CN203609748U - Three-dimensional rectangular coordinate CT bed connecting type radioactive particle minimally invasive automatic-control positioning device - Google Patents
Three-dimensional rectangular coordinate CT bed connecting type radioactive particle minimally invasive automatic-control positioning device Download PDFInfo
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- CN203609748U CN203609748U CN201320831570.6U CN201320831570U CN203609748U CN 203609748 U CN203609748 U CN 203609748U CN 201320831570 U CN201320831570 U CN 201320831570U CN 203609748 U CN203609748 U CN 203609748U
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Abstract
The utility model discloses a three-dimensional rectangular coordinate CT bed connecting type radioactive particle minimally invasive automatic-control positioning device and belongs to a device which guides a puncture needle to a specific point. On one hand, a controller and a driver are used for controlling an X-axis stepping motor, a Y-axis stepping motor and a Z-axis stepping motor to achieve three-dimensional moving of a mechanical arm; on the other hand, a rotation shaft is driven through a controller via a steering engine, and positive rotation in 90 degrees and negative rotation in 90 degrees of a puncture template are achieved. Under the guidance of a CT image, auxiliary positioning and calibrating of implanting of radioactive particles and a minimally invasive operation are fast and accurately achieved. Operation is simple and safe, the positioning precision is high and flexibility is high. Due to the fact that a three-dimensional rectangular coordinate movement mechanism is designed, the puncture template for implanting the radioactive particles can be directionally adjusted in a three-dimensional mode in the up-and-down direction, the left-and-right direction and the back-and-forth direction through the mechanical arm, and the puncture template can achieve positive rotation in 90 degrees and negative rotation in 90 degrees according to digital orders and can reach a designated inclination angle. A reliable guarantee is provided for guiding the auxiliary minimally invasive operation through the image.
Description
Technical field
This utility model relates to puncture needle is directed to the device on specified point, specifically a kind of CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device.
Background technology
The lower radioactive particle of CT guiding is implanted, because its prolonged exposure makes death of neoplastic cells, and extremely low on normal surrounding tissue impact, few intercurrent disease, has been widely used in the treatment of malignant tumor.Especially in the treatment of carcinoma of prostate, because prostate anatomical position is fixed, and have that a whole set of fixed support makes to implant template position, angle is fixed, guaranteed degree of accuracy that particle is implanted and the accuracy of radiological dose, therefore evident in efficacy, become the standard care means of U.S.'s carcinoma of prostate.And implant for the radioactive particle of other position tumors, mostly still adopting traditional pin puncture mode blindly by rule of thumb of manually holding, precision is low, lacks effectively auxiliary, the fixing and calibrating installation in location.
Chinese patent 201260837 open a kind of " radioactive particle implantation device ", it comprises that forming dot matrix implants the circle implantation template in hole, holds the rectangular mold sheet frame that forms keystone ring slotted eye on the circular internal perisporium of implanting template; And the centrage pattern plate bolster dual-side of groove hole corresponding become the positioning screw hole of spiral shell calibrating position, one end of pattern plate bolster be arranged on through template clamp there is lifting assembly, on the bracing frame of crook one's arm assembly and steering assembly.Solve the problem that implanting device in lung cancer therapy is fixed on human chest inconvenience.
Wherein, mostly adopt the structure of spatial rotational pair to adjust the space orientation of radion template and fixing of angle thereof.Therefore in the degree of accuracy of implanting and operability, exist certain limitation.
Utility model content
This utility model is in order to solve traditional piercing method puncture degree of accuracy and the low problem of automaticity, and the CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device that a kind of degree of accuracy is high, automatization controls is provided.
This utility model is realized according to following technical scheme.
