CN115721391A - Near puncture opening interventional instrument control device and near puncture opening interventional instrument assembly - Google Patents
Near puncture opening interventional instrument control device and near puncture opening interventional instrument assembly Download PDFInfo
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- CN115721391A CN115721391A CN202211411722.7A CN202211411722A CN115721391A CN 115721391 A CN115721391 A CN 115721391A CN 202211411722 A CN202211411722 A CN 202211411722A CN 115721391 A CN115721391 A CN 115721391A
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Abstract
The invention discloses a near puncture interventional instrument control device and a near puncture interventional instrument assembly. The near puncture interventional instrument control device comprises: a mechanical arm suspension arm; an actuator adapted to be mounted to a mounting surface of the robotic arm boom and slidable relative to the robotic arm boom; the support is suitable for being mounted on a mounting surface of the actuator, and the mounting surface of the actuator is perpendicular to the mounting surface of the mechanical arm suspension arm; the support is used for installing an interventional instrument, and the axial direction of the interventional instrument is parallel to the sliding direction of the actuator; the transmission assembly is arranged on the mounting surface of the actuator and is used for driving the interventional instrument mounted on the support to act, and the action comprises the rotation around a shaft and/or the axial movement and/or the bending; the mechanical arm support is used for mounting a mechanical arm suspension arm; and the remote controller is used for controlling the actuator and the transmission assembly. By adopting the invention, the interventional device and the mechanical arm suspension arm are arranged on the left and right sides, so that the included angle between the interventional device and the puncture port is reduced, and the interventional device can enter the blood vessel more smoothly.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a near puncture opening interventional instrument control device and a near puncture opening interventional instrument assembly.
Background
Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special catheters, guide wires and other precise instruments are introduced into a human body to diagnose and locally treat internal diseases. The incision for interventional operation is small, and a plurality of diseases which need surgical treatment or medical treatment with poor curative effect, such as atrial fibrillation, hemangioma and the like, can be treated without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect.
Interventional therapy needs to be conducted under the guidance of medical imaging equipment (such as X-rays and the like), long-time operation under the X-rays can have adverse effects on the health of an operating doctor, in order to reduce the exposure ray quantity, the doctor usually wears a lead coat weighing dozens of jin in the interventional operation process, and the long-term interventional operation causes occupational injuries such as lumbar spondylosis and the like. In order to reduce or even avoid the radiation hazard of X-ray exposure of doctors in interventional operation, a remote operation control interventional operation robot is developed in engineering, doctors can remotely control the operation robot to work in a radiation environment, and the doctors control the operation robot outside the radiation environment, so that the X-ray radiation in the operation process is prevented from causing the hazard to the health of the doctors.
The interventional surgical instrument is installed and placed right above a mechanical arm, and the interventional surgical instrument is conveyed into a patient body through vascular puncture, but a mechanical arm base has a certain thickness, when the mechanical arm is used for controlling the surgical instrument to enter a blood vessel of the patient, the interventional instrument is required to enter from a certain angle, when the entering angle is too large, the blood loss problem of a puncture port of the patient can be caused, a common solution is a special surgical instrument, a tube body of the interventional surgical instrument is lengthened, so that the angle of the interventional surgical instrument entering the blood vessel of the patient is properly reduced, the cost of the customized surgical instrument can be increased, the lengthened surgical instrument can also increase the energy loss in the transmission process of the mechanical arm, and the control precision of the mechanical arm on the head end of the surgical instrument is reduced.
Disclosure of Invention
The embodiment of the invention provides a near puncture interventional instrument control device and a near puncture interventional instrument assembly, which are used for at least solving the problem that the operation of an interventional instrument manually operated in the prior art is difficult.
An embodiment of a first aspect of the present invention provides a control device for a near puncture interventional instrument, including:
a mechanical arm suspension arm;
an actuator adapted to be mounted to a mounting surface of the robotic arm boom and slidable relative to the robotic arm boom;
the support is suitable for being mounted on a mounting surface of the actuator, and the mounting surface of the actuator is perpendicular to the mounting surface of the mechanical arm suspension arm; the support is used for installing an interventional instrument, and the axial direction of the interventional instrument is parallel to the sliding direction of the actuator;
the transmission assembly is arranged on the mounting surface of the actuator and is used for driving the interventional instrument mounted on the support to move, and the movement comprises the rotation around a shaft and/or the axial movement and/or the bending;
the mechanical arm support is used for mounting the mechanical arm suspension arm;
and the remote controller is used for controlling the actuator and the transmission assembly.
