CN110051435A - Transurethral prostate surgery robot excision system - Google Patents
Transurethral prostate surgery robot excision system Download PDFInfo
- Publication number
- CN110051435A CN110051435A CN201910340126.6A CN201910340126A CN110051435A CN 110051435 A CN110051435 A CN 110051435A CN 201910340126 A CN201910340126 A CN 201910340126A CN 110051435 A CN110051435 A CN 110051435A
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- equipment
- prostate
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- surgical
- excision
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- 210000002307 prostate Anatomy 0.000 title claims abstract description 46
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 23
- 210000003708 urethra Anatomy 0.000 claims description 18
- 210000001519 tissue Anatomy 0.000 claims description 10
- 238000000034 method Methods 0.000 claims description 9
- 238000012806 monitoring device Methods 0.000 claims description 5
- 239000000523 sample Substances 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000004140 cleaning Methods 0.000 claims description 2
- 238000002591 computed tomography Methods 0.000 claims description 2
- 238000011010 flushing procedure Methods 0.000 claims description 2
- 230000023597 hemostasis Effects 0.000 claims description 2
- 239000007788 liquid Substances 0.000 claims description 2
- 238000002604 ultrasonography Methods 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 4
- 231100000732 tissue residue Toxicity 0.000 abstract description 4
- 238000002271 resection Methods 0.000 abstract 3
- 231100000827 tissue damage Toxicity 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 5
- 208000008081 Intestinal Fistula Diseases 0.000 description 3
- 206010046543 Urinary incontinence Diseases 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- 238000011471 prostatectomy Methods 0.000 description 3
- 230000000740 bleeding effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 206010004446 Benign prostatic hyperplasia Diseases 0.000 description 1
- 206010072587 Rectal injury Diseases 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 206010013990 dysuria Diseases 0.000 description 1
- 210000004907 gland Anatomy 0.000 description 1
- 206010020718 hyperplasia Diseases 0.000 description 1
- 230000002390 hyperplastic effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 210000000664 rectum Anatomy 0.000 description 1
- 210000005070 sphincter Anatomy 0.000 description 1
- 208000024891 symptom Diseases 0.000 description 1
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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
-
- 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
- A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
- A61B2034/101—Computer-aided simulation of surgical operations
- A61B2034/105—Modelling of the patient, e.g. for ligaments or bones
-
- 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
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
The embodiment of the invention discloses a transurethral prostate surgery robot excision system, which comprises: the surgical robot equipment is used for performing surgical operation on the preset resection range of the prostate of the patient according to the surgical control instruction sent by the surgical control equipment; transmitting surgical image information to the surgical control device; the display equipment is used for displaying images to an operator according to the display data sent by the operation control equipment; the operation control equipment is used for acquiring prostate scanning data from external scanning equipment and establishing a three-dimensional model of the prostate; and determining a surgical resection path and a surgical resection range according to the three-dimensional model and a preset model, generating the surgical control instruction and sending the surgical control instruction to the surgical robot equipment. According to the embodiment of the invention, the precision and safety of the operation are ensured, the excision efficiency is improved, and tissue residue and damage caused by manual misoperation and unskilled technology are avoided by three-dimensional modeling and presetting the excision path.
Description
Technical field
The present embodiments relate to automatic operation equipment and technology more particularly to a kind of per urethra operation on prostate robots
Excision system.
Background technique
Transurethral prostatectomy is mainly used for the excision of the hyperplastic prostate tissue of hyperplasia of prostate.
Implement the operation and be operationally fixed against surgical technology and experience, if but implementing the doctor's experience performed the operation
Shortcoming, then may cause the complication such as big bleeding, adjacent tissue such as sphincter urethrae, rectal injury in operation implementation process,
Excision body of gland is imperfect, and tissue residue, the symptoms such as dysuria after prostatectomy cannot improve.Meanwhile Transurethral Operation is that acquirement is good
Good surgical field of view, needs circumfusion to rinse, and surgeon's surgical procedure environment is poor.
Summary of the invention
The embodiment of the present invention provides a kind of per urethra operation on prostate robot excision system, to realize the essence for guaranteeing operation
Quasi- and safety, standardization, standardization convenient for operation excision, avoids damage caused by artificial misoperation and lack of skill
Wound, the urinary incontinence, intestinal fistula etc., avoid tissue residue, influence surgical effect.