One three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, comprise that forming dot matrix implants the puncture template in hole, and the three-dimensional rectangular coordinate motion arranging in CT bed surface one side, comprise the forward and reverse rotation of X-axis leading screw of X-axis step motor drive and X-axis guide rail parallel, and drive the X-axis slide block engaging through internal tooth on it to move; On X-axis slide block, be vertically installed with the forward and reverse rotation of Y-axis leading screw of y-axis stepper motor driving and Y-axis guide rail parallel, and drive the Y-axis slide block engaging through internal tooth on it to move; The medial surface of Y-axis slide block is vertically installed with the forward and reverse rotation of Z axis leading screw of Z axis step motor drive and Z axis guide rail parallel, and drives the Z axis slide block engaging through internal tooth on it to move; One side right angle face of Z axis slide block, through the motor box of the affixed built-in steering wheel of mechanical arm, in the outstanding sleeve being communicated with of motor box corresponding surface, the axle internal tooth of rotating shaft one end to be engaged with the axle external tooth of steering wheel, the hole enlargement joint portion of the rotating shaft other end is combined as a whole with the end limit of puncture template; The wherein connection of driving device: AC 220V derives DC 24V by motion controller 34 X-axis stepper motor driver 36 in parallel, y-axis stepper motor driver 37 and Z axis stepper motor driver 38 on the one hand through on and off switch 33, and serial connection is controlled separately X-axis motor 16, y-axis stepper motor 17, Z axis motor 18; On and off switch 33 is derived on the other hand DC 5V and is connected steering wheel 13 by steering engine controller 35.
This utility model of design can combine with the existing CT bed of most of medical institutions like this, and under the guiding of CT image, auxiliary doctor completes radioactive particle and implants and other Minimally Invasive Surgerys.Simple to operate, safety, positioning precision is high, motility is strong, realizes fast and accurately auxiliary positioning and the calibration of Minimally Invasive Surgery.Owing to having designed three-dimensional rectangular coordinate motion, the puncture template of utilizing mechanical arm that radioactive particle is implanted can top to bottom, left and right, front and rear 3 D stereo orientation adjustment, realize puncture template according to digitalized commands, positive and negative 90 ° of rotations, reach it and specify inclination angle.The needs of different directions and angle on clinical treatment are met, and really realize automatization's control, can cross the precision of the raising operation puncturing of very big degree, guarantee the degree of accuracy of particle implantation and the accuracy of radiological dose, for the auxiliary Minimally Invasive Surgery of image guiding provides reliable guarantee.
Accompanying drawing explanation
Fig. 1 is the connection block diagram of this utility model driving device;
Fig. 2 is the structural representation that this utility model is combined with CT bed;
Fig. 3 is this utility model X-axis guide rail, leading screw and slide block perspective view;
Fig. 4 is leading screw perspective view in this utility model;
Fig. 5 is mechanical arm and puncture formwork structure schematic diagram in this utility model;
Fig. 6 is rotating shaft and motor box decomposition texture schematic diagram in this utility model.
The label symbol of critical piece in figure:
1.CT bed surface 2. three-dimensional rectangular coordinate motions
3.X axis rail 4.X axial filament thick stick
5.X axle slide block 6.Y axis rail
7.Y axial filament thick stick 8.Y axle slide block
9.Z axis rail 10.Z axial filament thick stick
11.Z axle slide block 12. mechanical arms
13. steering wheel 14. motor box
15. sleeve 16.X shaft step motors
17.Y shaft step motor 18.Z shaft step motor
19. rotating shaft 20. joint portions
21. puncture template 22a.22b. fixed supports
23. implant hole 24a.24b.24c fixing hole
25. screw 26. annular grooves
27. support 28. pulleys
29. axle internal tooth 30. axle external tooths
31. leading screw adapter 32. bearings
33. Switching Power Supply 34. motion controllers
35. steering engine controller 36.X shaft step motor drivers
37.Y shaft step motor driver 38.Z shaft step motor driver.
The specific embodiment
Below in conjunction with drawings and Examples, this utility model is elaborated.
