CN113100940A - A kind of multi-point magnetron catheter navigation system and using method thereof - Google Patents
A kind of multi-point magnetron catheter navigation system and using method thereof Download PDFInfo
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
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- 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
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Abstract
本发明公开了一种多点磁控导管导航系统及其使用方法，包括磁场发生装置，磁场控制系统，多点磁控导管装置，导轨系统，导管控制系统，所述磁场发生装置包括永磁体模块和电磁模块，在永磁体模块产生稳定磁场的同时，通过调整机械臂姿态及电磁模块的参数，可以使磁场按照所需要求变化，使磁场发生装置在相同体积下，可产生更大强度、更加灵活的磁场，所述多点磁控导管装置包括导管和多个形状控制永磁体，通过多个磁场发生装置配合机械臂及导管施加外部磁场，在导管控制系统控制下驱动多个形状控制永磁体的运动，实现不仅对导管末端位置的控制，同时可以控制导管中间部分的形状，改善导管整体在手术中的受力状况，减少接触应力，提升手术的安全性。
The invention discloses a multi-point magnetron catheter navigation system and a method for using the same, including a magnetic field generating device, a magnetic field control system, a multi-point magnetron catheter device, a guide rail system, and a catheter control system. The magnetic field generating device includes a permanent magnet module And the electromagnetic module, while the permanent magnet module generates a stable magnetic field, by adjusting the posture of the manipulator and the parameters of the electromagnetic module, the magnetic field can be changed according to the required requirements, so that the magnetic field generating device can generate greater strength and more power under the same volume. Flexible magnetic field, the multi-point magnetron catheter device includes a catheter and a plurality of shape-controlling permanent magnets, and an external magnetic field is applied through a plurality of magnetic field generating devices in cooperation with the robotic arm and the catheter, and the multiple shape-controlling permanent magnets are driven under the control of the catheter control system. It can not only control the position of the end of the catheter, but also control the shape of the middle part of the catheter, improve the overall force of the catheter during the operation, reduce the contact stress, and improve the safety of the operation.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a multi-point magnetic control catheter navigation system and a using method thereof.
Background
Catheter ablation has wide application in clinical medicine, is one of the most common methods for treating arrhythmia, and has important significance in disease diagnosis and minimally invasive surgery treatment. The magnetic navigation system in the prior art adopts a single permanent magnet or an electromagnetic system to generate a required magnetic field, the magnetic field change range of the single permanent magnet system is small, the size of the magnetic field can only be adjusted by distance, the size of the permanent magnet is large, the transportation and the installation are not convenient, the permanent magnet cannot be demagnetized at will, and strict requirements are imposed on the material of articles around the system. Although a single electromagnetic system can adjust the size of a magnetic field under the condition of not changing the position and can eliminate the magnetic field after the work is finished, the current required when the strong magnetic field is generated is overlarge, and the control operation and the cooling of a coil are very difficult. The catheter used by the magnetic navigation system is only provided with the permanent magnet near the tail end, the pose of the tail end of the catheter can only be controlled, the poses of the middle part and the tail part can only be restricted through a physical boundary, the integral control effect of the catheter cannot be achieved, and the integral function of the catheter is influenced.
The number of permanent magnet units in a single permanent magnet system is usually two, wherein permanent magnets are arranged to form permanent magnet units. The two permanent magnet units are respectively arranged on the two large mechanical arms, the mechanical arms can move on the ground, and the permanent magnet units can also be driven by the motor to rotate around the mass center, so that a magnetic field with the size and the direction capable of changing is generated. The single electromagnet system comprises a plurality of electromagnetic coils, the electromagnetic coils are internally provided with currents with adjustable sizes, the magnetic field intensity can be adjusted by adjusting the currents, and the electromagnetic coils are arranged on the movable mechanical arm and can be used for adjusting the direction of the magnetic field. Under the action of the magnetic field with variable size and direction, the catheter with the permanent magnet at the tail end can be controlled to steer and navigate in space. In the prior art, the catheter is usually provided with a small permanent magnet at the tip, and the direction of the tip of the catheter is controlled by a magnetic field.