According to some embodiments of the invention, a surface of the boom arm opposite to the mounting surface of the boom arm is provided with a rotating assembly adapted to be rotatably connected to the arm support, the rotation axis of the rotating assembly being parallel to the axial direction of the interventional instrument;
the remote controller is also used for controlling the rotating assembly to move.
According to some embodiments of the invention, the robotic arm boom is provided with a lock adapted to lock the rotating assembly to inhibit rotation of the rotating assembly relative to the robotic arm support;
the remote controller is also used for controlling the locking part.
According to some embodiments of the invention, the support is a clamp;
the support is detachably connected with the actuator.
According to some embodiments of the invention, the actuator has a mounting surface provided with a slot, and the support has a protrusion adapted to be fastened in the slot.
According to some embodiments of the invention, the interventional instrument comprises a body member and at least one drive wheel for driving the body member to pivot, or to move axially, or to bend;
the transmission assembly comprises transmission wheels which correspond to the at least one driving wheel one by one, and the transmission wheels are suitable for driving the corresponding driving wheels to rotate.
According to some embodiments of the invention, the robotic arm boom is adapted to mount a plurality of said actuators, said plurality of said actuators being arranged in sequence along a sliding direction of said actuators.
According to some embodiments of the invention, the robot arm support is adapted to mount a plurality of the robot arm booms, the plurality of robot arm booms being arranged at intervals in a direction perpendicular to a sliding direction of the actuator.
According to some embodiments of the invention, the interventional instrument is a sheath or a catheter.
In a second aspect, an embodiment of the present invention provides a proximal access port interventional instrument assembly, including:
a proximal puncture access interventional instrument control device according to any one of the embodiments of the first aspect;
an interventional instrument adapted to be mounted to the access port interventional instrument control device.
By adopting the technical scheme of the invention, the interventional instrument for operation is arranged on the mounting surface of the actuator, so that the interventional instrument and the actuator are arranged side by side at the left and right in the puncture direction, the included angle between the interventional instrument and the puncture port is reduced, the interventional instrument can enter a blood vessel more flatly, the problem of blood loss of the puncture port of a patient caused by overlarge entering angle is avoided, the operation difficulty is reduced, an operator can use a remote controller to control the actuator to slide on the suspension arm of the mechanical arm to realize the axial movement of the interventional instrument, and the actuator is controlled to drive the interventional instrument to rotate around the shaft or bend so as to complete the operation action, so that the operation precision is improved, and the radiation hazard of the operator exposed to image equipment is reduced.
The above description is only an overview of the technical solutions of the present invention, and the present invention can be implemented in accordance with the content of the description so as to make the technical means of the present invention more clearly understood, and the above and other objects, features, and advantages of the present invention will be more clearly understood.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. In the drawings:
FIG. 1 is a schematic structural diagram of a control device of a near puncture interventional instrument in accordance with an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a transmission assembly in an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of an interventional instrument and a support according to an embodiment of the present invention;
FIG. 4 is a schematic view of the structure of an interventional instrument and a support according to an embodiment of the present invention;
fig. 5 is a schematic distribution diagram of the booms of the two robots in the embodiment of the present invention.
Detailed Description
Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. Additionally, in some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
In a first aspect, an embodiment of the present invention provides a control device for a near puncture interventional instrument, and with reference to fig. 1, the control device includes:
the mechanical arm suspension arm 1 comprises a top surface and a bottom surface which are opposite, wherein the bottom surface is used as a mounting surface.
And an actuator 2 adapted to be mounted to a mounting surface of the arm boom 1 and slidable relative to the arm boom 1. For example, the sliding manner of the arm boom 1 and the actuator 2 may be any sliding connection manner such as a slide rail, a lead screw, etc., and is not limited in detail herein.