One three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, comprise that forming dot matrix implants the puncture template 21 in hole 23, and the three-dimensional rectangular coordinate motion 2 arranging in CT bed surface 1 one sides, comprise that X-axis motor 16 drives the X-axis leading screw 4 forward and reverse rotation parallel with X-axis guide rail 3, and drive the X-axis slide block 5 engaging through internal tooth on it to move; On X-axis slide block 5, be vertically installed with y-axis stepper motor 17 and drive the Y-axis leading screw 7 forward and reverse rotation parallel with Y-axis guide rail 6, and drive the Y-axis slide block 8 engaging through internal tooth on it to move; The medial surface of Y-axis slide block 8 is vertically installed with Z axis motor 18 and drives the Z axis leading screw 10 forward and reverse rotation parallel with Z axis guide rail 9, and drives the Z axis slide block 11 engaging through internal tooth on it to move; One side right angle face of Z axis slide block 11, through the motor box 14 of the affixed built-in steering wheel 13 of mechanical arm 12, in the outstanding sleeve 15 being communicated with of motor box 14 corresponding surfaces, the internal tooth of rotating shaft 19 one end is engaged with the axle external tooth of steering wheel 13, and the hole enlargement joint portion 20 of rotating shaft 19 other ends is combined as a whole with the end limit of puncture template 21;
The wherein connection of driving device: AC 220V derives DC 24V by motion controller 34 X-axis stepper motor driver 36 in parallel, y-axis stepper motor driver 37 and Z axis stepper motor driver 38 on the one hand through on and off switch 33, and serial connection is controlled separately X-axis motor 16, y-axis stepper motor 17, Z axis motor 18; On and off switch 33 is derived on the other hand DC 5V and is connected steering wheel 13 by steering engine controller 35.
Described three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, the three-dimensional rectangular coordinate motion 2 of its CT bed surface 1 one side settings is to be fixedly connected with CT bed surface 1 through fixed support 22a, the 22b at parallel X-axis guide rail 3 and X-axis leading screw 4 two ends.One end of X-axis leading screw 4 is combined on the bearing 32 on fixed support 22b, and the other end of X-axis leading screw 4 is connected with X-axis motor 16 through leading screw adapter 31.
Described three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, its X-axis motor 16 is placed on the fixed support 22a of X-axis guide rail 3 and X-axis leading screw 4 one end; Y-axis stepper motor 17 is placed on the free end support of parallel Y-axis guide rail 6 and Y-axis leading screw 7; Z axis motor 18 is placed on parallel Z axis guide rail 9 and the free-ended support of Z axis leading screw 10.
Described three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, the axle internal tooth 29 of its rotating shaft 19 one end engages with the axle external tooth 30 of steering wheel 13, drives puncture template 21 to do to rotate positive and negative 90 ° of inclination angles within the scope of.
Described three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, its puncture template 21 is made for saturating X-ray material, the equidistant dot matrix implantation of vertical formation hole 23 it on.The spacing of implanting hole 23 in puncture template 21 is 5mm, and in puncture template 21 outer rim mark Arabic numerals sequence numbers (not shown).
Described three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, annular groove 26 combinations of the fixing hole 24a of the sleeve 15 that its motor box 14 corresponding surfaces are communicated with on it and screw 25 and rotating shaft 19.
Described three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, its X-axis slide block 5, Y-axis slide block 8 and Z axis the slide block 11 respectively pulley 28 on it are slidably matched with X-axis guide rail 3, Y-axis guide rail 6 and Z axis guide rail 9.
Described three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic controlling and positioning device, the free-ended support 27 of the Z axis guide rail 9 that it is parallel and Z axis leading screw 10 is tabular, the parallel end of side limit is arc circle, the selective property of fixing hole 24c that two ends form respectively connects mechanical arm 12, and the fixing hole 24b on plate face is for fixing with Z axis slide block 11.
CT machine tool surface 1 adopts the board making of X-ray.
All-metal gear steering wheel 13, the steering engine controller 35 that this utility model adopts is that Changsha Zhi Zu Electronic Science and Technology Co., Ltd. produces, and model is SC32.
The model adopting is TC 4520 motion controllers 34, model is X-axis stepper motor driver 36, y-axis stepper motor driver 37 and the Z axis stepper motor driver 38 of HYQD40-H5742, and serial connection is controlled separately X-axis motor 16, y-axis stepper motor 17, Z axis motor 18, be Beijing Duo Pukang Autotek S. r. l. product.