In summary, the following drawbacks exist in the prior art:
single permanent magnet system: in order to generate a magnetic field with enough strength, the permanent magnet unit has large volume and is difficult to move, so that the mechanical arm carrying the permanent magnet unit is required to have high bearing capacity, the degree of freedom is usually small, and the change of the magnetic field is not flexible enough; and when the permanent magnet unit is in a non-working state, the permanent magnet unit cannot be demagnetized, so that strict requirements are imposed on the material and the placement distance of articles around the magnetic navigation system, the usable surgical device is limited, and the difficulty of surgery is increased.
Single electromagnet system: in order to generate a magnetic field with strength enough to drive the catheter to turn, the current applied by the electromagnetic unit needs to be large, the coil can generate large heat, the cooling is difficult, the long-time work is difficult, and the electromagnetic unit cannot be applied to the operation with high complexity and long time.
The permanent magnet is only arranged at the tail end of the catheter, the steering of the tail end of the catheter can be only controlled, the integral deformation of the catheter cannot be controlled, the deformation constraint of the catheter in the rear half part can be realized only by the contact of the catheter and a physical boundary, the stress of the contact cannot be controlled, and the danger of the operation is increased.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the magnetic field generating device of the magnetic navigation system in the prior art has the problems of overlarge volume and inflexible magnetic field change, and the problem that the catheter can only be subjected to tail end control and cannot realize the integral shape control of the catheter in the magnetic navigation system. Therefore, the invention provides a multi-point magnetic control catheter navigation system, a magnetic field generating device of the system uses a permanent magnet module to be combined with an electromagnetic module, the problems of large volume and inflexible magnetic field of the magnetic field generating device are solved, and the multi-point magnetic control catheter device uses a plurality of shape control permanent magnets to realize the control of the whole catheter.
The invention adopts the following technical scheme for solving the technical problems:
a multi-point magnetically controlled catheter navigation system, comprising:
the magnetic field generating device comprises a plurality of permanent magnet modules and a plurality of electromagnetic modules which correspond to the permanent magnet modules one by one;
the magnetic field control system is connected with the magnetic field generating device and controls the size and the direction of a magnetic field generated by the magnetic field generating device;
the multi-point magnetic control catheter device comprises a catheter and a plurality of shape control permanent magnets, wherein the shape control permanent magnets are uniformly fixed on the catheter;
the guide rail system is connected with the magnetic field control system and comprises a guide rail, a guide rail base and a mechanical arm, the guide rail is connected with the guide rail in a sliding mode, the guide rail is arranged on the ground, the mechanical arm is arranged on the guide rail base, and the mechanical arm can move on the guide rail through the guide rail base;
and the catheter control system is respectively connected with the magnetic field generating device, the magnetic field control system, the multi-point magnetic control catheter device and the guide rail system, and is used for controlling the movement of the shape control permanent magnet.
Furthermore, each permanent magnet module and the corresponding electromagnetic module are fixed at the tail end of the mechanical arm, and the electromagnetic modules are distributed around the corresponding permanent magnet module.
Furthermore, the magnetic field control system adjusts the direction of the required magnetic field by adjusting the tail end posture of the mechanical arm, and controls the size of the required magnetic field by adjusting the current passing through the electromagnetic module.
Further, the catheter control system controls the shape of the catheter middle part by controlling the movement of the shape control permanent magnet under the action of a magnetic field.
Further, the catheter control system controls the shape of the catheter in a segmented manner by coordinating the current flowing through the electromagnetic module and the pose of the mechanical arm under the action of a magnetic field.
Further, the multi-point magnetic control catheter navigation system further comprises:
the catheter propulsion system is arranged at the tail end of the catheter and is connected with the catheter control system, and the catheter propulsion system receives the propulsion force and displacement which are provided by the catheter control system and are required by the advancement of the catheter.
Further, the mechanical arm is a six-degree-of-freedom mechanical arm.
Further, the multi-point magnetic control catheter navigation system further comprises:
an assist computer for assisting the catheter control system and visualization;
an imaging system for navigation of a position of a distal end of a catheter;
a cooling device for cooling the electromagnetic module.