And the support 3 is suitable for being mounted on a mounting surface of the actuator 2, and the mounting surface of the actuator 2 is perpendicular to the mounting surface of the mechanical arm suspension arm 1. The support 3 is used for mounting an interventional instrument, the axial direction of which is parallel to the sliding direction of the actuator 2.
A transmission assembly 5, referring to fig. 2, is disposed on the mounting surface of the actuator 2, and the transmission assembly 5 is used for driving the interventional instrument mounted on the support 3 to perform motions, such as pivoting, and/or axial movement, and/or bending.
And the mechanical arm support is used for mounting the mechanical arm suspension arm 1.
And the remote controller is in communication connection with the actuator 2 and the transmission assembly 5, and is used for controlling the actuator 2 to slide on the mechanical arm suspension arm 1 to drive the interventional instrument to move by sending a control signal and controlling the transmission assembly 5 to drive the interventional instrument to rotate around a shaft or bend per se and the like.
When the control device of the embodiment is used for operation, the mechanical arm support is placed near the puncture port, the mechanical arm suspension arm is adjusted, so that the interventional equipment on the actuator and the puncture port have a proper included angle, and a doctor controls the actuator to slide on the mechanical arm suspension arm through the remote controller and controls the interventional equipment to complete pivoting and bending actions, so that the operation is completed.
By adopting the technical scheme of the invention, the interventional instrument for operation is arranged on the mounting surface of the actuator, so that the interventional instrument and the actuator are arranged side by side at the left and right in the puncture direction, the included angle between the interventional instrument and the puncture hole is reduced, and the interventional instrument can enter the blood vessel more flatly. An operator can use the remote controller to control the actuator to slide on the suspension arm of the mechanical arm to realize the axial movement of the interventional instrument, and the actuator is controlled to drive the interventional instrument to perform pivoting or bending motion so as to finish the operation action. The operation action of the doctor manually operating the interventional instrument is avoided, the operation precision is improved, and the radiation hazard of the operator exposed under the imaging equipment can be reduced.
On the basis of the above-described embodiment, various modified embodiments are further proposed, and it is to be noted herein that, in order to make the description brief, only the differences from the above-described embodiment are described in the various modified embodiments.
According to some embodiments of the present invention, referring to fig. 1, a rotation assembly 4 is provided on a surface of the robot arm boom 1 opposite to the mounting surface of the robot arm boom 1 (i.e. a top surface of the robot arm boom), the rotation assembly 4 being adapted to be rotatably connected to a robot arm support, a rotation axis of the rotation assembly 4 being parallel to an axial direction of the interventional instrument.
The remote controller is also in communication connection with the rotating assembly 4, so that the rotating assembly 4 is controlled to move to realize the overturning action of the whole mechanical arm suspension arm 1 along the rotating shaft, and the included angle between the access of the intervention instrument and the punctured blood vessel of the punctured patient is adjusted through overturning, so that the intervention instrument can enter the blood vessel more flatly, and the bleeding condition of the puncture port can be reduced.
According to some embodiments of the invention, the robot arm boom 1 is provided with a locking portion adapted to lock the turning assembly 4 to inhibit turning of the turning assembly 4 relative to the robot arm support. The remote controller is in communication connection with the mechanical suspension arm 1 and is used for controlling the locking part to complete locking action on the rotating assembly 4.
For example, the locking portion can be calipers symmetrically arranged on two sides of a rotating shaft of the rotating assembly 4, when a locking signal transmitted by the remote controller is received, the calipers clamp the rotating shaft to enable the rotating shaft to rotate, so that the rotating assembly 4 is locked, and the situation that in the operation process, the mechanical arm boom 1 is deviated due to the gravity of the mechanical arm boom 1 to cause angle deviation, and the operation precision is affected is prevented. The locking part in this embodiment can also be set to automatically lock at several common rotation angles of the mechanical arm boom 1, so as to improve the operation efficiency.
According to some embodiments of the invention, the support 3 is a clamp, which secures the interventional instrument to the mounting surface of the effector 2 by clamping. The support 3 is detachably connected to the actuator 2.
