CN116269768B - Egg taking system based on electromagnetic positioning - Google Patents

Egg taking system based on electromagnetic positioning Download PDF

Info

Publication number
CN116269768B
CN116269768B CN202310574819.8A CN202310574819A CN116269768B CN 116269768 B CN116269768 B CN 116269768B CN 202310574819 A CN202310574819 A CN 202310574819A CN 116269768 B CN116269768 B CN 116269768B
Authority
CN
China
Prior art keywords
position information
introducer
taking needle
egg
spatial position
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.)
Active
Application number
CN202310574819.8A
Other languages
Chinese (zh)
Other versions
CN116269768A (en
Inventor
胡猛
郑江山
郭栋
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.)
Beijing Maidis Medical Technology Co ltd
Original Assignee
Beijing Maidis Medical Technology Co ltd
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 Beijing Maidis Medical Technology Co ltd filed Critical Beijing Maidis Medical Technology Co ltd
Priority to CN202310574819.8A priority Critical patent/CN116269768B/en
Publication of CN116269768A publication Critical patent/CN116269768A/en
Application granted granted Critical
Publication of CN116269768B publication Critical patent/CN116269768B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/42—Gynaecological or obstetrical instruments or methods
    • A61B17/425—Gynaecological or obstetrical instruments or methods for reproduction or fertilisation
    • A61B17/435—Gynaecological or obstetrical instruments or methods for reproduction or fertilisation for embryo or ova transplantation
    • 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
    • A61B8/0841—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating instruments
    • 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
    • A61B8/085—Detecting organic movements or changes, e.g. tumours, cysts, swellings involving detecting or locating foreign bodies or organic structures for locating body or organic structures, e.g. tumours, calculi, blood vessels, nodules
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A61B8/4254—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient using sensors mounted on the probe
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • A61B17/3403—Needle locating or guiding means
    • A61B2017/3413—Needle locating or guiding means guided by ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2051—Electromagnetic tracking systems
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2063—Acoustic tracking systems, e.g. using ultrasound
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2046—Tracking techniques
    • A61B2034/2065—Tracking using image or pattern recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
    • A61B2034/2072—Reference field transducer attached to an instrument or patient
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
    • Y02A40/80—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in fisheries management
    • Y02A40/81—Aquaculture, e.g. of fish

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Pathology (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Robotics (AREA)
  • Transplantation (AREA)
  • Gynecology & Obstetrics (AREA)
  • Pregnancy & Childbirth (AREA)
  • Reproductive Health (AREA)
  • Vascular Medicine (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)

Abstract

The invention relates to the technical field of medical equipment, in particular to an egg taking system based on electromagnetic positioning, which comprises: an egg taking needle, an importer with an electromagnetic sensor, a magnetic field generator and a computing terminal; the magnetic field generator is used for generating a magnetic field, the ovum taking needle can pass through the guide cavity of the importer, and the tail end of the ovum taking needle is provided with a mark to indicate the distance of the ovum taking needle penetrating out of the importer; the computing terminal is used for acquiring first spatial position information of the electromagnetic sensor in the importer and second spatial position information of the electromagnetic sensor in the ultrasonic probe; determining an intersection point of an extension line of the importer and the ultrasonic plane according to the first spatial position information, and determining the spatial position information of the intersection point; the spatial distance of the introducer tip from the intersection is indicated based on the first spatial location information and the intrinsic parameters of the introducer. The method and the device help the ovum taking needle to control the entering length of the ovum taking needle by knowing the distance between the tip of the ovum taking needle and the target in real time, so as to realize accurate ovum taking.

