CN111053601B - Thorax puncture instrument robot fixing device - Google Patents
Thorax puncture instrument robot fixing device Download PDFInfo
- Publication number
- CN111053601B CN111053601B CN202010000108.6A CN202010000108A CN111053601B CN 111053601 B CN111053601 B CN 111053601B CN 202010000108 A CN202010000108 A CN 202010000108A CN 111053601 B CN111053601 B CN 111053601B
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- Prior art keywords
- rotating
- sliding
- seat
- seat plate
- movable
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- Expired - Fee Related
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- 210000000038 chest Anatomy 0.000 title claims description 8
- 238000001356 surgical procedure Methods 0.000 description 4
- 210000000115 thoracic cavity Anatomy 0.000 description 2
- 208000002151 Pleural effusion Diseases 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 210000003281 pleural cavity Anatomy 0.000 description 1
- 201000003144 pneumothorax Diseases 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/10—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/14—Fixators for body parts, e.g. skull clamps; Constructional details of fixators, e.g. pins
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Medical Informatics (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Pathology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Neurosurgery (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses a robot fixing device for a thoracocentesis apparatus, which is characterized in that the fixing device is fixed on a seat, a rectangular operation channel is arranged on the seat, and the fixing device comprises: first regulation part (231), second regulation part (232), movable rod (233), the one end and the second sliding part of movable rod are articulated, the other end of movable rod is equipped with movable channel (2331), be equipped with first calorie of post (2315) on the first sliding part, first calorie of post card is gone into in the middle of the movable channel, first calorie of post can move in the movable channel with the distance that changes first sliding part and second sliding part, rotating part (234), it is fixed on movable rod (233), can fix puncture apparatus (3) on the rotating part, rotating part makes puncture apparatus have the degree of freedom of two rotation directions under the motionless condition of movable rod.
Description
Technical Field
The invention relates to the field of thoracic cavity puncture seats.
Background
Thoracentesis, also known as pleural cavity aspiration (thoracentesis), abbreviated chest puncture, refers to a technique for extracting fluid or gas from a patient with pleural effusion (or pneumothorax) by thoracentesis for the purpose of diagnosing and treating diseases.
When a patient is seated on a chair during thoracentesis, when the patient needs to be punctured, a doctor operates the puncture instrument, and the puncture instrument is usually held by the doctor and is inconvenient to operate and rotate.
Disclosure of Invention
The invention aims to: the utility model provides a thorax puncture apparatus robot fixing device, fixing device fix on the seat, the seat on be equipped with a rectangle operation passageway, fixing device include:
the first adjusting part is fixed on the seat and arranged along the edge of the rectangular operation channel, a first sliding part is arranged on the first adjusting part, and the first adjusting part can drive the first sliding part to move along a fixed direction;
the second adjusting part is fixed on the seat and arranged along the other edge of the rectangular operating channel, a second sliding part is arranged on the second adjusting part, the second adjusting part can drive the second sliding part to move along a fixed direction, and the fixed directions of the first sliding part and the second sliding part are parallel;
one end of the movable rod is hinged with the second sliding part, the other end of the movable rod is provided with a movable channel, the first sliding part is provided with a first clamping column, the first clamping column is clamped in the movable channel, and the first clamping column can move in the movable channel to change the distance between the first sliding part and the second sliding part;
the rotating part is fixed on the movable rod, the puncture instrument can be fixed on the rotating part, and the rotating part enables the puncture instrument to have two degrees of freedom in the rotating direction under the condition that the movable rod does not move.
As an improvement, the rotating part includes:
the rotating fixing ring is fixedly connected with the movable rod, and the center of the rotating fixing ring is of a hollow structure;
the first rotating part is located in the center structure of the rotating fixing ring and connected with the rotating fixing ring through a first rotating shaft, the first rotating part can rotate around the first rotating shaft relative to the rotating fixing ring, and the center of the first rotating part is of a hollow structure
The second rotating part is located in the middle of the hollow structure of the first rotating part, the second rotating part is fixedly connected with the puncture instrument, the second rotating part is connected with the first rotating part through a second rotating shaft, the second rotating part can rotate around the second rotating shaft relative to the first rotating part, and the axial direction of the first rotating shaft is perpendicular to the axial direction of the second rotating shaft.
