in time be braked due to failure, may proceed to rotate under effect of inertia, in connected rotation magnetite 1 and rotary steering
The contact position of part 4 produces an inertia torque；The motor of normal work can stop rapidly after receiving stop signal, and
Connected rotation magnetite (i.e. conducting parts) 1 and the contact position of rotary steering part 4 produce a holding torque, are used for
Overcome the inertia torque of abnormal motor, weaken or eliminate the influence of abnormal motor velocity jump.Using multiple magnetites and motor
During scheme, such as 4 magnetites are engaged with 4 motors respectively, and when one of motor occurs abnormal, its excess-three motor is normal
Work, now the motor of normal work can provide with faulty motor caused by the opposite torque of torque direction, to suppress failure
The abnormal motion of motor, ensure the working condition of rotary steering part, avoid the rotating speed of rotary steering part from undergoing mutation, enter one
Step prevents ultrasonic probe from continuous, rotation at a high speed occurs, and increases security of system, avoids the injury to patient.
As shown in Figure 3, in order rotary steering part and conducting parts (rotation magnetite) are better achieved, preferably contact connects
Connect, swivelling chute is set on the outer surface of rotary steering part, the external peripheral surface for being used for and rotating magnetite is contacted, with reality
Both existing magnetic are tangent with both external peripheral surfaces.Barrier is set at the both ends of swivelling chute, i.e., set at swivelling chute both ends high
Go out to rotate the barrier of rooved face certain altitude, when rotary steering part turns to both ends extreme position, because swivelling chute both ends
Barrier, will not continue to rotate, and then clamping ultrasonic probe therein is also stopped the rotation, avoid the over range of ultrasonic probe
Uncontrollable rotation.
U-shaped groove structure is presented in the entirety of rotary steering part, i.e., the handle portion of ultrasonic probe is arranged on into U-shaped groove
In, to accommodate handle portion, and fixed by buckle structure, as shown in Figure 1.When ultrasonic probe is that front and rear thickness is consistent
Symmetrical structure when, ultrasonic probe front end is consistent with the Pivot axle of handle (i.e. rear end), rotary steering part be thickness it is equal
Even U-shaped groove structure, and meet the grip size of ultrasonic probe, assembling demand, i.e. ultrasonic probe and rotary steering part regards
Work has identical pivot (or rotary shaft).
As shown in Figure 6, in technical solution of the present invention rotary steering part design principle schematic diagram, using sectional view
(perspective view) is shown, and the center of circle therein is pivot, the as Pivot axle from the point of view of single unit system.When ultrasound is visited
When head is the unsymmetric structure that front end is thin, handle end is thick, the Pivot axle of ultrasonic probe front end and handle (i.e. rear end) differs
Cause, i.e. the center of circle of ultrasonic probe front circle (the first circumference, its radius are R3) and ultrasonic probe handle section circle (the second circle
Week, its radius are R1) the center of circle it is misaligned.When ultrasonic probe handle is clamped in rotary steering part, i.e. ultrasonic probe
When handle is held in the rotating device of the present invention, by the common rotation of rotary steering part and handle, (both are with identical
Angular speed rotated) drive the rotation of ultrasonic probe front end, you can be considered as ultrasonic probe handle and rotary steering parts group
Into common rotary part drive ultrasonic probe front end to be rotated.The opening of U-shaped groove structure can accommodate ultrasonic probe hand
Handle simultaneously smoothly can take out or be put into, from the opening of U-shaped groove structure to the bottom circular arc of U-shaped groove structure, U-shaped groove
Thickness is gradually thinning, and the outer surface of ultrasonic probe handle contacts tangent with the inner surface of rotary steering part and produced between the two
Clamping action, it is defined, while is realized by ultrasonic probe handle by ensureing that ultrasonic probe does not shake in U-shaped groove is put into
After being put into rotary steering part, the common rotary part of ultrasonic probe handle and rotary steering part composition is (with rotary steering portion
Part outer wall is the 3rd circumference of circumference, is the center of circle with 71, radius R2), and ultrasonic probe is anterior has identical pivot
(axle) 71.