Description

Egg taking system based on electromagnetic positioning
Technical Field
The invention relates to the technical field of medical instruments, in particular to an egg taking system based on electromagnetic positioning.
Background
With the development of society, the auxiliary reproductive technology is widely accepted by the society, so that the requirements of different crowds are met, and the egg taking is an important step in the auxiliary reproductive technology center.
In the current egg taking scheme, an ultrasonic probe for scanning at 240 degrees is placed into vagina under B ultrasonic to measure the accurate position of a follicle, after the angle is fixed, a bracket on the ultrasonic probe of the egg taking needle is used for puncturing, a puncturing wire on an ultrasonic image indicates the position of a target follicle, and after successful puncturing, an ovum is sucked into a test tube containing culture solution by using a negative pressure device. Compared with the abdominal ovum taking operation, the ovum taking mode has the advantages of less pain, accurate puncture of the follicle, quick ovum obtaining and more number. For patients with difficult or contraindications to vaginal ovum extraction, the operation of ultrasound puncture ovum extraction through the abdomen is an alternative scheme, in this way, under the guidance of B ultrasonic images, a 16G double-cavity puncture needle is used, the oocyte, the granular cells and follicular fluid are sucked out by a negative pressure suction method through skin, subcutaneous fat and muscle tissues of females entering the pelvis.
The puncture frame for taking the ovum through the vagina under the B ultrasonic and the ultrasonic probe are fixed together, and an operator must adjust the probe in the adjustment process, so that an ultrasonic image is changed, and an ideal puncture path cannot be realized; the puncture frame and the probe are installed together through the abdominal ultrasonic puncture for taking eggs, the puncture needle has a fixed rotation range, the puncture frame and the ultrasonic probe are far away from the probe, a plurality of important organs exist around the ovary, and when the ultrasonic visual field is clear, no safe puncture route exists in the adjustable position of the puncture frame, so that the operation difficulty is increased, and the puncture difficulty is caused.
Disclosure of Invention
The application provides an egg taking system based on electromagnetic positioning so as to solve the technical problem that accurate puncture cannot be realized in the prior art.
According to an aspect of an embodiment of the present application, there is provided an egg taking system based on electromagnetic positioning, the system including:
an egg taking needle, an importer with an electromagnetic sensor, a magnetic field generator and a computing terminal; wherein, the liquid crystal display device comprises a liquid crystal display device,
the magnetic field generator is used for generating a magnetic field, and the electromagnetic sensor in the importer and the electromagnetic sensor of the ultrasonic probe provide spatial position information by inducing the magnetic field;
the ovum taking needle can pass through the guide cavity of the importer, and the tail end of the ovum taking needle is provided with a mark for indicating the distance of the ovum taking needle penetrating out of the importer;
the computing terminal is configured to perform operations comprising:
acquiring first spatial position information of an electromagnetic sensor in an importer and second spatial position information of the electromagnetic sensor in an ultrasonic probe, wherein the importer and an ultrasonic plane of the ultrasonic probe are in a non-coplanar state;
determining an intersection point of an extension line of the importer and the ultrasonic plane according to the first spatial position information, and determining spatial position information of the intersection point based on the first spatial position information and the second spatial position information;
a spatial distance of the introducer tip from the intersection point is indicated based on the first spatial location information and intrinsic parameters of the introducer.
Optionally, the introducer comprises a guide tube and an operation handle, a first channel is arranged in the guide tube, the ovum taking needle is inserted into the first channel, and the first channel guides the ovum taking needle to move along a straight line; an electromagnetic sensor is arranged on the operating handle.
Optionally, the operating handle includes a first structure and a second structure, the first structure is a cylinder structure, the second structure is a flat structure, and the first structure is connected with the second structure.
Optionally, a second channel is arranged in the first structure, a third channel is arranged in the second structure, the second channel and the third channel are communicated to form a fourth channel, and the guide tube is detachably connected to the fourth channel;
the guide pipe is connected with the fourth channel in a clamping way.
Optionally, a positioning groove is formed in the second structure, the electromagnetic sensor is installed in the positioning groove, and the second structure is provided with an opening penetrating through the positioning groove;
the second structure comprises a first part and a second part, the first part is positioned at the upper part of the second structure, the second part is positioned at the lower part of the first part, and the first part is detachably arranged at the second part.
Optionally, the intrinsic parameters of the introducer include a length from the electromagnetic sensor in the introducer to the tail end of the operation handle and the width of the positioning slot, and the computing terminal further performs the following operations after acquiring the first spatial position information of the electromagnetic sensor in the introducer:
and calculating and displaying a third space position of the tail end of the operating handle according to the first space position information, the length from the electromagnetic sensor in the importer to the tail end of the operating handle and the width of the positioning groove.
Optionally, the egg taking needle comprises a needle body for inserting oocysts for egg cell acquisition;
the needle body is provided with a plurality of indication marks;
the needle penetrates the fourth channel and the guide tube to insert oocysts for retrieval of the egg cells.
Optionally, the intrinsic parameters of the introducer further include a length from an electromagnetic sensor in the introducer to the tip of the guide tube, and the calculating terminal indicates, according to the first spatial position information and the intrinsic parameters of the introducer, a spatial distance between the tip of the introducer and the intersection point specifically includes:
calculating the spatial position information of the tip of the introducer according to the first spatial position information, the length from the electromagnetic sensor in the introducer to the tip of the guide tube and the width of the positioning groove;
calculating the spatial position information of the current ovum taking needle tip according to the spatial position information of the introducer tip;