The embodiment of the invention provides a kind of per urethra operation on prostate robots to cut off system, comprising:
Operating robot equipment is connect with operation control equipment, the operation for being sent according to the operation control equipment
Control instruction probes into default surgery location according to preset path, and performs the operation to the default excision extension of the prostate of patient
Operation；And it obtains operative image information and is sent to the operation control equipment；
It shows equipment, is connect with operation control equipment, the display number for being sent according to the operation control equipment
Image is shown according to operator；
The operation controls equipment, for obtaining prostate scan data from external scan equipment, according to the prostate
Scan data establishes the threedimensional model of prostate；Operation excision path and operation are determined according to the threedimensional model and preset model
Excision extension generates the operation control instruction and is sent to the operating robot equipment；According to the surgical engine received
The operative image information and the threedimensional model that device people's equipment is sent, the generation display data are sent to the display and set
It is standby.
The embodiment of the present invention carries out three-dimensional modeling, and default excision path by the prostate to operator, solves surgery
The not high problem of surgical quality caused by doctors experience is insufficient realizes guarantee to perform the operation accurate and safe, standardization and standardization,
Avoid complication caused by damage caused by artificial misoperation and lack of skill such as intestinal fistula, the urinary incontinence, and tissue
Residual, affects the treatment.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the per urethra operation on prostate robot excision system in the embodiment of the present invention one；
Fig. 2 is the structural schematic diagram of the per urethra operation on prostate robot excision system in the embodiment of the present invention two；
Fig. 3 is that the operating robot in the per urethra operation on prostate robot excision system in the embodiment of the present invention two is set
Standby structural schematic diagram.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining the present invention rather than limiting the invention.It also should be noted that in order to just
Only the parts related to the present invention are shown in description, attached drawing rather than entire infrastructure.
Embodiment one
Fig. 1 is the structural schematic diagram that the per urethra operation on prostate robot that the embodiment of the present invention one provides cuts off system,
The present embodiment is applicable to the case where surgeon implements transurethral prostatectomy, as shown in Figure 1, per urethra prostate
Operating robot excision system includes: operating robot equipment 1, display equipment 2 and operation control equipment 3.
Operating robot equipment 1 connect 3 with operation control equipment, the operation control for sending according to operation control equipment 3
System instruction, probes into default surgery location according to preset path, and carry out operation behaviour to the default excision extension of the prostate of patient
Make；And it obtains operative image information and is sent to operation control equipment 3；
Show equipment 2, with operation control equipment 3 connect, for according to operation control equipment 3 transmission display data to
Family shows image；
Operation control equipment 3, for obtaining prostate scan data from external scan equipment, according to prostate scan data
Establish the threedimensional model of prostate；Operation excision path and operation excision model are determined according to the threedimensional model and preset model
It encloses, generates operation control instruction and be sent to operating robot equipment 1；The hand sent according to the operating robot equipment 1 received
Art image information and threedimensional model generate display data and are sent to the display equipment 2.
Wherein, it before implementing operation, first passes through external scan equipment 4 and the prostate of patient is scanned, then lead to
It crosses operation control equipment 3 and obtained scan data is scanned according to external scan equipment 4, establish the three-dimensional mould of the prostate of patient
Type, exemplary, operation control equipment 3 can be computer equipment, and be equipped with and establish the soft of threedimensional model according to scan data
Part, external scan equipment 4 can be in magnetic resonance inspecting apparatus, CT scan device and ultrasonic scanner
It is at least one.After establishing threedimensional model, which is showed by doctor by display equipment 2, in case doctor is according to this
Threedimensional model determines operation plan, and according to the comparing result of threedimensional model and preset model, determines operation excision path and hand
Art excision extension, wherein preset model has corresponding surgery planning scheme, when the determining preset model to match with threedimensional model,
It can determine surgery planning, carry out surgery planning through computer software, pre-cut verifying can also be simulated.It can also be led to by doctor
The input equipment that operation control equipment 3 configures, such as mouse and keyboard are crossed, when input implements operation for the prostate of the patient
Operation excision path and Operative Range, can also confirm the surgery planning scheme that software obtain by doctor, or modification is soft
The programme that part obtains, as final operation implementary plan.Operation control equipment 3 cuts off path according to the operation set
And Operative Range, operation control instruction, the excision configured in operating robot equipment 1 are sent to operating robot equipment 1
Device probes into default surgery location according to preset path, and is operated to the default excision extension of the prostate of patient,
Also, configured with the device for obtaining operative image in operating robot equipment 1, to obtain operative image and prostate and to close on
The information of linked groups is sent to operation control equipment 3.After operation control equipment 3 receives operative image information, be converted to pair
The display data answered show operative image prostata tissue itself and adjacent tissue situation Xiang doctor by display equipment 2, so as to
The doctor for implementing operation can know the executive condition of operation.Optionally, operating robot equipment 1 and operation control equipment 3 are logical
Wireless mode connection is crossed, doctor, which is arranged such, can set operation plan in operation control this one end of equipment 3, and monitoring operation is implemented
Process, and operating robot equipment 1 is put with operation control equipment 3 in position upper more flexible, doctor need not be sitting in close to trouble
The position of person is performed the operation, and the operating environment of doctor is improved.