When use, patient lies on the back on CT machine, steering wheel 13 and motor 16, 17, 18 switch on power, according to the diseased region of CT machine (not shown) prompting and the position of measurement tumor and demonstration X, Y, the obliquity information of Z axis angle, maneuvering motion controller 34 is respectively through X-axis stepper motor driver 36, y-axis stepper motor driver 37 and Z axis stepper motor driver 38, the X-axis motor 16 of controlling, y-axis stepper motor 17, Z axis motor 18, make X-axis leading screw 4, Y-axis leading screw 7 and Z axis leading screw 10 rotate, drive each guide rail slide block fast in level, up and down, front and back, be X, Y, Z side moves up,
The puncture template of the replaceable different pore size specification of this utility model, completes the multinomial minimally-invasive treatment technology such as the operation of puncture pathological biopsy, argon krypton cryoablation, radio-frequency (RF) ablation operation and microwave ablation operation of focus in art.
This utility model of design like this, leading descending radioactive particle at CT power traction implants, simple to operate, safety, positioning precision is high, motility is strong, can realize fast and accurately auxiliary positioning and the calibration of Minimally Invasive Surgery, and realized automatization's control, the greatly precision of the raising operation puncturing of degree, guarantees the degree of accuracy of particle implantation and the accuracy of radiological dose.
Claims (8)
1. a three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic control implanting device, comprise that forming dot matrix implants the puncture template (21) in hole (23), it is characterized in that: the three-dimensional rectangular coordinate motion (2) that CT bed surface (1) one side arranges comprises that X-axis motor (16) drives X-axis leading screw (4) the forward and reverse rotation parallel with X-axis guide rail (3), and drive on it mobile through the X-axis slide block (5) of internal tooth engagement; On X-axis slide block (5), be vertically installed with y-axis stepper motor (17) and drive Y-axis leading screw (7) the forward and reverse rotation parallel with Y-axis guide rail (6), and drive on it mobile through the Y-axis slide block (8) of internal tooth engagement; The medial surface of Y-axis slide block (8) is vertically installed with Z axis motor (18) and drives Z axis leading screw (10) the forward and reverse rotation parallel with Z axis guide rail (9), and drives on it mobile through the Z axis slide block (11) of internal tooth engagement; One side vertical of Z axis slide block (11), through the motor box (14) of the affixed built-in steering wheel of mechanical arm (12) (13), in the outstanding sleeve (15) being communicated with of motor box (14) corresponding surface, the axle internal tooth (29) of rotating shaft (19) one end is engaged with the axle external tooth (30) of steering wheel (13), and the hole enlargement joint portion (20) of rotating shaft (19) other end is combined as a whole with the end limit of puncture template (21);
The wherein connection of driving device: AC 220V derives DC 24V by motion controller (34) X-axis stepper motor driver in parallel (36), y-axis stepper motor driver (37) and Z axis stepper motor driver (38) on the one hand through on and off switch (33), and serial connection is controlled separately X-axis motor (16), y-axis stepper motor (17), Z axis motor (18); On and off switch (33) is derived on the other hand DC 5V and is connected steering wheel (13) by steering engine controller (35).
2. three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic control implanting device according to claim 1, is characterized in that: the three-dimensional rectangular coordinate motion (2) that CT bed surface (1) one side arranges is to be fixedly connected with CT bed surface (1) through fixed support (22a), (22b) at parallel X-axis guide rail (3) and X-axis leading screw (4) two ends.
3. according to three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic control implanting device described in claim 1 or 2, it is characterized in that: X-axis motor (16) is placed on the fixed support (22a) of X-axis guide rail (3) and X-axis leading screw (4) one end; Y-axis stepper motor (17) is placed on the free end support of parallel Y-axis guide rail (6) and Y-axis leading screw (7); Z axis motor (18) is placed on parallel Z axis guide rail (9) and the free-ended support of axial filament thick stick (10) (27).
4. three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic control implanting device according to claim 1, it is characterized in that: the axle internal tooth (29) of rotating shaft (19) one end engages with the axle external tooth (30) of steering wheel (13), drive puncture template (21) to do rotation within the scope of positive and negative 90 ° of inclination angles.
5. three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic control implanting device according to claim 1, it is characterized in that: puncture template (21) is made for saturating X-ray material, the vertical equidistant dot matrix implantation hole (23) that forms on it, the spacing of implanting hole (23) is 5mm.