The first adjusting portion comprises a first shell, a first rotating rod, a first knob and a first sliding portion, the first rotating rod is located in the first shell, the first knob is connected with the first rotating rod, the first rotating rod is in threaded connection with the first sliding portion, and the first rotating rod can be driven to rotate by manually rotating a first rotation so as to drive the first sliding portion to move along the fixed direction of the first rotating rod.
As an improvement, the second adjusting portion comprises a second housing, a second rotating rod, a second knob and a second sliding portion, the second rotating rod is located in the second housing, the second knob is connected with the second rotating rod, the second rotating rod is in threaded connection with the second sliding portion, and the second rotating rod can be driven to rotate by manually rotating the second rotation so as to drive the second sliding portion to move along the fixed direction of the second rotating rod.
Drawings
FIG. 1 is a schematic view of a chair according to the present invention when a patient needs to lie down;
FIG. 2 is a schematic view of a stationary portion;
FIG. 3 is a schematic view of a movable portion;
FIG. 4 is a schematic view of the connection of the fixed part and the movable part;
FIG. 5 is a schematic view of the chair at the time of surgery;
FIG. 6 is a schematic view of the chair at the time of surgery;
FIG. 7 is a schematic view of the chair at the time of surgery;
FIG. 8 is a schematic view of the chair at the time of surgery;
FIG. 9 is a schematic view of a puncture fixation device;
FIG. 10 is a schematic view of a rotating portion;
FIG. 11 is a schematic view of a second regulating portion;
the labels in the figure are: 100-a fixed part, 110-a fixed plate, 120-a first drive part, 121-a first screw, 122-a first slider a, 123-a first slider b, 124-a first slider c, 125-a first motor, 126-a first channel, 130-a second drive part, 131-a second screw, 132-a second slider a, 133-a second slider b, 134-a second slider c, 135-a second motor, 136-a second channel, 140-a leg of a seat, 200-a movable part, 210-a first seat plate, 211-a first fixed column, 212-a second fixed column, 220-a second seat plate, 221-a connecting rod, 222-a fixed plate, 223-a neck brace, 224-a fixed strap, 230-a puncture fixing device, 231-a first adjustment part, 2311-a first housing, 2312-a first rotation rod, 2313-a first knob, 2314-a first sliding part, 2315-a first clamping column, 232-a second adjusting part, 2321-a second housing, 2322-a second rotation rod, 2323-a second knob, 2314-a second sliding part, 233-a movable rod, 2331-a movable channel, 234-a rotation part, 2341-a rotation fixing ring, 2342-a first rotation part, 2343-a first rotation shaft, 2344-a second rotation part, 2345-a second rotation shaft, 3-a puncture instrument.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
The embodiment of fig. 1 discloses a thoracic cavity puncture assisting robot seat for a disabled patient, which comprises a fixed part 100 and a movable part 200, wherein the fixed part is fixed, and the movable part 200 can move back and forth along a first direction (such as an X direction in fig. 1) relative to the fixed part.
Specifically, as shown in fig. 2, the fixing portion includes a fixing plate 110 and four seat legs 140, the four seat legs are fixed on the fixing plate, the four seat legs are respectively connected to the ground, the fixing plate is a planar structure, in some preferred embodiments, the fixing plate may also be a hollow structure, the fixing plate is provided with a first driving portion 120 and a second driving portion (130), the first driving portion and the second driving portion may be symmetrically disposed, as shown in fig. 2, the structures of the two driving portions are substantially the same, of course, in some embodiments, a driving portion may also be provided to drive the movable portion, and the two driving portions are more stable relative to the one driving portion.