Correspondingly, in combination with the above scheme, the present invention further provides a use method of the multi-point magnetron catheter navigation system, including:
when the multi-point magnetic control catheter navigation system is in a non-working state, the current of the electromagnetic module is turned off;
in the transportation process of the multi-point magnetic control catheter navigation system, current is supplied to the electromagnetic module to control the electromagnetic module to generate a magnetic field with the direction opposite to that of the magnetic field of the permanent magnet module and the same magnitude as that of the magnetic field of the permanent magnet module.
Compared with the prior art, the invention adopting the technical scheme has the following technical effects: the magnetic field generating device comprises a permanent magnet module and an electromagnetic module, wherein the two modules are matched with the six-degree-of-freedom mechanical arm, so that a magnetic field with enough strength, large change range and sensitive direction change can be generated, and the sensitivity of catheter control is improved; the multipoint magnetic control catheter device realizes the integral control of the catheter by controlling the catheter in sections, can improve the control precision of the tail end of the catheter, reduce the contact stress borne by the catheter, improve the success rate of surgical treatment and reduce the surgical sequelae.
Drawings
FIG. 1 is a schematic structural diagram of a multi-point magnetron catheter navigation system according to an embodiment of the invention;
fig. 2 is a schematic view of a first perspective structure of a magnetic field generator according to an embodiment of the present invention;
fig. 3 is a second view structural diagram of the magnetic field generating device according to the embodiment of the invention;
FIG. 4 is a schematic diagram of a third view structure of a magnetic field generator according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a multi-magnetron catheter apparatus in accordance with an embodiment of the invention;
reference numerals: the multi-point magnetic control catheter navigation system comprises a multi-point magnetic control catheter navigation system 1, a magnetic field generating device 2, a multi-point magnetic control catheter device 3, a catheter propulsion system 4, a guide rail system 5, a base 2-1 of the magnetic field generating device 2, a permanent magnet module 2-2, an electromagnetic module 2-3, a lead 2-7, a mechanical arm 2-4, a permanent magnet 2-5 in the permanent magnet module 2-2, an electromagnetic coil 2-6 in the electromagnetic module 2-3, a catheter 5-1 in the multi-point magnetic control catheter device 3 and a shape control permanent magnet 5-2.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The technical scheme of the invention is further explained in detail by combining the attached drawings:
as shown in fig. 1 to 5, a multi-point magnetron catheter navigation system 1 according to an embodiment of the present invention includes: the magnetic field generating device 2 comprises a plurality of permanent magnet modules 2-2 and a plurality of electromagnetic modules 2-3 which correspond to the permanent magnet modules 2-2 one by one;
the magnetic field control system is connected with the magnetic field generating device 2 and controls the size and the direction of a magnetic field generated by the magnetic field generating device 2;
the multi-point magnetic control catheter device 3 comprises a catheter 5-1 and a plurality of shape control permanent magnets 5-2, wherein the shape control permanent magnets 5-2 are uniformly fixed on the catheter 5-1;
the guide rail system 5 is connected with the magnetic field control system, the guide rail system 5 comprises a guide rail, a guide rail base and mechanical arms 2-4, the guide rail is arranged on the ground, the mechanical arms 2-4 are arranged on the guide rail base, and the mechanical arms 2-4 can move on the guide rail through the guide rail base;
and the catheter control system is respectively connected with the magnetic field generating device 2, the magnetic field control system, the multi-point magnetic control catheter device 3 and the guide rail system 5, and is used for controlling the movement of the shape control permanent magnet 5-2.
In some embodiments of the present invention, the magnetic field generating device 2 is used for generating a magnetic field, the magnitude and direction of the magnetic field can be adjusted, and the magnetic field can drive the conduit 5-1 in the multi-point magnetron conduit device 3 to deform; the magnetic field control system is used for coordinating and controlling the current passing through the electromagnetic modules 2-3 in the magnetic field generating device 2 and the positions of the permanent magnets 2-5 in the permanent magnet modules 2-2; the multi-point magnetic control catheter device 3 is used for carrying surgical tools and completing surgical operations; and the catheter control system is used for calculating and controlling the catheter 5-1 to complete the required deformation.