6. three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic control implanting device according to claim 1, it is characterized in that: fixing hole (24) and the screw (25a) of sleeve (15) on it that motor box (14) corresponding surface is communicated with is combined in annular groove (26), and with became one with rotating shaft (19).
7. three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic control implanting device according to claim 1, is characterized in that: X-axis slide block (5), Y-axis slide block (8) and Z axis slide block (11) the respectively pulley on it (28) are slidably matched with X-axis guide rail (3), Y-axis guide rail (6) and Z axis guide rail (9).
8. three-dimensional rectangular coordinate CT Lian Chuanshi radioactive particle Wicresoft automatic control implanting device according to claim 3, it is characterized in that: parallel Z axis guide rail (9) and the free-ended support of Z axis leading screw (10) (27) are tabular, the parallel end of side limit is arc circle, the selective property of fixing hole (24c) that two ends form respectively connects mechanical arm (12), and the fixing hole (24b) on plate face is for fixing with Z axis slide block (11).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201320831570.6U CN203609748U (en) | 2013-12-17 | 2013-12-17 | Three-dimensional rectangular coordinate CT bed connecting type radioactive particle minimally invasive automatic-control positioning device |
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| CN201320831570.6U CN203609748U (en) | 2013-12-17 | 2013-12-17 | Three-dimensional rectangular coordinate CT bed connecting type radioactive particle minimally invasive automatic-control positioning device |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104398292A (en) * | 2014-12-10 | 2015-03-11 | 万恒 | CT-guided automatic puncture positioning position finder convenient to control |
| CN104720853A (en) * | 2015-04-15 | 2015-06-24 | 三爱医疗科技（深圳）有限公司 | Automatic ultrasonic-guidance prostate biopsy particle implanting system and acupuncture method |
| CN104905851A (en) * | 2015-06-27 | 2015-09-16 | 唐山市人民医院 | Template device for puncture |
| CN105251110A (en) * | 2015-11-10 | 2016-01-20 | 北京工业大学 | Assembling device and method in radioactive seed stent |
| CN105560049A (en) * | 2016-02-04 | 2016-05-11 | 郑州大学 | Dot array type suspended moxibustion device for back of human body |
| CN105727431A (en) * | 2016-01-29 | 2016-07-06 | 哈尔滨理工大学 | TRUS image navigation multichannel prostate close-range radioactive seed implantation robot |
| CN106037894A (en) * | 2016-07-04 | 2016-10-26 | 哈尔滨金玉科技开发有限公司 | Automatic CT puncture locator device |
| CN106422043A (en) * | 2016-10-30 | 2017-02-22 | 天津大学 | Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation |
| CN106725898A (en) * | 2016-12-14 | 2017-05-31 | 西安交通大学医学院第附属医院 | It is a kind of for CT guided percutaneous needle biopsies and the device of seeds implanted Template Location |
| CN106859747A (en) * | 2017-03-12 | 2017-06-20 | 周佰利 | A kind of automatic Cesarean esction Medical Devices |
| CN107088072A (en) * | 2017-04-27 | 2017-08-25 | 上海迈鹊医用机器人技术有限公司 | One kind blood sampling control system and blood sampling robot |
| CN107243110A (en) * | 2017-05-16 | 2017-10-13 | 哈尔滨理工大学 | A kind of minimally invasive intervention acupuncture mechanism navigated based on ultrasonoscopy |
| CN108721769A (en) * | 2018-06-22 | 2018-11-02 | 山东大学第二医院 | A kind of radioactive particle chain implanted device |
| CN110974366A (en) * | 2019-11-29 | 2020-04-10 | 浙江大学 | Minimally invasive customized puncture guiding device and puncture positioning optimization method |
| CN112245765A (en) * | 2020-10-21 | 2021-01-22 | 重庆医科大学附属第一医院 | PICC that can increase puncture success rate puts a tub fixing device |