and calculating the space distance between the tip of the ovum taking needle and the intersection point according to the space position information of the intersection point and the space position information of the tip of the current ovum taking needle.
Optionally, the calculating terminal calculates the spatial position information of the current ovum pick-up needle tip according to the spatial position information of the introducer tip specifically includes:
acquiring input indication mark information of a current needle body;
and calculating the space position information of the current ovum taking needle according to the indication mark information and the space position information of the tip end of the importer.
Optionally, the computing terminal performing operations further includes: and displaying an image of the entering part of the egg taking needle when the egg taking needle enters the ultrasonic plane.
According to the egg taking system based on electromagnetic positioning, the electromagnetic sensor and the magnetic field are utilized by the computing terminal to acquire the space position information of the ultrasonic probe and the introducer, so that the intersection point of the extension line of the introducer and the ultrasonic plane is determined, the intersection point position is displayed in the ultrasonic image, an operator can align the introducer with a target point, namely a sampling target, by adjusting the intersection point position, the computing terminal further calculates the space position information of the tip of the guide tube according to the space position information of the introducer and the inherent parameters, and the operator can pass the egg taking needle out of the introducer and assist the operator to control the entering length of the egg taking needle by combining the space position information of the tip of the guide tube and the identification of the tail part of the egg taking needle, so that accurate egg taking is realized.
According to the egg taking needle and the introducer in the egg taking system based on electromagnetic positioning, the egg taking needle is fixed by inserting the egg taking needle into the guide tube of the introducer in a fixed mode instead of a puncture frame in the prior art, and because the introducer is an independent body and does not need to be fixed on other equipment, the introducer can be freely adjusted in all directions, and the defect that the puncture frame angle adjustment of the egg taking needle which needs to be fixed on a B ultrasonic probe in the prior art is limited is overcome; through set up electromagnetic sensor on operating handle, can give calculation terminal with electromagnetic sensor's positional information transfer, can obtain the positional information of ovum needle tip through the calculation, and then can plan and real-time supervision to the ovum route of getting, improved the precision of getting the ovum.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of an application scenario of an egg taking system based on electromagnetic positioning according to an embodiment of the present invention;
fig. 2 is a schematic structural view of an egg taking device according to an embodiment of the present invention;
FIG. 3 is a schematic view of the structure of an operating handle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a position structure of an electromagnetic sensor according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a second structure in the operating handle according to the embodiment of the present invention;
fig. 6 is a schematic structural view of an egg taking needle according to an embodiment of the present invention;
fig. 7 is a schematic diagram of a relative position of an electromagnetic sensor and an introducer in a magnetic field according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made apparent and fully in view of the accompanying drawings, in which some, but not all embodiments of the invention are shown. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, or can be communicated inside the two components, or can be connected wirelessly or in a wired way. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In addition, the technical features of the different embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
The embodiment of the invention provides an egg taking system based on electromagnetic positioning, and the application scene of the egg taking system is shown in figure 1:
the use scene of the egg taking system based on electromagnetic positioning comprises: an egg taking needle 1, an importer 2, a magnetic field generator 3, a computing terminal 4 and medical ultrasound 5, wherein,
the medical ultrasound 5 includes an ultrasound probe 51, and an electromagnetic sensor (not shown in the figure) is installed in the ultrasound probe 51;
the magnetic field generator 3 is used for generating a magnetic field, the electromagnetic sensor in the introducer 2 and the electromagnetic sensor of medical ultrasound provide spatial position information through the induction magnetic field, the ovum taking needle 1 can penetrate through the guiding cavity of the introducer 2, and the tail end of the ovum taking needle 1 is provided with a mark for indicating the distance of the ovum taking needle 1 penetrating out of the introducer 2.
The organs of the portion of the introducer and the needle for taking an egg in fig. 1 include a fallopian tube 91, an ovary 92, a uterus 93, an ovum 94 and a follicle 95, and in practice the operator inserts the needle for taking an egg into the follicle to take an egg.
The structure of the egg taking needle 1 and the introducer 2 provided by the invention is shown in figures 2-5,
an egg taking needle 1 comprises a needle body 11 for inserting oocysts to obtain egg cells;
an introducer 2 comprising a guide tube 21 and an operation handle 22, wherein a first channel 211 is arranged in the guide tube, the ovum pick-up needle 1 is inserted into the first channel 211, and the first channel 211 guides the ovum pick-up needle 1 to move along a straight line; the electromagnetic sensor 6 is mounted on the operating handle 22.
The ovum taking needle 1 is fixed by inserting the ovum taking needle 1 into the guide tube 21 of the introducer 2 in a fixed mode instead of a puncture frame in the prior art, and because the introducer 2 is an independent body and does not need to be fixed on other equipment, the ovum taking needle can be freely adjusted in all directions, the defect that the angle adjustment of the puncture frame of the ovum taking needle 1 needs to be fixed on a B ultrasonic or ultrasonic probe in the prior art is limited is overcome, and the electromagnetic sensor 6 is arranged on the operating handle 22, so that the position information can be transmitted to electromagnetic navigation equipment through the electromagnetic sensor 6, and further the ovum taking path can be planned and monitored in real time, and the ovum taking accuracy is improved.