Each permanent magnet module 2-2 and the corresponding electromagnetic module 2-3 are fixed at the tail end of the mechanical arm 2-4, and the electromagnetic modules 2-3 are distributed around the corresponding permanent magnet modules 2-2.
In some embodiments of the present invention, as shown in fig. 2-4, the magnetic field generating device 2 includes a base 2-1, a permanent magnet module 2-2, an electromagnetic module 2-3, and a robotic arm 2-4. The permanent magnet module 2-2 is composed of a plurality of permanent magnets 2-5, including a larger permanent magnet 2-5 in the middle of the base 2-1 and a smaller permanent magnet 2-5 around the base, the electromagnetic module 2-3 is composed of a plurality of electromagnetic coils 2-6, and each permanent magnet 2-5 and each electromagnetic coil 2-6 are installed together in a specific manner, wherein the specific installation manner in some embodiments of the invention is as follows: the permanent magnet 2-5 and the electromagnetic coil 2-6 are coaxial and do not directly contact each other. The electromagnetic module 2-3 and the permanent magnet module 2-2 are both fixed on the base 2-1, and the whole body formed by each permanent magnet 2-5 and the electromagnetic coil 2-6 is distributed on the base 2-1 according to a preset arrangement mode, wherein the preset arrangement mode refers to a relative position relation obtained through calculation according to a required magnetic field in some embodiments of the invention.
The magnitude of the magnetic field can be adjusted in two ways: a current is added to the electromagnetic coils 2-6 in each electromagnetic module 2-3 through the leads 2-7 of the magnetic field generating device 2, and the magnetic flux of the electromagnetic coils 2-6 can be adjusted by adjusting the current, so that the magnetic field intensity is changed; the other type can change the size of the magnetic field by changing the size of the permanent magnet 2-5 in the permanent magnet module 2-2, namely changing the magnetic moment of the permanent magnet 2-5.
Since it is relatively cumbersome to change the size of the permanent magnet, the size of the permanent magnet 2-5 in the permanent magnet module 2-2 is usually not changed after the design is completed, and therefore, the preferred way to control the magnetic field size is to control the change of the magnetic field size by the magnetic field control system by changing the current supplied to the electromagnetic module 2-3.
The magnetic field control system adjusts the required magnetic field direction by adjusting the tail end attitude of the mechanical arm 2-4, and in some embodiments of the invention, the magnetic field control system is realized by controlling the change of the angle of each joint of the mechanical arm 2-4 and the position of the mechanical arm 2-4 on the guide rail. The mechanical arm 2-4 for controlling the change of the magnetic field direction has N degrees of freedom, and the guide rail for controlling the change of the magnetic field direction has 1 degree of freedom, so that the change of the magnetic field direction has N +1 degrees of freedom, and the flexible change of a three-dimensional space can be realized.
The magnetic field control system is connected with the magnetic field generating devices 2, and generates magnetic field distribution required by work by coordinately controlling relevant working parameters of at least part of the electromagnetic modules 2-3 in one or more magnetic field generating devices 2 and the movement of the mechanical arms 2-4 and the guide rail base.
In some preferred embodiments of the invention, the magnetic field at a certain position in the space is generated by a plurality of permanent magnets 2-5 and a plurality of electromagnetic coils 2-6 in a plurality of magnetic field generating devices 2 together, and the magnitude of the magnetic field follows the superposition principle of the magnetic fields.
In some embodiments of the present invention, as shown in fig. 5, the multi-point magnetron catheter apparatus 3 comprises a catheter 5-1, a plurality of shape control permanent magnets 5-2, and the shape control permanent magnets 5-2 are fixed on the catheter in a predetermined arrangement, and in the preferred embodiment, the "predetermined arrangement" is the distribution position of the shape control permanent magnets 5-2 calculated by a catheter control system.
Under the action of a magnetic field, the catheter control system controls the shape of the catheter 5-1 in a segmented manner by coordinating the current flowing through the electromagnetic module 2-3 and the pose of the mechanical arm 2-4. In some embodiments of the present invention, the shape control permanent magnet 5-2 has six degrees of spatial freedom, including three-directional translational degrees of freedom and three-directional rotational degrees of freedom, and the number of mechanical arms 2-4 in the system is N, and in order to achieve precise control over the M shape control permanent magnets 5-2, the number of mechanical arms 2-4 required in the preferred embodiment is 6M/N, and the mechanical arm 2-4 is selected to be a six-degree-of-freedom mechanical arm.