The technical solution of the present embodiment carries out three-dimensional modeling, and default excision path, solution by the prostate to operator
The not high problem of surgical quality caused by certainly surgeon's experience is insufficient, realizes and guarantees the accurate and safe of operation, convenient for operation
Standardization, the standardization of excision, avoid damage, the urinary incontinence, intestinal fistula caused by artificial misoperation and lack of skill etc.,
Tissue residue is avoided, surgical effect is influenced.
Embodiment two
Fig. 2 is the structural schematic diagram that per urethra operation on prostate provided by Embodiment 2 of the present invention robot cuts off system,
The present embodiment further refines based on the above technical solution, as shown in Fig. 2, Transurethral Operation excision system includes: hand
Art robot device 1, display equipment 2, operation control equipment 3 and surgery supervision equipment 5.
Wherein, surgery supervision equipment 5, for carrying out real time scan to current procedure enforcing location during surgery, to obtain
The scan image of current procedure enforcing location.In operation implementation process, operation figure is obtained except through operating robot equipment 1
Picture can also be scanned operative site by surgery supervision equipment 5, and scan image is obtained.Because can be organized in operation
The influence factors such as bleeding cause the operative image got not clear enough, it is difficult to the case where identification is performed the operation.And only pass through operation
Image is not easy to determine whether operating robot equipment 1 is insinuated into default surgery location, and excision range whether meet it is default
Excision extension.Scan image is obtained by surgery supervision equipment 5, so that it may these situations in monitoring operation.Illustratively, hand
Art supervision equipment 5 is transrectal ultrasonography monitoring device, monitors the excision depth of operating robot equipment 1.By watching per rectum
The display screen of ultrasonic monitoring device, so that it may know the correlation circumstance that operation executes.If predetermined in the presence of not being inconsistent in surgical procedure
The case where scheme, doctor can execute operation by the operation control stopping of equipment 3.
As shown in figure 3, optional, operating robot equipment 1 includes:
Resectoscope robot actuating station 11, including resectoscope 111, for obtaining the operative image information, in conjunction with corresponding
Energy platform is cut and is stopped blooding, and the default excision extension of the prostate of patient is cut off；Clamping device 112, with cutting
Mirror 111 connects, for driving the cutting ring in resectoscope 111 to carry out cutting and hemostasis operation；Force feedback and tissue impedance identify
Monitoring device 113, for obtaining the cutting ring in resectoscope 111 and the contact dynamics of operating field tissue and acquisition operating field tissue
Impedance；Inlet and outlet water flushing pipe is used for discharge cleaning liquid (being not shown in Fig. 3).
Mechanical arm 12 is connect with the clamping device 112 of resectoscope robot actuating station 11, for driving resectoscope 111 to visit
Enter default surgery location.
Clamping device 112 drives resectoscope 111 along the axial advance and retreat of resectoscope 111；Wherein, clamping device 112 is by resectoscope
111 grip, and resectoscope 111 can be driven axially to do moving back and forth along resectoscope 111, so that cutting ring accurately reaches finger
Positioning is set.Mechanical arm 12 can connect mechanical arm for six degree of freedom, drive clamping device 112 along resectoscope 111 it is axial retreat, around
The rotation of 111 central axis of resectoscope and the default Fixed-point Motion of A on 111 central axis of resectoscope, guarantee various actions in operation
Flexibility.
The technical solution of the present embodiment guarantees the safety that operation is implemented, and use machine by monitoring operation implementation process
Tool arm and clamping device guarantee the accuracy that operation is implemented, and improve surgical quality.
Note that the above is only a better embodiment of the present invention and the applied technical principle.It will be appreciated by those skilled in the art that
The invention is not limited to the specific embodiments described herein, be able to carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out by above embodiments to the present invention
It is described in further detail, but the present invention is not limited to the above embodiments only, without departing from the inventive concept, also
It may include more other equivalent embodiments, and the scope of the invention is determined by the scope of the appended claims.