The operation steps of the egg taking device provided in this embodiment are that an operator holds the position of the operation handle 22 of the introducer 2, then inserts the egg taking needle 1 into the first channel 211 in the guide tube 21 from the rear part of the introducer 2, the egg taking needle 1 enters the sampling position after passing through the first guide tube 21, and as the electromagnetic sensor 6 is installed in the operation handle 22, the electromagnetic sensor 6 is connected with electromagnetic navigation equipment, the electromagnetic navigation equipment can receive the position information of the electromagnetic sensor 6, the calculation terminal 4 can obtain the information of each position of the introducer 2 through calculation, and further obtain the position information of the tip of the egg taking needle 1, so that the whole egg taking process is completed under monitoring, and the safety and the accuracy of egg taking are ensured.
As shown in fig. 2, the egg taking device provided in the embodiment of the invention includes a first structure 221 and a second structure 222, where the first structure 221 is a cylindrical structure, and the second structure 222 is a flat structure.
The first structure 221 is of a cylindrical structure, so that the introducer 2 can more conveniently enter the vagina of a human body when the way of taking eggs through the vagina is used, and the resistance of the introducer 2 in advancing is reduced; the second structure 222 is also configured to be a flat structure so that a human hand will add a stop at the back of the hand when holding the introducer 2, and will not slip off the introducer 2 because it is too slippery.
It should be noted that, the structural forms of the first structure 221 and the second structure 222 of the operating handle 22 may be various, the first structure 221 may be a cylindrical structure, a cone structure, or other structures, and in this embodiment, the first structure 221 is configured as a cylindrical structure, so as to increase the comfort level of holding by a human hand, and meanwhile, the device may be more convenient to enter the human body when using the transvaginal egg taking mode.
The second structure 222 may be in other shapes, and in this embodiment, the second structure 222 is configured to be a flat structure, and in other embodiments, the second structure 222 may be configured to be another type of structure such as a sphere, an ellipsoid, or the like, and in this embodiment, the second structure 222 is configured to be a flat structure, so that the material can be saved and the production cost can be reduced while the effect of preventing the introducer 2 from being out of hand is satisfied.
The first structure 221 and the second structure 222 can be integrally arranged, and can also be in a detachable connection mode, so that the connection stability of the first structure 221 and the second structure 222 can be better guaranteed by adopting the integrally arranged connection mode, and when the detachable connection mode is adopted, only one part of the first structure 221 and the second structure is replaced when the first structure is damaged singly, the second structure is convenient, and the cost is saved.
As shown in FIG. 3, the structure of the operating handle provided by the embodiment of the invention is that the first structure 221 is provided with the second channel 2211, the second structure 222 is provided with the third channel 2221, the second channel 2211 is communicated with the third channel 2221 to form the fourth channel 7, the guide tube 21 is detachably connected in the fourth channel 7, and the needle body 11 of the ovum taking needle 1 penetrates through the fourth channel 7 and the guide tube to realize the insertion of the ovum to obtain the ovum.
Through the through channels arranged in the first structure 221 and the second structure 222 of the operating handle 22, the guide tube 21 can be stably fixed, and then the egg taking needle 1 is fixed; meanwhile, the guide tube 21 is detachably connected in the fourth channel 7, so that when the guide tube 21 or the operating handle 22 is damaged, only damaged parts are required to be replaced without being replaced integrally, and the cost is saved.
In the present embodiment, the second passage 2211 in the first structure 221 and the third passage 2221 in the second structure 222 are both linear passages, and the inner diameters are identical, so that the guide tube 21 can smoothly pass through the passages in the arrangement manner, and meanwhile, the waste of materials or manpower is avoided, and meanwhile, the production cost of the passage arrangement manner is lower.
The connection mode of the guide tube 21 and the operation handle 22 can be non-detachable connection, and the part of the guide tube 21 entering the operation handle 22 and the guide tube 21 can be manufactured into an integrated structure during production in the connection mode, and only one channel is required to be formed.
The guide tube 21 and the fourth channel 7 in the egg taking device provided by the embodiment of the invention are connected in a clamping way, the guide tube 21 and the fourth channel 7 are connected and fixed in a clamping way, and the connecting way can enable medical staff to operate simply when the guide tube 21 is installed, so that the time is saved, and the structure is simple to produce and low in cost.
It should be noted that, the mode of joint can be interference fit, also can be chucking unblock structure, or other card connect mode, in this embodiment, when using interference fit to connect, connection structure is simple, simple to operate.
As shown in fig. 4, the second structure 222 of the electromagnetic sensor according to the embodiment of the present invention has a positioning slot 2222, and the electromagnetic sensor 6 is installed in the positioning slot 2222.
Through set up constant head tank 2222 on second structure 222, can make electromagnetic sensor 6 at second structure 222 internal fixation, can not produce the removal in ovum operation process, when protecting electromagnetic sensor 6 not to produce the damage because of the removal, make electromagnetic sensor 6's location more accurate.
It should be noted that, the structural style and depth of the positioning groove 2222 are not particularly limited, and the structure of the positioning groove 2222 is set to be matched with the electromagnetic sensor, so that the structure can meet the requirement of fixing the electromagnetic sensor and save the cost.
As shown in fig. 5, the second structure 222 of the operating handle according to the embodiment of the present invention includes a first portion 2223 and a second portion 2224, where the first portion 2223 is located at an upper portion of the second structure 222, and the second portion 2224 is located at a lower portion of the first portion 2223, and the first portion 2223 is detachably mounted on the second portion 2224.
By providing the first portion 2223 of the second structure 222 as detachably mounted to the second portion 2224, the electromagnetic sensor 6 may be more conveniently mounted to the second structure 222, and also facilitate replacement and maintenance of the electromagnetic sensor 6 by a medical practitioner.
Note that, the first portion 2223 and the second portion 2224 may be separated into two portions having the same size in the horizontal bisecting plane, or may be two portions having different sizes in the vertical direction, and in this embodiment, the first portion 2223 and the second portion 2224 are separated along the horizontal bisecting plane.