During the navigation movement of the catheter 5-1, the deflection direction of the permanent magnet 5-2 at the tail end of the catheter 5-1 can be controlled through the magnetic field generated by the magnetic field generating device 2 at the tail end of the mechanical arm 2-4, so that the movement trend of the catheter 5-1 is controlled.
By applying a magnetic force and a magnetic moment to the shape-controlling permanent magnet 5-2, the position and direction of the catheter 5-1 near the corresponding shape-controlling permanent magnet 5-2 can be controlled, the overall shape of the catheter 5-1 can be controlled and optimized, and the stress at the contact point of the catheter 5-1 and the physical boundary can be reduced.
The multi-point magnetic control catheter navigation system 1 further comprises a catheter propulsion system 4, wherein the catheter propulsion system 4 is arranged at the tail end of the catheter 5-1, is connected with the catheter control system and is used for receiving propulsion force and displacement which are provided by the catheter control system and are required by advancing the catheter 5-1.
In some embodiments of the present invention, the catheter control system is coupled to the catheter propulsion system 4 and the magnetic field control system, and the magnetic field control system is coordinated to control the generation of the desired magnetic field and to calculate the overall shape of the catheter 5-1 and the amount of propulsion of the catheter propulsion system 4 at the distal end of the catheter 5-1.
In the preferred embodiment of the present invention, the mounting plane of the guide rail in the guide rail system 5 is lower than the ground of the system, a plurality of bases are mounted on the upper surface of the guide rail, and each robot arm 2-4 is connected with the guide rail through one base and can move in parallel along the direction of the guide rail. A limit switch is arranged between the guide rail base and the guide rail base, so that the multiple mechanical arms 2-4 on the same guide rail are prevented from colliding.
The multi-point magnetic control catheter navigation system also comprises an auxiliary computer which is used for assisting the catheter control system and visualization; the image system is used for navigating the position of the tail end of the catheter; a cooling device for cooling the electromagnetic module 2-3 and some operation related equipment.
In some embodiments of the invention, the helper computer is used for system helper calculations, including but not limited to, calculations required for the magnetic field control system, calculations required for the catheter control system.
In some embodiments of the present invention, since the current flowing through the electromagnetic modules 2-3 in the magnetic field generating device 2 may generate a large amount of heat, which may cause the overall temperature of the magnetic field generating device 2 to rise, the cooling device is used to cool the electromagnetic modules 2-3, and the cooling method includes, but is not limited to, air cooling and water cooling or a combination of several cooling methods.
In some embodiments of the present invention, the imaging system is used for navigation of the position of the distal end of the catheter 5-1, and the imaging system acquires the information of the working area of the catheter 5-1 in advance, and performs three-dimensional reconstruction on the information of the working area, thereby achieving positioning of the catheter.
In some embodiments of the invention, a surgical-related apparatus includes a magnetic field measuring device mounted on a patient's body for measuring the magnitude and direction of a magnetic field strength at the device; a physiological state monitoring device for a patient for detecting a vital sign of the patient.
Correspondingly, the invention also provides a use method of the multi-point magnetic control catheter navigation system, which comprises the following steps:
when the multi-point magnetic control catheter navigation system 1 is in a non-working state, the current of the electromagnetic module 2-3 is switched off;
in the transportation process of the multi-point magnetic control catheter navigation system 1, current is supplied to the electromagnetic modules 2-3, and the electromagnetic modules 2-3 are controlled to generate magnetic fields with the opposite directions and the same magnitudes as those of the magnetic fields of the permanent magnet modules 2-2.