As shown in fig. 3, the movable portion 200 includes a first seat pan 210 and a second seat pan 220, which are hinged, the second seat pan being rotatable with respect to a side line of one side of the first seat pan, the first seat pan and the second seat pan being hinged at the side line, as shown in fig. 3. Furthermore, the first seat plate can be driven by the first driving portion and the second driving portion to move along the first direction, the second seat plate can be driven by the first seat plate to move along the first direction, meanwhile, the second seat plate can be driven by the first driving portion and the second driving portion to rotate relative to the first seat plate borderline, and the borderline is perpendicular to the first direction.
As shown in fig. 2, the first driving portion includes a first slot 126 located on the fixing plate, a first screw 121 located in the first slot, and a first motor 125 driving the first screw, an axial direction of the first screw is a first direction, the first screw is threadedly connected with a first slider a 122, a first slider b 123, and a first slider c 124, the first slider a and the first slider b are fixedly connected with the first seat plate, the first slider c is connected with the second seat plate 220 through a connecting rod 221, and two ends of the connecting rod are respectively hinged with the first slider c and the second seat plate 220; when the first screw rod axially rotates, the first slide block a, the first slide block b and the first slide block c move along the first direction, the moving speed of the first slide block a is the same as that of the first slide block b, and the moving speed of the first slide block c is higher than that of the first slide block a so that the second seat plate can rotate relative to the sideline of the first seat plate through the connecting rod. The first slider a, the first slider b and the first slider c are three different sliders, wherein the first slider a and the first slider b can be sliders with the same specification, the first slider c is provided with specifications different from the first slider a and the first slider b, and the thread pitch of the thread inside the specific first slider c is larger, so that when the first screw rotates, the first slider c has higher movement speed relative to the first sliders a and b. In some other embodiments, since the movement ranges of the first slider c and the first slider a or b do not overlap on the first screw, the size of the thread provided on the first slider c by the first screw can be made more sparse (the pitch is larger).
In the present invention, the first slide block a and the first slide block b are driven by the screw at the same moving speed, for example, at a speed v1, so that the first seat plate can be driven to move at a speed v1 along the first direction, and the joint of the second seat plate and the first seat plate is also driven by the first seat plate to move at a speed v1 along the first direction. At the same time, the speed of the first slide block c is v2, and v2 is greater than v1, at which time the second seat plate will rotate relative to the first seat plate, so that the lying person can sit up.
When a human body lies on the seat plate, the position of the joint of the first seat plate and the first seat plate is approximately at the center of the fixing portion, and at this time, the center of the human body is also approximately at the center of the fixing portion, and the seat can be kept in balance. If the first seat plate is not fixed relative to the fixed portion and the second seat plate rotates relative to the first seat plate, the center of the human body moves towards the first seat plate, the center of the fixed portion is severely deviated on the fixed portion, the seat plate is unstable, and the seat plate can topple seriously. In the seat of the invention, when the first seat board rotates relative to the second seat board to enable the human body to sit up from lying, the first seat board can move relative to the fixing part at the same time, so that the center of the human body is close to the center of the fixing part, and the stability of the seat is kept.
The screw rod is provided with at least two sliding blocks with different specifications, so that the sliding blocks have different moving speeds, the first seat plate can move and the second seat plate can rotate relative to the first seat plate by using a fixing device (such as the rotation of the screw rod), other sensing transmission devices are not needed, the screw rod only needs to rotate when the chair is used, specifically, the screw rod rotates through the motor shown above, and in other embodiments, a manual rocker (such as a sickbed) can also rotate the first screw rod.
In the embodiment of the invention, two sliders are arranged on one screw, the two sliders are respectively connected with the screw and the first seat plate, if the sliders and the first seat plate are completely and rigidly connected, excessive contact force between the sliders and the screw is easily caused, and the sliders are not moved smoothly, so that in some improved embodiments, the sliders and the first seat plate have a certain error space, the first slider a and the first slider b are provided with concave portions, the first seat plate is provided with a first fixing column 211 and a second fixing column 212, which are respectively clamped in the concave portions on the first slider a and the first slider b, so that the first driving portion drives the first seat plate to move along the first direction, and the section of the specific concave portion can be slightly larger than that of the fixing column, so that the fixing column can move in the concave portions in a small range. In some embodiments, one of the sliding blocks may be rigidly connected to the first seat plate on one of the threaded rods, and the other sliding block may be configured according to the structure of the recess and the fixing pillar as described above.