The connection mode of the first portion 2223 and the second portion 2224 may adopt a plug-in fixing mode, or may adopt a slot for fixing, so long as the structural mode is simple, and the opening and the installation are convenient.
The outer surface edges of the first portion 2223 and the second portion 2224 of the second structure 222 are smooth curved structures, and the holding comfort of the medical staff can be increased by setting the first portion 2223 and the second portion 2224 of the second structure 222 to be smooth curved structures.
As shown in fig. 4, the second structure 222 has an opening 8 penetrating to the positioning groove 2222, and the second structure 222 is provided with the opening 8 penetrating to the positioning groove 2222, so that the lead wire of the electromagnetic sensor 6 can be easily mounted.
It should be noted that, the positioning groove 2222 may be disposed at the second portion 2224 of the second structure 222, or the first portion 2223 and the second portion 2224 of the second structure 222 are both provided with the positioning groove 2222, and similarly, the opening 8 penetrating the positioning groove 2222 in the second structure 222 may be an opening 8 in the second portion 2224, or may be an opening 8 common to the first portion 2223 and the second portion 2224, and in this embodiment, the positioning groove 2222 is a structure in which the first portion 2223 and the second portion 2224 are commonly disposed, and the opening 8 is also disposed in both the first portion 2223 and the second portion 2224.
The structure of the egg taking needle provided by the embodiment of the invention is shown in fig. 6, the needle body 11 of the egg taking needle 1 is provided with a plurality of indication marks 111, and the length data of the egg taking needle 1 entering the introducer 2 can be provided for the computing terminal 4 by arranging the needle body 11 of the egg taking needle 1 with the plurality of indication marks 111, so that the computing terminal 4 can perform space position computation on the needle point part of the egg taking needle 1, and can indicate whether the egg taking needle 1 moves in a preset egg taking path so as to ensure egg taking accuracy.
Note that, the indication mark 111 may be a mark formed by embossing the needle body 11 of the ovum pick-up needle 1, may be a mark formed on the needle body 11, or may be other means, so long as the means for indicating the length of the needle body 11 is included in the present embodiment.
According to the egg taking device provided by the embodiment of the invention, the inner diameter of the first channel 211 of the guide tube 21 is 0.01-0.05mm larger than the outer diameter of the needle body 11 of the egg taking needle 1, and the needle body 11 of the egg taking needle 1 can smoothly enter the guide tube 21 by setting the inner diameter of the first channel 211 of the guide tube 21 to be 0.01-0.05mm larger than the outer diameter of the needle body 11 of the egg taking needle 1, and meanwhile, the egg taking needle 1 can be ensured not to shake when moving in the guide tube 21, so that the egg taking accuracy is ensured.
The computing terminal 4 provided by the embodiment of the invention is used for executing operations comprising the following contents:
s101, acquiring first spatial position information of an electromagnetic sensor in an importer and second spatial position information of the electromagnetic sensor in an ultrasonic probe, wherein the importer and an ultrasonic plane of the ultrasonic probe are in a non-coplanar state.
Regarding the non-coplanar state, the scanning area of the ultrasonic probe can be regarded as a two-dimensional sector in the three-dimensional space, the introducer in the egg taking device is regarded as a straight line in the three-dimensional space, an operator holds the egg taking device and the ultrasonic probe in the three-dimensional space, the straight line can be artificially just in the sector or not in the same plane, and the non-coplanar state is obtained when the ultrasonic planes of the egg taking device and the ultrasonic probe are not in the same plane. In this state, only one intersection point exists between the straight line and the plane, and in addition, if the straight line is artificially made to be just in the sector, that is, in the same plane, the projection image can be seen at the computing terminal to directly control the egg taking device to take eggs, so that the coplanar state is not described.
S102, determining an intersection point of an extension line of the importer and the ultrasonic plane according to the first spatial position information, and determining spatial position information of the intersection point based on the first spatial position information and the second spatial position information.
In a practical application scenario, the operator needs to ensure that there is a sampling target in the ultrasound plane and that the intersection point is located within the sampling target, i.e. the introducer is aimed at the sampling target in the ultrasound plane, so this intersection point may be referred to as a target point. To achieve this, the computing terminal needs to display the ultrasound image and the above-mentioned intersection point (target point) to the operator in real time for manual adjustment of the orientation.
S103, indicating the spatial distance between the tip of the introducer and the intersection point according to the first spatial position information and the intrinsic parameters of the introducer.
Intrinsic parameters of the introducer provided by the embodiment of the invention comprise the length L1 from the electromagnetic sensor in the introducer to the tip end W1 of the guide tube, the length L2 from the electromagnetic sensor in the introducer to the tail end W2 of the operating handle and the width S of the positioning groove, wherein the width of the positioning groove is the length from the bottom to the top of the positioning groove.
Further, the calculating terminal indicates the spatial distance between the tip of the importer and the intersection point according to the first spatial position information and the intrinsic parameters of the importer specifically comprises:
S103A1, calculating the spatial position information of the tip of the introducer according to the first spatial position information, the length from the electromagnetic sensor in the introducer to the tip of the guide tube and the width of the positioning groove. As shown in fig. 7, the spatial position information of the introducer tip is calculated specifically as follows:
W1x=W0x+,
W1y=W0y+S ,
W1z=W0z ,
wherein W1x, W1y, W1z are the spatial position information of the guide tube tip W1, W0x, W0y, W0z are the first spatial position information of the electromagnetic sensor,is a spatial vector determined from the introducer orientation and L1.
S103A2, calculating the space position information of the current ovum taking needle tip according to the space position information of the introducer tip.
S103A3, calculating the space distance between the ovum pick-up needle tip and the intersection point according to the space position information of the intersection point and the space position information of the current ovum pick-up needle tip. The space distance between the tip of the ovum pick-up needle and the intersection point is specifically calculated as follows:
= W4 -W3,