I.e. for by rotary steering part 4, ultrasonic probe handle 8, the entirety of the composition of ultrasonic probe front portion 7, its section can
It is regarded as having the common center of circle (pivot) --- the round heart 71 of-ultrasonic probe front, its entirety may be regarded as having
The central shaft of common central shaft (Pivot axle) --- -- ultrasonic probe front portion 7, i.e., one passes through ultrasonic probe front
The round heart 71, while parallel to ultrasonic probe front end 7 and the high straight line of the cylindrical portion of ultrasonic probe handle 8.It is super
Sonic probe is located at the part of intracavitary ----ultrasonic probe front portion 7, it is located at external part with ultrasonic probe ----ultrasonic probe hand
Handle 8, it be able to will be rotated together about the central shaft of ultrasonic probe front portion 7.Therefore, rotary steering part 4 compensate for surpassing from principle
Intracavitary eccentric rotary caused by sonic probe is possible due to structure asymmetric (front fine and rear thick structure as depicted).
In use, ultrasonic probe handle 8 is placed in inside rotary steering part 4, and with buckle 3 by ultrasonic probe handle 8
It is fixed.When electric rotating machine 2 rotates, rotation magnetite 1 rotates with, and in its tangent with rotary steering part 4, is led to rotation
To the torque of part 4, make its rotation, and then control the ultrasonic probe handle 8 being clamped in rotary steering part 4 to rotate, then chamber
Interior ultrasonic probe front portion 7 rotates.System software is detected in real time to the running status (such as rotating speed, turn to) of motor, when
Some motor status is abnormal, and remaining motor can suppress the abnormal motion of faulty motor, ensures the rotating speed of rotary steering part not
Undergo mutation.Further, it is the security of strengthening system, when detecting some motor status exception, controller can give institute
There is motor 2 to send signal out of service, alarm of being concurrently out of order, doctor is known the system failure, stop operation in time, carry out
Subsequent treatment, prevent the further injury to patient.After abnormal motor receives stop signal, if due to failure can not and
When brake, may proceed to rotate under effect of inertia, in the contact position of connected rotation magnetite 1 and rotary steering part 4
Produce an inertia torque；After the motor of normal work receives stop signal, it can stop rapidly, and in connected rotation
The contact position of magnetite 1 and rotary steering part 4 produces a holding torque, for overcoming the inertia torque of abnormal motor, subtracts
Influence that is weak or eliminating abnormal motor motion.Above-mentioned rotating device and occupation mode are adapted to prostate biopsy or radioactivity grain
Son implantation, so that ultrasonic probe inside cavity rotates around procephalic central shaft is visited, and weaken or suppress the influence of motor abnormality motion.
As depicted in figures 7 and 8, use the rotary steering part of the consistent ultrasonic probe of front and rear thickness and consistency of thickness for
Example, now ultrasonic probe (front portion and handle) is consistent with the pivot (axle) of rotary steering part.By motor when reality uses
It is arranged on magnetite in fixture, and coordinates guide rail to be used；The structure of fixture can be changed, considered along rotation
The circumference of guiding parts rotate the setting of magnetite, is with the vertically symmetrical face (i.e. vertical radial direction) of rotary steering part
The plane of symmetry, is symmetrical arranged rotation magnetite or asymmetric set rotates magnetite, will with system control to adapt to the structure of fixture
Ask.
Exemplary description has been done to the present invention above, it should explanation, in the situation for the core for not departing from the present invention
Under, any simple deformation, modification or other skilled in the art can not spend the equivalent substitution of creative work equal
Fall into protection scope of the present invention.
Claims (7)
- A kind of 1. ultrasonic probe rotating device, it is characterised in that including motor, magnetite and rotary steering part, wherein：The quantity at least two of magnetite, the quantity at least two of motor, and the output shaft of a magnetite and a motor It is connected；The excircle contact of the excircle and magnetite of rotary steering part is tangent；U-shaped groove structure is presented in the entirety of rotary steering part, from the opening of U-shaped groove structure to the bottom of U-shaped groove structure Circular arc, the thickness of U-shaped groove are gradually thinning；In the outer surface of ultrasonic probe handle phase is contacted with the inner surface of rotary steering part Cut and produce clamping action between the two, while realize after ultrasonic probe handle is put into rotary steering part, ultrasonic probe The common rotary part of handle and rotary steering part composition, there is identical Pivot axle with ultrasonic probe front portion.