In some more preferred embodiments, as shown in figure 6, the second seat panel is provided with a neck support 223 for securing the head of a person.
In some more preferable schemes, the second seat plate is provided with an operation channel, a fixing plate 222 is arranged in the operation channel, the fixing plate can be clamped in the operation channel to fix the back of the human body, and the fixing plate can also be drawn out from the operation channel to perform the puncture operation.
The invention can be provided with a driving part for driving the first seat plate, certainly, for the sake of stability and power, the fixing part can also be provided with two driving parts, so that the invention is provided with a first driving part and a second driving part, the second driving part comprises a second channel 136 positioned on the fixing plate, a second screw 131 positioned in the second channel and a second machine 135 for driving the second screw, the axial direction of the second screw is parallel to the axial direction of the first screw, the second screw is provided with a second slide block a132, a second slide block b133 and a second slide block c134, the second slide block a and the second slide block b are fixedly connected with the first seat plate, the second slide block c134 is connected with the second seat plate 220 through a connecting rod 221, two ends of the connecting rod are respectively hinged with the second slide block c134 and the second seat plate 220, the driving speed of the second slide block a is the same as that of the first slide block a, the driving speed of the second slide block b is the same as that of the first slide block b, the second slider c and the first slider c are driven at the same speed. The second seat plate is provided with a fixing bandage 224 for fixing the upper body of a human body, and the fixing bandage can be detached at one end.
Further, in order to fix the puncture device, the seat disclosed in this embodiment is provided with a puncture device robot fixing device, and the fixing device is fixed on the seat. Specifically, as shown in fig. 9, the fixing device includes a first adjusting portion 231, a second adjusting portion 232, a movable rod 233, and a rotating portion 234, the first adjusting portion 231 is fixed on the seat and disposed along the edge of the rectangular operating channel, the first adjusting portion is provided with a first sliding portion 2314, the first adjusting portion can drive the first sliding portion to move along a fixed direction (Y direction in fig. 9), and as shown in fig. 9, the first sliding portion moves along the Y direction; the second adjusting part 232 is fixed on the seat and arranged along the other edge of the rectangular operation channel, a second sliding part (2324) is arranged on the second adjusting part, the second adjusting part can drive the second sliding part to move along a fixed direction (Y direction of fig. 9), and the direction axes of the moving directions of the first sliding part and the second sliding part are parallel. One end of the movable rod 233 is hinged to the second sliding portion, the other end of the movable rod is provided with a movable channel 2331, the first sliding portion is provided with a first clamping column 2315, the first clamping column is clamped into the movable channel, and the first clamping column can move in the movable channel to change the distance between the first sliding portion and the second sliding portion. The rotation unit 234 is fixed to the movable lever 233, and can fix the puncture device 3 thereto, and the rotation unit allows the puncture device to have two degrees of freedom in the rotational direction when the movable lever is not moved. The puncture device 3 is provided with a long shaft. The rotating portion can move in the same manner as the movable lever moves or rotates. As shown in fig. 9, when the rotating part needs to move only in the Y direction, the first sliding part and the second sliding part move in the same direction; when the position of the rotating part in the Z direction needs to be adjusted, the first sliding part and the second sliding part move in different speeds and different directions, and the first clamping column moves in the movable channel at the time. Specifically, the first sliding portion and the second sliding portion may be manually adjusted.