wherein W3 is the spatial position information of the current ovum pick-up needle tip, W4 is the spatial position information of the intersection point (target point),the space vector between the tip of the current ovum pick-up needle and the intersection point (target point) is the size of the vector, namely the distance L between the tip of the current ovum pick-up needle and the intersection point (target point).
In an actual application scene, the distance between the tip of the egg taking needle and the intersection point (target point) can be displayed to an operator in real time through the computing terminal, so that the operator can intuitively know the distance from the tip of the egg taking device to the sampling target, the operator can conveniently operate the egg taking needle to obtain egg cells, and the accuracy of egg taking is improved.
In one embodiment, the calculating terminal in step S103A2 calculates the spatial position information of the current ovum pick-up needle tip according to the spatial position information of the introducer tip specifically includes:
S103A21, the input indication mark information of the current needle body is acquired.
The indication mark information of the needle body in the embodiment of the invention is scale information as shown in fig. 6, namely the length of the ovum taking needle entering the introducer or the length of the ovum taking needle tip extending out of the guide tube, and the scale information is input to the computing terminal by an operator.
S103A22, calculating the space position information of the current ovum pick-up needle according to the indication mark information and the space position information of the tip of the importer. The space position information of the current ovum pick-up needle is specifically calculated as follows:
W3=W1+ ,
wherein W3 is the spatial position information of the current ovum pick-up needle tip, W1 is the spatial position information of the guide tube tip,the size of the space vector which is the indication mark of the current ovum taking needle is the length D of the current ovum taking needle tip extending out of the guide tube.
Through the real-time position calculation of the ovum taking needle tip of the calculation terminal, an operator is helped to control the entering length of the ovum taking needle, so that the ovum taking needle can accurately reach the sampling position, and accurate puncture is realized.
The computing terminal provided by the embodiment of the invention further executes the following operations after acquiring the first spatial position information of the electromagnetic sensor in the importer:
S103B1, calculating and displaying a third space position of the tail end of the operation handle according to the first space position information, the length from the electromagnetic sensor in the importer to the tail end of the operation handle and the width of the positioning groove. As shown in fig. 7, the spatial position information of the introducer tip is calculated specifically as follows:
W2x=W0x+,
W2y=W0y+S ,
W2z=W0z ,
wherein W2x, W2y, W2z are the spatial position information of the tail end W2 of the operating handle, W0x, W0y, W0z are the first spatial position information of the electromagnetic sensor,is a spatial vector determined from the introducer orientation and L2.
The computing terminal provided by the embodiment of the invention also executes the following operations:
s104, displaying an image of the entering part of the egg taking needle when the egg taking needle enters the ultrasonic plane.
When the space distance from the tip of the egg taking needle to the intersection point (target point) is zero, the fact that the tip of the egg taking needle enters an ultrasonic image area is indicated, and the ultrasonic image of the entering part of the egg taking needle is displayed by the computing terminal, so that an operator can learn the distance from the tip of the egg taking needle to the target point, and assist the operator in controlling the egg taking needle to take eggs.
Regarding the first spatial position information and the second spatial position information described above, since the determination of the direction is required in the various embodiments, these spatial information include three-dimensional position information (three-dimensional coordinates) and angles of the electromagnetic sensor with respect to the three-dimensional coordinate axes (three angles of the three-dimensional coordinates with respect to the respective axes). The electromagnetic sensor's spatial position information may be expressed as (X, Y, Z, a, E, R), where X, Y, Z is three-dimensional space coordinates, A, E, R is the angle between the sensor and the corresponding axis, combined together to form the electromagnetic sensor's vector position, and the three angles are used to determine orientation.
The magnetic field generator establishes a basic magnetic field in a working area to form a space three-dimensional coordinate system Xo, yo, zo, and can consider second space position information (an ultrasonic probe) as a vector position in the coordinate system, wherein the space coordinates in the second space position information are Xd, yd, zd, and included angles between the second space position information and a corresponding plane in the coordinate system are Ad, ed, rd. Based on the vector position, the spatial coordinates of any point on the ultrasonic plane under the coordinate system can be determined and recorded as、/>、/>。
The first spatial position information (importer) is not a position in the coordinate system Xo, yo, zo, and to determine the position of the intersection point (target point) of the importer extension line and the ultrasound plane, coordinate transformation is required, specifically:
=/> />,
wherein, the liquid crystal display device comprises a liquid crystal display device,、/>、/>is the space coordinate obtained after coordinate conversion of any point on the ultrasonic plane, and is +.>、/>、/>For the spatial coordinates of any point on the ultrasound plane in the coordinate system Xo, yo, zo, +.>The rotation matrix of the electromagnetic sensor of the ultrasonic probe and the electromagnetic sensor posture of the importer is obtained according to the three-dimensional coordinate conversion relation.
In this embodiment, the rotation matrix according to the three-dimensional coordinate transformation relationship is
,
Spatial coordinates、/>、/>The first spatial position information of the electromagnetic sensor in the introducer is a position in the same coordinate system, the first spatial position information is noted (Xw, xw, zw, aw, ew, rw),wherein Xw, xw and Zw are space coordinates, aw, ew and Rw are included angles with corresponding planes in the coordinate system, and the angles are calculated according to the first space position information and +.>、/>、/>The position of the intersection point (target point) of the extension line of the importer and the ultrasonic plane can be determined.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It is apparent that the above examples are given by way of illustration only and are not limiting of the embodiments. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. And obvious variations or modifications thereof are contemplated as falling within the scope of the present invention.