Claims (8)
1. a kind of per urethra operation on prostate robot cuts off system characterized by comprising
Operating robot equipment is connect with operation control equipment, and the operation for being sent according to the operation control equipment controls
Instruction, probes into default surgery location according to preset path, and be operated to the default excision extension of the prostate of patient；
And it obtains operative image information and is sent to the operation control equipment；
Show equipment, with the operation control equipment connect, for according to it is described operation control equipment transmission display data to
Operator shows image；
The operation controls equipment, for obtaining prostate scan data from external scan equipment, is scanned according to the prostate
Data establish the threedimensional model of prostate；Operation excision path and operation excision are determined according to the threedimensional model and preset model
Range generates the operation control instruction and is sent to the operating robot equipment；According to the operating robot received
The operative image information and the threedimensional model that equipment is sent generate the display data and are sent to the display equipment.
2. per urethra operation on prostate according to claim 1 robot cuts off system, which is characterized in that the surgical engine
Device people's equipment includes:
Resectoscope robot actuating station, including resectoscope, for obtaining the operative image information, in conjunction with corresponding energy platform,
It is cut and is stopped blooding, cut off the default excision extension of the prostate of patient；Clamping device is connect with the resectoscope,
For driving the cutting ring in the resectoscope to carry out cutting and hemostasis operation；Force feedback and tissue impedance identify monitoring device,
For obtaining the impedance of the cutting ring in the resectoscope with the contact dynamics of operating field tissue and acquisition operating field tissue；Disengaging
Water flushing pipe is used for discharge cleaning liquid；
Mechanical arm is connect, for driving the resectoscope to probe into the clamping device of resectoscope robot actuating station
The default surgery location.
3. per urethra operation on prostate according to claim 2 robot cuts off system, which is characterized in that the mechanical arm
For six degree of freedom series connection mechanical arm.
4. per urethra operation on prostate according to claim 1 robot cuts off system, which is characterized in that further include:
Surgery supervision equipment, for carrying out real time scan to current procedure enforcing location during surgery, to obtain current procedure reality
Apply the scan image of position.
5. per urethra operation on prostate according to claim 4 robot cuts off system, which is characterized in that the operation prison
Equipment is regarded as transrectal ultrasonography monitoring device, monitors the excision depth of the operating robot equipment.
6. per urethra operation on prostate according to claim 1 robot cuts off system, which is characterized in that the prostate
Scan data includes:
In the scan data that magnetic resonance inspecting apparatus, CT scan device and ultrasonic scanner are got extremely
Few one kind.
7. per urethra operation on prostate according to claim 1 robot cuts off system, which is characterized in that the surgical engine
Device people equipment is wirelessly connect with operation control equipment.
8. per urethra operation on prostate according to claim 1 robot cuts off system, which is characterized in that the operation control
Control equipment is computer equipment.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910340126.6A CN110051435A (en) | 2019-04-25 | 2019-04-25 | Transurethral prostate surgery robot excision system |
| PCT/CN2020/086143 WO2020216253A1 (en) | 2019-04-25 | 2020-04-22 | Surgical robot system for transurethral resection of prostate |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910340126.6A CN110051435A (en) | 2019-04-25 | 2019-04-25 | Transurethral prostate surgery robot excision system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110051435A true CN110051435A (en) | 2019-07-26 |
Family
ID=67320904
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910340126.6A Pending CN110051435A (en) | 2019-04-25 | 2019-04-25 | Transurethral prostate surgery robot excision system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110051435A (en) |
| WO (1) | WO2020216253A1 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110448384A (en) * | 2019-07-31 | 2019-11-15 | 宝鸡市安元智能科技有限公司 | Transurethral resection of prostate operation resectoscope scalpel clamping device |
| WO2020151670A1 (en) * | 2019-01-25 | 2020-07-30 | 李汉忠 | Robot system for transurethral resectoscope-based surgery |
| WO2020216253A1 (en) * | 2019-04-25 | 2020-10-29 | 李汉忠 | Surgical robot system for transurethral resection of prostate |