In a further embodiment, as shown in fig. 9, the rotation part includes a rotation fixing ring 2341, a first rotation part 2342 and a second rotation part 2344, the rotation fixing ring 2341 is fixedly connected with the movable rod 23, and the center of the rotation fixing ring is a hollow structure; first rotating part 2342 is located the central structure of rotatory retainer plate to connect through first pivot (2345) and rotatory retainer plate, first rotating part can rotate the retainer plate round first pivot relatively, first rotating part center is hollow structure, the second rotating part is located the hollow structure of first rotating part, second rotating part fixedly connected with puncture apparatus 3, the second rotating part passes through second pivot 2345 and first rotating part is connected, the second rotating part can rotate round the second pivot relatively first rotating part, the axial direction of first pivot and the axial direction of second pivot are perpendicular.
In this embodiment, the first rotating shaft is located on the plane on which the XY directions are located, the second rotating shaft is perpendicular to the first rotating shaft, in some operating cases, the long axis direction of the puncture device is perpendicular to the XY directions, and in some operating cases, the long axis direction of the puncture device and the XY directions have a certain included angle, so that the puncture device can adjust the angle as required. When the plane position of the puncture instrument needs to be adjusted, the adjustment is carried out through the first adjusting part and the second adjusting part.
In a more specific embodiment, as shown in fig. 10, the first adjustment portion 231 includes a first housing 2311, a first rotation rod 2312, a first knob 2313 and a first sliding portion 2314, the first rotation rod is disposed in the first housing, the first knob is connected to the first rotation rod, the first rotation rod is threadedly connected to the first sliding portion, and manual rotation of the first rotation rod can drive the first rotation rod to rotate and thus drive the first sliding portion to move along the fixed direction.
In a more specific embodiment, as shown in fig. 11, the second adjusting portion 232 includes a second housing 2321, a second rotating rod 2322, a second rotating knob 2323 and the second sliding portion 2324, the second rotating rod is located in the second housing, the second rotating knob is connected to the second rotating rod, the second rotating rod is connected to the second sliding portion by a screw, and the second rotating rod can be driven to rotate by manually rotating the second rotating rod so as to drive the second sliding portion to move along the fixed direction. According to the invention, the position of the puncture instrument can be adjusted by manually operating the first adjusting part and the second adjusting part, and the puncture instrument can adjust the angle per se (adjusting by manually holding the puncture instrument) so as to adapt to the operation requirements of the puncture position and angle.
Claims (4)
1. The utility model provides a thorax puncture apparatus robot fixing device, its characterized in that, fixing device fix on the seat, the seat on be equipped with a rectangle operation channel, fixing device include:
the first adjusting part (231) is fixed on the seat and arranged along the edge of the rectangular operation channel, a first sliding part (2314) is arranged on the first adjusting part, and the first adjusting part can drive the first sliding part to move along a fixed direction;
the second adjusting part (232) is fixed on the seat and arranged along the other edge of the rectangular operation channel, a second sliding part (2324) is arranged on the second adjusting part, the second adjusting part can drive the second sliding part to move along a fixed direction, and the fixed directions of the first sliding part and the second sliding part are parallel;
one end of the movable rod is hinged with the second sliding part, a movable channel (2331) is arranged at the other end of the movable rod, a first clamping column (2315) is arranged on the first sliding part and clamped in the movable channel, and the first clamping column can move in the movable channel to change the distance between the first sliding part and the second sliding part;
a rotating unit (234) which is fixed to the movable lever (233), and to which the puncture device (3) can be fixed, and which allows the puncture device to have two degrees of freedom in the rotational direction when the movable lever is not moved;
the seat comprises a fixing portion (100) and a movable portion (200), wherein the fixing portion comprises a fixing plate (110), a first driving portion (120) and a second driving portion (130) are arranged on the fixing plate, the movable portion (200) comprises a first seat plate (210) and a second seat plate (220), the first seat plate is hinged to the second seat plate, the second seat plate can rotate relative to a side line of one side of the first seat plate, the first seat plate can be driven by the first driving portion and the second driving portion to move along a first direction, the second seat plate can be driven by the first seat plate to move along the first direction, meanwhile, the second seat plate can be driven by the first driving portion and the second driving portion to rotate relative to the side line of the first seat plate, and the side line is perpendicular to the first direction.