Claims (6)

1. An egg taking system based on electromagnetic positioning, comprising:
an egg taking needle, an importer with an electromagnetic sensor, a magnetic field generator and a computing terminal; wherein, the liquid crystal display device comprises a liquid crystal display device,
the magnetic field generator is used for generating a magnetic field, and the electromagnetic sensor in the importer and the electromagnetic sensor of the ultrasonic probe provide spatial position information by inducing the magnetic field;
the ovum taking needle can pass through the guide cavity of the importer, and the tail end of the ovum taking needle is provided with a mark for indicating the distance of the ovum taking needle penetrating out of the importer; the guide tube is internally provided with a first channel, the egg taking needle is inserted into the first channel, and the first channel guides the egg taking needle to move along a straight line; the electromagnetic sensor is arranged on the operating handle, the operating handle comprises a first structure and a second structure, the first structure is of a cylindrical structure, the second structure is of a flat structure, the first structure is connected with the second structure, a second channel is arranged in the first structure, a third channel is arranged in the second structure, the second channel and the third channel are communicated to form a fourth channel, and the guide tube is detachably connected with the fourth channel; the guide pipe is connected with the fourth channel in a clamping way, a positioning groove is formed in the second structure, the electromagnetic sensor is arranged in the positioning groove, and an opening penetrating to the positioning groove is formed in the second structure; the second structure comprises a first part and a second part, the first part is positioned at the upper part of the second structure, the second part is positioned at the lower part of the first part, and the first part is detachably arranged at the second part;
the computing terminal is configured to perform operations comprising:
acquiring first spatial position information of an electromagnetic sensor in an importer and second spatial position information of the electromagnetic sensor in an ultrasonic probe, wherein the importer and an ultrasonic plane of the ultrasonic probe are in a non-coplanar state;
determining an intersection point of an extension line of the importer and the ultrasonic plane according to the first spatial position information, and determining spatial position information of the intersection point based on the first spatial position information and the second spatial position information;
and indicating the spatial distance between the tip of the introducer and the intersection point according to the first spatial position information and inherent parameters of the introducer, wherein the inherent parameters comprise the length from an electromagnetic sensor in the introducer to the tail end of the operating handle, the width of the positioning groove and the length from the electromagnetic sensor in the introducer to the tip of the guide tube.
2. An egg taking system as in claim 1 wherein the computing terminal, after obtaining the first spatial location information of the electromagnetic sensor in the introducer, further performs the following:
and calculating and displaying a third space position of the tail end of the operating handle according to the first space position information, the length from the electromagnetic sensor in the importer to the tail end of the operating handle and the width of the positioning groove.
3. An egg retrieval system as in claim 1, the egg retrieval needle comprising a needle body for insertion of oocysts for retrieval of egg cells;
the needle body is provided with a plurality of indication marks;
the needle penetrates the fourth channel and the guide tube to insert oocysts for retrieval of the egg cells.
4. An egg retrieval system as claimed in claim 1 wherein the computing terminal indicates a spatial distance of the introducer tip from the intersection based on the first spatial location information and intrinsic parameters of the introducer, comprising:
calculating the spatial position information of the tip of the introducer according to the first spatial position information, the length from the electromagnetic sensor in the introducer to the tip of the guide tube and the width of the positioning groove;
calculating the spatial position information of the current ovum taking needle tip according to the spatial position information of the introducer tip;
and calculating the space distance between the tip of the ovum taking needle and the intersection point according to the space position information of the intersection point and the space position information of the tip of the current ovum taking needle.
5. The egg taking system of claim 4, wherein the computing terminal calculating the spatial position information of the current egg taking needle tip based on the spatial position information of the introducer tip specifically comprises:
acquiring input indication mark information of a current needle body;
and calculating the space position information of the current ovum taking needle according to the indication mark information and the space position information of the tip end of the importer.
6. The egg retrieval system of claim 1, wherein the computing terminal performs operations further comprising: and displaying an image of the entering part of the egg taking needle when the egg taking needle enters the ultrasonic plane.
CN202310574819.8A 2023-05-22 2023-05-22 Egg taking system based on electromagnetic positioning Active CN116269768B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202310574819.8A CN116269768B (en) 2023-05-22 2023-05-22 Egg taking system based on electromagnetic positioning