- 2. a kind of ultrasonic probe rotating device according to claim 1, it is characterised in that in the appearance of rotary steering part Swivelling chute is set on face, barrier is set at the both ends of swivelling chute.
- 3. a kind of ultrasonic probe rotating device according to claim 1, it is characterised in that magnetite quantity is 2-4, electricity Machine quantity is 2-4.
- 4. a kind of ultrasonic probe rotating device according to claim 1, it is characterised in that along the circle of rotary steering part The setting of Zhou Jinhang magnetites, using the vertically symmetrical face of rotary steering part as the plane of symmetry, it is symmetrical arranged rotation magnetite or non-right Claim to set rotation magnetite.
- 5. a kind of ultrasonic probe rotating device according to claim 1 or 2 or 3 or 4, it is characterised in that the ultrasound is visited The controller being connected with motor is provided with head rotating device, and the running status of motor is detected in real time, when an electricity Machine abnormal state, controller send signal out of service to all motors, and be concurrently out of order alarm signal.
- 6. the application method of ultrasonic probe rotating device, it is characterised in thatMagnetite is connected with the output shaft of motor, and magnetite and motor are fixedly mounted in fixture；The excircle of rotary steering part and the excircle of magnetite are tangent, are adsorbed rotary steering part and magnetite by magnetic force Together；Ultrasonic probe handle is fixed in rotary steering part and fixed using fixing device；The magnetite that motor driven is attached thereto is rotated, and the rotation of magnetite by magnetic-adsorption rotary steering part and drives rotation Turn guiding parts to be rotated, to drive ultrasonic probe to rotate；Fixture is arranged on guide rail, and can be relatively moved along guide rail, to drive the movable of ultrasonic probe；The motor of normal work provide with faulty motor caused by the opposite torque of torque direction, to suppress the exception of faulty motor Motion, ensure the working condition of rotary steering part.
- 7. the application method of ultrasonic probe rotating device according to claim 6, it is characterised in that the ultrasonic probe rotation The controller being connected with motor is provided with rotary device, and the running status of motor is detected in real time, when a motor shape State is abnormal, and controller sends signal out of service to all motors, after abnormal motor receives stop signal, if due to event Hinder and can not brake, may proceed to rotate under effect of inertia, in connected magnetite and the contact position of rotary steering part Produce inertia torque；The motor of normal work can stop rapidly after receiving stop signal, and in connected magnetite and rotation The contact position for turning guiding parts produces holding torque, for overcoming the inertia torque of abnormal motor.
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| US9778230B2 (en) * | 2015-04-30 | 2017-10-03 | The Boeing Company | Ultrasound scanning system, assembly, and method for inspecting composite structures |
| CN114748165B (en) * | 2022-04-18 | 2023-07-14 | 山西医科大学 | Ultrasonic radar three-dimensional scanning device for electric cutting mirror |
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| US6659956B2 (en) * | 2001-06-29 | 2003-12-09 | Barzell-Whitmore Maroon Bells, Inc. | Medical instrument positioner |
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| US8323199B2 (en) * | 2007-09-28 | 2012-12-04 | The University Of British Columbia | Method and apparatus for imaging the mechanical properties of tissue from an endocavity |
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| CN205054277U (en) * | 2015-10-13 | 2016-03-02 | 拜耳斯特医疗机器人技术（天津）有限公司 | Ultrasonic probe rotary device |
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| US6659956B2 (en) * | 2001-06-29 | 2003-12-09 | Barzell-Whitmore Maroon Bells, Inc. | Medical instrument positioner |
| CN101132736A (en) * | 2004-05-10 | 2008-02-27 | 想象工程有限公司 | Targeted biopsy delivery system |
| US8323199B2 (en) * | 2007-09-28 | 2012-12-04 | The University Of British Columbia | Method and apparatus for imaging the mechanical properties of tissue from an endocavity |
| CN203749442U (en) * | 2014-01-29 | 2014-08-06 | 上海交通大学医学院附属新华医院 | Automatic pressurizing device for transrectal prostate compression-type elastography |
| CN204181646U (en) * | 2014-09-28 | 2015-03-04 | 安华亿能医疗影像科技（北京）有限公司 | Ultrasonic probe support |
| CN205054277U (en) * | 2015-10-13 | 2016-03-02 | 拜耳斯特医疗机器人技术（天津）有限公司 | Ultrasonic probe rotary device |
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