According to some embodiments of the invention, different adaptive structures are arranged in the support 3 according to different types of interventional instruments, so that when different types of interventional instruments are required to be used, the support 3 configured with the corresponding type of interventional instrument is directly replaced for the actuator 2, and the operation efficiency can be further improved.
According to some embodiments of the present invention, referring to fig. 2, the mounting surface of the actuator 2 is provided with a slot 6, the support 3 is provided with a protrusion adapted to be buckled in the slot, and the support 3 is mounted on the mounting surface of the actuator 2 by the protrusion matching with the slot 6.
According to some embodiments of the present invention, the mounting surface of the actuator 2 is provided with a limiting groove and a fastening structure, the fastening structure is opened, and after the supporter 3 is mounted in the limiting groove of the actuator 2, the fastening structure is fastened again to fix the supporter 3.
As shown in fig. 1, according to some embodiments of the present invention, a robotic arm boom 1 is adapted to mount a plurality of actuators 2, the plurality of actuators 2 being arranged in sequence along a sliding direction of the actuators. The interventional instruments mounted to the plurality of actuators 2 are coaxially arranged.
According to some embodiments of the present invention, the robotic arm boom may mount 3 coaxially arranged actuators, a first actuator, a second actuator and a third actuator, respectively. For example, in the cryoballoon ablation operation, the three actuators respectively control the delivery sheath, the cryoballoon ablation catheter and the annular mapping catheter, after the annular mapping catheter finishes the position mapping of the target focus, the target focus can be ablated through the cryoballoon ablation catheter without withdrawing the annular mapping catheter, after the ablation is finished, the annular mapping catheter again maps the target focus to check whether the target position is completely ablated, and the cryoballoon ablation operation can be finished by one mechanical arm.
According to some embodiments of the invention, the interventional instrument comprises a body member and at least one drive wheel for driving the body member to pivot, or to move axially, or to bend. The transmission assembly comprises transmission wheels which correspond to the driving wheels one by one, and the transmission wheels are suitable for driving the corresponding driving wheels to rotate. For example, the driving wheel is sleeved on the driving shaft of the servo motor, the driving wheel is driven to rotate by the rotation of the servo motor, and then the driving wheel corresponding to the driving wheel is driven to rotate
According to some embodiments of the present invention, referring to fig. 1-2, the boom 1 is provided with a front end actuator 21 and a rear end actuator 22, a mounting surface of the front end actuator 21 is provided with a first transmission wheel 51 and a second transmission wheel 52, and a mounting surface of the rear end actuator 22 is provided with a third transmission wheel 53. Referring to fig. 3, the interventional instrument mounted in the front end supporter 31 adapted to the front end effector 21 is an adjustable bending sheath, and a first driving wheel 71 and a second driving wheel 72 are sleeved at a handle of the adjustable bending sheath. The interventional instrument mounted in the rear end supporter 32 adapted to the rear end effector 22 is a catheter, and a third driving wheel 8 is sleeved at the handle of the catheter. When the front end supporter 31 and the rear end supporter 32 are respectively mounted on the front end actuator 21 and the rear end actuator 22, the first driving wheel 71, the second driving wheel 72, and the third driving wheel 8 are respectively engaged with the first driving wheel 51, the second driving wheel 52, and the third driving wheel 53.
According to some embodiments of the present invention, referring to fig. 2, the boom 1 is provided with a front end actuator 21 and a rear end actuator 22, a mounting surface of the front end actuator 1 is provided with a first transmission wheel 51 and a second transmission wheel 52, and a mounting surface of the rear end actuator 22 is provided with a third transmission wheel 53. Referring to fig. 4, the interventional instrument mounted in the front end supporter adapted to the front end effector 21 is a fixed curved sheath on which the fourth driving wheel 9 is sleeved. The interventional instrument mounted in the rear end support adapted to the rear end effector 22 is a catheter, and a third driving wheel 8 is sleeved at the handle of the catheter. When the front end supporter and the rear end supporter are respectively installed on the front end actuator 21 and the rear end actuator 22, the fourth driving wheel 9 and the third driving wheel 8 are respectively engaged with the second driving wheel 52 and the third driving wheel 53.
According to some embodiments of the invention, the robot arm support is adapted to mount a plurality of robot arm booms 1, referring to fig. 5, the plurality of robot arm booms 1 being arranged at intervals in a direction perpendicular to the sliding direction of the actuator 2.
According to some embodiments of the invention, the interventional instrument is a sheath or a catheter.
In a second aspect, an embodiment of the present invention provides a proximal access port interventional instrument assembly, including:
the control device of the interventional instrument with a proximal puncture port is the control device of the interventional instrument with a proximal puncture port in any one of the embodiments of the first aspect.
An interventional instrument adapted to be mounted to a proximal access interventional instrument control device.
The control device of the near puncture access interventional instrument according to the present invention will be described in detail below in a specific embodiment with reference to the accompanying drawings. It is to be understood that the following description is only exemplary in nature and should not be taken as a specific limitation on the invention.
In this embodiment, referring to fig. 1, the control device of the near puncture interventional instrument includes:
the mechanical arm suspension arm 1 comprises a top surface and a bottom surface which are opposite, wherein the bottom surface is used as a mounting surface.
The actuator 2, including a front end actuator 21 and a rear end actuator 22, is mounted on the mounting surface of the arm boom 1 and is slidable with respect to the arm boom 1. The actuator 2 is provided with an installation surface, the installation surface of the actuator 2 is provided with a clamping groove, and the installation surface of the actuator 2 is perpendicular to the installation surface of the mechanical arm suspension arm 1.
And the support 3 is detachably arranged on the mounting surface of the actuator 2, and the support 3 is provided with a convex block which is suitable for being buckled on the mounting surface of the actuator 2. Referring to fig. 3, the supporter 3 includes a front supporter 31 and a rear supporter 32, the front supporter 31 is used for mounting the adjustable bending sheath, the rear supporter 32 is used for mounting the catheter, the adjustable bending sheath and the catheter are coaxial, and the axial direction is parallel to the sliding direction of the actuator 2. The handle of the adjustable bent sheath pipe is sleeved with a first driving wheel 71 and a second driving wheel 72, the first driving wheel 71 is used for driving the adjustable bent sheath pipe to rotate around a shaft, and the second driving wheel 72 is used for driving the adjustable bent sheath pipe to bend. The handle of the catheter is sleeved with a third driving wheel 8 for driving the catheter to rotate around the shaft.
The transmission assembly 5, referring to fig. 2, is disposed on the mounting surface of the actuator 2, and includes a first transmission wheel 51, a second transmission wheel 52, and a third transmission wheel 53, which are respectively engaged with the first driving wheel 71, the second driving wheel 72, and the third driving wheel 8, so as to drive the adjustable bending sheath and the catheter mounted on the support 3 to perform actions including pivoting, and/or axial movement, and/or bending.
The mechanical arm support is used for installing the mechanical arm suspension arm 1, and the mechanical arm suspension arm 1 is connected with the mechanical arm support in a rotating mode through the rotating assembly 4.
And the remote controller is in communication connection with the actuator 2, the rotating assembly 4 and the transmission assembly 5, and is used for controlling the actuator 2 to slide on the mechanical arm suspension arm 1 by sending control signals so as to drive the intervention instrument to move, controlling the mechanical arm suspension arm 1 to rotate on the mechanical arm support and controlling the intervention instrument to rotate or bend around the axial direction.
When the control device of the near puncture interventional instrument in the embodiment is used for surgery, the adjustable bent sheath and the catheter are respectively arranged in the supporters of the front end actuator 21 and the rear end actuator 22, and the front end of the catheter is sent into the sheath from the tail end of the adjustable bent sheath. According to the puncture point position, a doctor turns over the mechanical arm suspension arm 1 through the remote controller, so that the access instrument and the puncture point are at a proper angle. And then the two actuators, the sheath tube and the catheter are controlled by the remote controller to complete corresponding operation actions, and the sheath tube and the catheter are withdrawn from the body of the patient after the operation is completed.