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202310574819.8A CN116269768B (en) 2023-05-22 2023-05-22 Egg taking system based on electromagnetic positioning

Publications (2)

Publication Number Publication Date
CN116269768A CN116269768A (en) 2023-06-23
CN116269768B true CN116269768B (en) 2023-07-21

Family

ID=86824306

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202310574819.8A Active CN116269768B (en) 2023-05-22 2023-05-22 Egg taking system based on electromagnetic positioning

Country Status (1)

Country Link
CN (1) CN116269768B (en)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1377245A (en) * 1999-08-04 2002-10-30 隆－特克医疗有限公司 Real-time endovaginal sonographic guidance of gyncologic procedures
EP3315076A1 (en) * 2016-10-28 2018-05-02 Samsung Electronics Co., Ltd. Biopsy apparatus and method for operating the same
CN113907852A (en) * 2021-09-13 2022-01-11 上海导向医疗***有限公司 Biopsy puncture positioning needle and system
CN115154840A (en) * 2022-07-08 2022-10-11 四川锦江电子科技有限公司 Guiding sheath tube based on RFID (radio frequency identification) tag, puncture assembly and positioning method thereof

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4755638B2 (en) * 2004-03-05 2011-08-24 ハンセン メディカル，インク． Robotic guide catheter system
US8840626B2 (en) * 2006-10-18 2014-09-23 Hologic, Inc. Systems for performing gynecological procedures with simultaneous tissue cutting and removal
EP3574835A1 (en) * 2012-05-21 2019-12-04 The Regents of the University of Colorado, a body corporate Three-dimensional mapping of prostate cancer

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN1377245A (en) * 1999-08-04 2002-10-30 隆－特克医疗有限公司 Real-time endovaginal sonographic guidance of gyncologic procedures
EP3315076A1 (en) * 2016-10-28 2018-05-02 Samsung Electronics Co., Ltd. Biopsy apparatus and method for operating the same
CN113907852A (en) * 2021-09-13 2022-01-11 上海导向医疗***有限公司 Biopsy puncture positioning needle and system
CN115154840A (en) * 2022-07-08 2022-10-11 四川锦江电子科技有限公司 Guiding sheath tube based on RFID (radio frequency identification) tag, puncture assembly and positioning method thereof

Also Published As

Publication number Publication date
CN116269768A (en) 2023-06-23

Similar Documents

Publication Publication Date Title
US11911214B2 (en) System and methods for at home ultrasound imaging
CN102860841B (en) Aided navigation system and method of puncture operation under ultrasonic image
US9392960B2 (en) Focused prostate cancer treatment system and method
US8556815B2 (en) Freehand ultrasound imaging systems and methods for guiding fine elongate instruments
RU2225165C2 (en) Method and device for controlling childbirth process
US20080167581A1 (en) Determining parameters associated with a female pelvis and cervix
US8825135B2 (en) Radiographic image capturing system and bioptic method using radiographic image capturing system
US20170196535A1 (en) Medical treatment system
US20090093716A1 (en) Method and apparatus for evaluation of labor with ultrasound
CN107809958B (en) Obstetric imaging at a point of care by untrained or minimally trained operators
US10390728B2 (en) Medical image diagnosis apparatus
CN111134794A (en) Ultrasonic guide out-of-plane puncture method
CN113995511B (en) Actual measurement positioning operation navigation system and positioning operation navigation method
CN102415905A (en) Electronic partogram system and parameter calculating method based on magnetic field tracing and positioning technology
CN104771232A (en) Electromagnetic positioning system and selection method for three-dimensional image view angle of electromagnetic positioning system
CN113952006B (en) Ultrasonic plane external puncture guide support
CN116269768B (en) Egg taking system based on electromagnetic positioning
CN113456226A (en) Interventional navigation system
CN202342032U (en) Electronic partogram system based on magnetic field tracking and positioning technology
CN109464163B (en) Fetal head direction measuring device, measuring and calculating method and measuring device simulator
CN219645845U (en) Egg taking device
CN204671279U (en) A kind of electromagnetic locator
CN108135577B (en) Medical system
KR20210096068A (en) birth self-tracking system
CN215937588U (en) CT puncture angle guiding device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant