Abstract: A micromanipulator comprising: a first frame portion defining an axial direction extending from a first proximal end to a first distal end; a second frame portion; a tool holder coupled to the second frame portion; a first connecting portion coupling the second frame portion and the first frame portion at the first distal end in resilient pivotable coupling; and a second connecting portion coupling the second frame portion and the first frame portion at the first proximal end in resilient pivotable coupling. The first frame portion, the second frame portion, the first connecting portion, and a second connecting portion form a flexural frame. The flexural frame is resiliently biased to a first frame state in which the tool holder is in a retracted position.

Abstract: Provided are a high-intensity focused ultrasound apparatus (10) and a control method. According to the high-intensity focused ultrasound apparatus (10), by providing a focusing transducer (120) having a freely transformable shape, after an entire transducer assembly (100) extends into an inner cavity of an object to be treated, the transducer assembly (100) can extend through a narrow part into the inner cavity of an object to be treated, and after extending into the inner cavity of the object to be treated, the shape of the focusing transducer (120) in the transducer assembly (100) changes, so that the effective area of the focusing transducer (120) increases, and the ultrasonic energy produced increases, thereby enhancing the irradiation intensity for a region to be treated, and satisfying normal operation requirements of the transducer assembly (100).

Abstract: Provided are a high-intensity focused ultrasound apparatus (10) and a control method. According to the high-intensity focused ultrasound apparatus (10), by providing a focusing transducer (120) having a freely transformable shape, after an entire transducer assembly (100) extends into an inner cavity of an object to be treated, the transducer assembly (100) can extend through a narrow part into the inner cavity of an object to be treated, and after extending into the inner cavity of the object to be treated, the shape of the focusing transducer (120) in the transducer assembly (100) changes, so that the effective area of the focusing transducer (120) increases, and the ultrasonic energy produced increases, thereby enhancing the irradiation intensity for a region to be treated, and satisfying normal operation requirements of the transducer assembly (100).

Abstract: According to a high-intensity focused ultrasonic apparatus and a control method, an image of a region to be treated is obtained by means of an imaging device, a working assembly and a target coordinate point in the region to be treated are located by means of an optical tracking device, so that a positioning device can clamp the working assembly to quickly and accurately move to a working position corresponding to the target coordinate point, thereby enabling the working assembly to quickly and accurately release a high-intensity focused ultrasonic pulse to the target coordinate point, which improves not only the treatment accuracy but also the treatment efficiency of the high-intensity focused ultrasonic apparatus.