| 摘要 |
The present invention relates to a locating device for locating an artefact, in particular a vein, in soft tissue of a subject, and an insertion device for inserting a sharp instrument (12) into an artefact, in particular a vein, in soft tissue of a subject. The locating device comprises: at least one probe movable over the surface of soft tissue of a subject; a movement unit (27) for moving the at least one probe; a loading unit for selectively applying a predeterminable load to the at least one probe; a detector for detecting the displacement of the at least one probe when loaded; and a determination unit for determining the location of an artefact from the detected displacement of the at least one probe. The insertion device comprises: a drive unit (85) for inserting a sharp instrument into soft tissue of a subject; a detector (99) for detecting the force experienced by the drive unit on inserting the sharp instrument; and a control unit (3) for controlling the drive unit such as at least to stop further insertion of the sharp instrument on detection of a decrease in the force detected by the detector. |