By adopting the technical scheme of the embodiment, the interventional instrument is arranged on the side surface of the actuator, and the actuator is arranged below the mechanical arm suspension arm in a sliding manner, so that the interventional instrument on the actuator is close to a puncture point of a patient as much as possible, and the included angle between the approach of the interventional instrument and a skin puncture port is reduced. The arm accessible runner assembly realizes whole upset, is equipped with the one side of interveneeing the apparatus with the executor and overturns downwards, makes intervene apparatus and patient puncture point more be close, further reduces and intervenes apparatus entry angle. And a plurality of executors are coaxially arranged below the same boom, so that before the operation, a plurality of interventional instruments do not need to be coaxially adjusted, the operation process is simplified, and the operation efficiency is improved.
It should be noted that the above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and those skilled in the art can make various modifications and changes. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
It is to be understood that matters not described in detail in the present specification are well known to those skilled in the art.
Claims (10)
1. A control device for a near puncture interventional instrument, comprising:
a mechanical arm suspension arm;
an actuator adapted to be mounted to a mounting surface of the robotic arm boom and slidable relative to the robotic arm boom;
the support is suitable for being mounted on a mounting surface of the actuator, and the mounting surface of the actuator is perpendicular to the mounting surface of the mechanical arm suspension arm; the support is used for installing an interventional instrument, and the axial direction of the interventional instrument is parallel to the sliding direction of the actuator;
the transmission assembly is arranged on the mounting surface of the actuator and is used for driving the interventional instrument mounted on the support to move, and the movement comprises the rotation around a shaft and/or the axial movement and/or the bending;
the mechanical arm support is used for mounting the mechanical arm suspension arm;
and the remote controller is used for controlling the actuator and the transmission assembly.
2. The proximal access interventional instrument control device of claim 1, wherein a surface of the robotic arm boom opposite the mounting surface of the robotic arm boom is provided with a rotation assembly adapted to be rotatably coupled to the robotic arm support, the rotation assembly having a rotation axis parallel to the axial direction of the interventional instrument;
the remote controller is also used for controlling the rotating assembly to move.
3. The near-access interventional instrument control device of claim 1, wherein the robotic arm boom is provided with a lock adapted to lock the rotating assembly to inhibit rotation of the rotating assembly relative to the robotic arm support;
the remote controller is also used for controlling the locking part.
4. The proximal access port interventional instrument control device of claim 1, wherein the support is a clamp;
the support is detachably connected with the actuator.
5. The proximal puncture interventional instrument control device of claim 4, wherein the actuator has a slot on a mounting surface thereof, and the support has a protrusion adapted to snap into the slot.
6. The proximal access interventional instrument of claim 1, wherein the interventional instrument comprises a body member and at least one drive wheel for driving the body member to pivot, or to move axially, or to bend;
the transmission assembly comprises transmission wheels which correspond to the at least one driving wheel one by one, and the transmission wheels are suitable for driving the corresponding driving wheels to rotate.
7. The proximal access interventional instrument control device of claim 1, wherein the robotic arm boom is adapted to mount a plurality of the actuators arranged in series along a sliding direction of the actuators.
8. The proximal access interventional instrument control device of claim 1, wherein the robotic arm support is adapted to mount a plurality of the robotic arms spaced apart in a direction perpendicular to a sliding direction of the actuator.
9. The near-puncture-port interventional instrument control device of claim 1, wherein the interventional instrument is a sheath or a catheter.
10. A proximal access port interventional instrument assembly, comprising:
a proximal puncture access interventional instrument control device according to any one of claims 1-9;
an interventional instrument adapted to be mounted to the access port interventional instrument control device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211411722.7A CN115721391A (en) | 2022-11-11 | 2022-11-11 | Near puncture opening interventional instrument control device and near puncture opening interventional instrument assembly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211411722.7A CN115721391A (en) | 2022-11-11 | 2022-11-11 | Near puncture opening interventional instrument control device and near puncture opening interventional instrument assembly |
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| Publication Number | Publication Date |
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| CN115721391A true CN115721391A (en) | 2023-03-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211411722.7A Pending CN115721391A (en) | 2022-11-11 | 2022-11-11 | Near puncture opening interventional instrument control device and near puncture opening interventional instrument assembly |
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| Country | Link |
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| CN (1) | CN115721391A (en) |
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- 2022-11-11 CN CN202211411722.7A patent/CN115721391A/en active Pending
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