| WO2021057246A1 (en) * | 2019-09-26 | 2021-04-01 | 王君臣 | Transurethral resectoscope surgical robot actuator |
| CN114748165A (en) * | 2022-04-18 | 2022-07-15 | 山西医科大学 | Ultrasonic radar three-dimensional scanning device for resectoscope |
| CN115778559A (en) * | 2022-11-25 | 2023-03-14 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Thulium laser surgery robot for benign prostatic hyperplasia and control method for thulium laser surgery assisted by same |
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| CN105979900A (en) * | 2014-02-04 | 2016-09-28 | 皇家飞利浦有限公司 | Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section |
| CN107174340A (en) * | 2017-07-21 | 2017-09-19 | 李刚 | A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting |
| CN109662779A (en) * | 2019-01-25 | 2019-04-23 | 李汉忠 | A kind of transurethral prostate resection videoendoscopic surgery robot system |
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| US10368850B2 (en) * | 2014-06-18 | 2019-08-06 | Siemens Medical Solutions Usa, Inc. | System and method for real-time ultrasound guided prostate needle biopsies using a compliant robotic arm |
| CN107928791A (en) * | 2017-12-07 | 2018-04-20 | 上海钛米机器人科技有限公司 | Robot-assisted puncture method, system and device |
| CN118476870A (en) * | 2019-01-21 | 2024-08-13 | 华科精准（北京）医疗科技有限公司 | A surgical robot system and method of using the same |
| CN110051435A (en) * | 2019-04-25 | 2019-07-26 | 李汉忠 | Transurethral prostate surgery robot excision system |
-
2019
- 2019-04-25 CN CN201910340126.6A patent/CN110051435A/en active Pending
-
2020
- 2020-04-22 WO PCT/CN2020/086143 patent/WO2020216253A1/en not_active Ceased
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105979900A (en) * | 2014-02-04 | 2016-09-28 | 皇家飞利浦有限公司 | Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section |
| CN107174340A (en) * | 2017-07-21 | 2017-09-19 | 李刚 | A kind of device that prostate is removed by control with computational intelligence laser Full-automatic cutting |
| CN109662779A (en) * | 2019-01-25 | 2019-04-23 | 李汉忠 | A kind of transurethral prostate resection videoendoscopic surgery robot system |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020151670A1 (en) * | 2019-01-25 | 2020-07-30 | 李汉忠 | Robot system for transurethral resectoscope-based surgery |
| WO2020216253A1 (en) * | 2019-04-25 | 2020-10-29 | 李汉忠 | Surgical robot system for transurethral resection of prostate |
| CN110448384A (en) * | 2019-07-31 | 2019-11-15 | 宝鸡市安元智能科技有限公司 | Transurethral resection of prostate operation resectoscope scalpel clamping device |
| CN110448384B (en) * | 2019-07-31 | 2024-06-07 | 宝鸡市安元智能科技有限公司 | Clamping device for electrotome scalpel in transurethral prostatometry |
| WO2021057246A1 (en) * | 2019-09-26 | 2021-04-01 | 王君臣 | Transurethral resectoscope surgical robot actuator |
| CN114748165A (en) * | 2022-04-18 | 2022-07-15 | 山西医科大学 | Ultrasonic radar three-dimensional scanning device for resectoscope |
| CN114748165B (en) * | 2022-04-18 | 2023-07-14 | 山西医科大学 | Ultrasonic radar three-dimensional scanning device for resectoscope |
| CN115778559A (en) * | 2022-11-25 | 2023-03-14 | 哈尔滨思哲睿智能医疗设备股份有限公司 | Thulium laser surgery robot for benign prostatic hyperplasia and control method for thulium laser surgery assisted by same |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020216253A1 (en) | 2020-10-29 |
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Effective date of registration: 20210913 Address after: 100192 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Applicant after: Beijing Kemai Qiyuan Technology Co.,Ltd. Address before: Department of Urology, Peking Union Medical College Hospital, No.1 Shuaifuyuan, Wangfujing, Dongdan, Dongcheng District, Beijing, 100730 Applicant before: Li Hanzhong Applicant before: Wang Junchen Applicant before: Zhang Xuebin Applicant before: Deng Jianhua Applicant before: Lian Penggu |
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Effective date of registration: 20220130 Address after: Room 3046, floor 3, building 1, No. 1, Desheng South Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing 100176 Applicant after: Beijing Kemai Xuanji Medical Technology Co.,Ltd. Address before: 100192 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Applicant before: Beijing Kemai Qiyuan Technology Co.,Ltd. |
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Effective date of registration: 20220526 Address after: 100192 floor 230, building 2, Tiandi Linfeng, No.1, yongtaizhuang North Road, Haidian District, Beijing Applicant after: Beijing Kemai Qiyuan Technology Co.,Ltd. Address before: Room 3046, floor 3, building 1, No. 1, Desheng South Street, Beijing Economic and Technological Development Zone, Daxing District, Beijing 100176 Applicant before: Beijing Kemai Xuanji Medical Technology Co.,Ltd. |
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Application publication date: 20190726 |