2. The robotic thorax puncture instrument fixation device as recited in claim 1, wherein said rotating portion comprises:
the rotating fixing ring (2341) is fixedly connected with the movable rod (233), and the center of the rotating fixing ring is of a hollow structure;
first rotating part (2342), it is located the central structure of rotatory retainer plate in the middle of to connect through first pivot (2345) and rotatory retainer plate, first rotating part can rotate the retainer plate round first pivot relatively, first rotating part center is hollow structure
The second rotating part (2344), the second rotating part is located the hollow structure of first rotating part in the middle of, second rotating part fixedly connected with puncture instrument (3), the second rotating part passes through second pivot (2345) and first rotating part is connected, the second rotating part can rotate round the second pivot first rotating part relatively, the axial direction of first pivot and the axial direction of second pivot are perpendicular.
3. The robotic thorax puncture instrument fixing device as claimed in claim 2, wherein the first adjusting portion (231) comprises a first housing (2311), a first rotating rod (2312), a first knob (2313) and the first sliding portion (2314), wherein the first rotating rod is disposed in the first housing, the first knob is connected to the first rotating rod, the first rotating rod is connected to the first sliding portion by screw threads, and manual rotation of the first knob can drive the first rotating rod to rotate and further drive the first sliding portion to move along the fixing direction.
4. The robotic thorax puncture instrument fixing device according to any one of claims 1-3, wherein the second adjusting portion (232) comprises a second housing (2321), a second rotating rod (2322), a second knob (2323) and the second sliding portion (2324), the second rotating rod is located in the second housing, the second knob is connected with the second rotating rod, the second rotating rod is in threaded connection with the second sliding portion, and the second rotating rod can be driven to rotate by manually rotating the second knob so as to drive the second sliding portion to move along the fixed direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010000108.6A CN111053601B (en) | 2020-01-01 | 2020-01-01 | Thorax puncture instrument robot fixing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010000108.6A CN111053601B (en) | 2020-01-01 | 2020-01-01 | Thorax puncture instrument robot fixing device |
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| CN111053601A CN111053601A (en) | 2020-04-24 |
| CN111053601B true CN111053601B (en) | 2020-08-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010000108.6A Expired - Fee Related CN111053601B (en) | 2020-01-01 | 2020-01-01 | Thorax puncture instrument robot fixing device |
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| CN (1) | CN111053601B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111493941A (en) * | 2020-04-27 | 2020-08-07 | 青岛大学附属医院 | Liver biopsy device fixing device |
| CN112957105B (en) * | 2021-02-01 | 2022-04-26 | 付翠平 | Thoracic cavity closed type interventional drainage puncture device for department of respiration |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2135561B1 (en) * | 1995-06-07 | 2011-11-16 | SRI International | Surgical manipulator for a telerobotic system |
| CN100504301C (en) * | 2007-07-13 | 2009-06-24 | 北京航空航天大学 | Method and device for converting measurement reference of astronomical sensor |
| CN202229764U (en) * | 2011-08-02 | 2012-05-23 | 王靖微 | Triaxial rotary table with dynamic stabilizing function |
| TWI481382B (en) * | 2012-08-31 | 2015-04-21 | Univ Nat Cheng Kung | Assistance device and guiding assembly for percutaneous surgery |
| CN203988384U (en) * | 2014-08-08 | 2014-12-10 | 赵立敏 | Foramen intervertebrale lens operation puncturing orienting device |
| CN205157768U (en) * | 2015-11-30 | 2016-04-13 | 江苏中海达海洋信息技术有限公司 | Ultrashort baseline installation error calibrating device |
| CN209059822U (en) * | 2018-02-02 | 2019-07-05 | 江苏省苏北人民医院 | A kind of auxiliary device for lumbar puncture position fixation |
| CN209661750U (en) * | 2019-01-28 | 2019-11-22 | 安多特(北京)内窥镜技术有限公司 | A kind of auxiliary puncture plate for foramen intervertebrale lens |
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