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| CN112704814A (en) * | 2021-01-24 | 2021-04-27 | 周春梅 | Medical microwave therapeutic instrument |
| CN113244515A (en) * | 2021-07-05 | 2021-08-13 | 真实维度科技控股(珠海)有限公司 | Needle holder for radioactive particle implantation |
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- 2013-12-17 CN CN201320831570.6U patent/CN203609748U/en not_active Expired - Fee Related
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104398292A (en) * | 2014-12-10 | 2015-03-11 | 万恒 | CT-guided automatic puncture positioning position finder convenient to control |
| CN104720853A (en) * | 2015-04-15 | 2015-06-24 | 三爱医疗科技（深圳）有限公司 | Automatic ultrasonic-guidance prostate biopsy particle implanting system and acupuncture method |
| CN104905851A (en) * | 2015-06-27 | 2015-09-16 | 唐山市人民医院 | Template device for puncture |
| CN105251110A (en) * | 2015-11-10 | 2016-01-20 | 北京工业大学 | Assembling device and method in radioactive seed stent |
| CN105251110B (en) * | 2015-11-10 | 2018-04-17 | 北京工业大学 | A kind of device and assembly method for assembling in radioactive particle stent |
| CN105727431B (en) * | 2016-01-29 | 2018-11-13 | 哈尔滨理工大学 | TRUS image-guidance multichannel prostate short distance radioactive prospecting instruments robot |
| CN105727431A (en) * | 2016-01-29 | 2016-07-06 | 哈尔滨理工大学 | TRUS image navigation multichannel prostate close-range radioactive seed implantation robot |
| CN105560049A (en) * | 2016-02-04 | 2016-05-11 | 郑州大学 | Dot array type suspended moxibustion device for back of human body |
| CN105560049B (en) * | 2016-02-04 | 2017-06-09 | 郑州大学 | A kind of outstanding moxibustion device of dot matrix of human body back |
| CN106037894A (en) * | 2016-07-04 | 2016-10-26 | 哈尔滨金玉科技开发有限公司 | Automatic CT puncture locator device |
| CN106422043A (en) * | 2016-10-30 | 2017-02-22 | 天津大学 | Auxiliary automatic positioning mechanism for tumor radiotherapy seed implantation |
| CN106725898A (en) * | 2016-12-14 | 2017-05-31 | 西安交通大学医学院第附属医院 | It is a kind of for CT guided percutaneous needle biopsies and the device of seeds implanted Template Location |
| CN106725898B (en) * | 2016-12-14 | 2020-02-14 | 西安交通大学医学院第一附属医院 | Device for CT-guided puncture biopsy and particle implantation template positioning |
| CN106859747A (en) * | 2017-03-12 | 2017-06-20 | 周佰利 | A kind of automatic Cesarean esction Medical Devices |
| CN106859747B (en) * | 2017-03-12 | 2019-04-05 | 海门市彼维知识产权服务有限公司 | A kind of automatic Cesarean esction Medical Devices |
| CN107088072A (en) * | 2017-04-27 | 2017-08-25 | 上海迈鹊医用机器人技术有限公司 | One kind blood sampling control system and blood sampling robot |
| CN107243110A (en) * | 2017-05-16 | 2017-10-13 | 哈尔滨理工大学 | A kind of minimally invasive intervention acupuncture mechanism navigated based on ultrasonoscopy |
| CN108721769A (en) * | 2018-06-22 | 2018-11-02 | 山东大学第二医院 | A kind of radioactive particle chain implanted device |
| CN110974366A (en) * | 2019-11-29 | 2020-04-10 | 浙江大学 | Minimally invasive customized puncture guiding device and puncture positioning optimization method |
| CN112245765A (en) * | 2020-10-21 | 2021-01-22 | 重庆医科大学附属第一医院 | PICC that can increase puncture success rate puts a tub fixing device |
| CN112274167A (en) * | 2020-10-29 | 2021-01-29 | 张峰 | All-round X ray inspection machine |
| CN112274167B (en) * | 2020-10-29 | 2021-07-06 | 西南医科大学附属中医医院 | All-round X ray inspection machine |
| CN112704814A (en) * | 2021-01-24 | 2021-04-27 | 周春梅 | Medical microwave therapeutic instrument |
| CN112704814B (en) * | 2021-01-24 | 2022-09-09 | 周春梅 | Medical microwave therapeutic instrument |
| CN113244515A (en) * | 2021-07-05 | 2021-08-13 | 真实维度科技控股(珠海)有限公司 | Needle holder for radioactive particle implantation |
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