In some embodiments of the present invention, when the magnetic field generating device 2 is in the non-operating state, the current of the electromagnetic modules 2 to 3 is turned off, so that the size of the magnetic field in the space can be reduced to a great extent, and the safe distance for placing the articles can be increased. In the transportation process, current is supplied to the electromagnetic modules 2-3 to enable the electromagnetic modules to generate magnetic fields with the direction opposite to that of the magnetic fields of the permanent magnet modules 2-2 and the same magnitude, so that the magnetic field intensity in a certain area around the system is zero, and the transportation is convenient. The problems that a single permanent magnet system is difficult to transport and the requirement for placing articles around the system is strict are solved.
In some embodiments of the present invention, the overall operation flow of the multi-point magnetron catheter navigation system 1 is as follows:
s1: and preparation work, including the acquisition of the information of the surgical site of the patient, three-dimensional reconstruction and the like.
S2: and (4) performing initial calculation, and calculating and solving the proper arrangement mode of the electromagnetic modules 2-3 and the permanent magnet modules 2-2 according to the actual information of the patient.
S3: a series of devices for detecting the physiological condition of a patient are installed, and parameters of the multi-point magnetic control catheter navigation system 1 are initialized.
S4: the specific information at the surgical site of the distal end of the catheter 5-1 is determined from the imaging system.
S5: the propulsive force and propulsive displacement of the catheter 5-1 are calculated based on the positional information of the distal end of the catheter 5-1.
S6: the position of the distal end of the catheter 5-1 is updated using an imaging system to determine the direction of further advancement of the catheter 5-1.
S7: the catheter control system optimizes the calculation of the shape of the catheter 5-1 and the desired magnetic field distribution.
S8: the magnetic field control system controls the current passing through the mechanical arms 2-4, the guide rail and the electromagnetic modules 2-3 to generate a required magnetic field.
S9: steps S6-S8 are repeated until the distal end of catheter 5-1 reaches the target position.
S10: the surgical operation is completed.
S11: the catheter 5-1 is safely withdrawn.
According to the multi-point magnetic control catheter navigation system 1, the magnetic field generating device 2 comprises a plurality of permanent magnet modules 2-2 and an equal number of electromagnetic modules 2-3, and each permanent magnet module 2-2 and each electromagnetic module 2-4 are fixed on a mechanical arm 2-4 with a movable tail end. The magnetic field generating device 2 combining the permanent magnet module 2-2 and the electromagnetic module 2-3 is used, when the permanent magnet module 2-2 generates a stable magnetic field, the magnetic field can be changed according to the required requirements by adjusting the posture of the mechanical arm 2-4 and the parameters of the electromagnetic module 2-4 in the magnetic field control system, compared with the existing single permanent magnet or single electromagnetic system, the magnetic field generating device 2 can generate a magnetic field with higher strength and more flexibility under the same volume, and the problems that the magnetic field is not strong enough and the magnetic field change is not sensitive enough in the existing system are solved. The multipoint magnetic control catheter device 3 comprises a catheter 5-1 and a plurality of shape control permanent magnets 5-2, the shape control permanent magnets 5-2 are fixed on the catheter 5-1, an external magnetic field is applied through the cooperation of the magnetic field generation devices 2 and the mechanical arms 2-4, and the motion of the shape control permanent magnets 5-2 can be respectively driven under the control of a catheter control system, so that the control of the tail end position of the catheter 5-1 is realized, the shape of the middle part of the catheter 5-1 can be controlled, the stress condition of the whole catheter 5-1 in an operation is improved, the contact stress is reduced, and the safety of the operation is improved.
The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention. Although the present invention has been described with reference to a preferred embodiment, it should be understood that various changes, substitutions and alterations can be made herein without departing from the spirit and scope of the invention as defined by the appended claims.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113350699A (en) * | 2021-08-10 | 2021-09-07 | 苏州好博医疗器械股份有限公司 | Combined magnetic field generating device and using method thereof |
| CN113786239A (en) * | 2021-08-26 | 2021-12-14 | 哈尔滨工业大学（深圳） | Method and system for tracking and real-time early warning of surgical instruments under stomach and digestive tract |
| CN114699165A (en) * | 2022-05-11 | 2022-07-05 | 上海安通医疗科技有限公司 | Electric memory ablation catheter suitable for radial artery |
| CN115530989A (en) * | 2022-10-31 | 2022-12-30 | 澳门大学 | A surgical catheter robot system and control method |
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