CN102697443B - Endoscope provided with protective casings on end actuator - Google Patents
Endoscope provided with protective casings on end actuator Download PDFInfo
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- CN102697443B CN102697443B CN201210122995.XA CN201210122995A CN102697443B CN 102697443 B CN102697443 B CN 102697443B CN 201210122995 A CN201210122995 A CN 201210122995A CN 102697443 B CN102697443 B CN 102697443B
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Abstract
An endoscope provided with protective casings on an end actuator comprises a control handle at the near end, a flexible inserting portion connected to the far end of the control handle in an attached mode, the end actuator connected to the far end of the flexible inserting portion in an attached mode and an elastic cover piece covered on the surface of the flexible inserting portion. The end actuator comprises an endoscope head exposed outside a bent portion and a hole channel outlet of a surgical instrument. A pair of protective casings capable of wrapping the endoscope head and the hole channel outlet of the surgical instrument is arranged on the end actuator and streamline-shaped, wherein the near ends of the protective casings are in hinged connection with the far end of the bent portion, and gaps are arranged at the far ends of the protective casings. Control mechanisms controlling mutual opening or closing-up of the protective casings are arranged on the protective casings and are controlled by the control handle. The endoscope provided with the protective casings on the end actuator has the advantages that the friction produced by the endoscope and a biological natural orifice or a body cavity is small, caused orifice hurt is little, a certain operation space for protecting surrounding tissues or organs can be further formed in operation and the like.
Description
Technical field
The present invention relates to a kind of scope.
Background technology
Soft scope has been used to diagnosis and the treatment disease history of more than 50 year.Go through the stages such as fiberendoscope, video image dendoscope, ultrasonic endoscope, but the current treatment that is only widely used in organism nature tract or has tube chamber (as positions such as bile duct, the pancreas) disease of opening in organism nature tract.
The operation of body cavity of organism develops into laparoscopic surgery gradually from open surgery.Open surgery need doctor aseptic operation indoor by patient carry out local anesthesia or general anesthesia then with scalpel, at patient's body surface, scratch larger, shears pliers of the hand-held various operation use of doctor etc. or directly extend into and carry out operation technique in patient's body cavity by opening with hands then.
Laparoscopic surgery is little much than the opening of open surgery, traumatic little a lot.Laparoscopic surgery is exactly the operation that utilizes peritoneoscope and related equipment thereof to carry out: use cold light source that illumination is provided, lens of laparoscope (diameter is 3-10mm) is inserted to intraperitoneal, use digital camera technology to make the image that lens of laparoscope photographs conduct to rear class signal processing system by optical fibers, and be presented in dedicated monitor in real time.Then doctor, by the image of shown patient's organ different angles on monitor screen, analyzes judgement to patient's the state of an illness, and uses laparoscopic instrument to perform the operation.Peritoneoscope is the endoscope for intraperitoneal inspection and treatment, is a kind of of scope.
The endoceliac one end of inserting patient in existing scope is called far-end, and the one end being gripped by the user of scope is called near-end.Scope is included in the joystick of near-end, and length is L
1and being attached to the flexible insertion section of the far-end of joystick, length is L
2and be attached to the bending section of the far-end of flexible insertion section, and be attached to the end effector of the far-end of bending section, control the controlling organization of bending section bending, and the elastic covering of coated this bending section; The distal attachment of elastic covering is to this end effector, and the proximal attachment of elastic covering is to the near-end of flexible insertion section; End effector comprises camera lens and the operating theater instruments that exposes to bending section, and operating theater instruments is connected with joystick by controlling steel wire, and joystick tractive is controlled steel wire and controlled operating theater instruments action.Be photographic head in camera lens, flexible insertion section with in bending section, be all equipped with the video transmission line being connected with photographic head.
The shortcoming that this scope exists is: omnidistance operating theater instruments in operation process and the camera lens of end effector are exposed, scope is when entering body cavity, operating theater instruments and camera lens easily produce extruding or friction, collision with body cavities, and scuffing cavity organization, damages.
Summary of the invention
For the end effector that overcomes existing scope easily produces extruding or friction, collision with biological tract; cause the shortcoming of cavity organization's damage; the friction that the invention provides a kind of and biological tract generation is little, and the end effector that can not cause tract to damage has the scope of containment vessel.
End effector has the scope of containment vessel, is included in the joystick of near-end, is attached to the flexible insertion section of the far-end of joystick, is attached to the end effector of the far-end of flexible insertion section, and is covered in the elastic covering on surface, flexible insertion section; End effector comprise expose to bending section camera lens and and the duct outlet of operating theater instruments;
It is characterized in that: end effector be provided with a pair of can be by the coated containment vessel in it of camera lens and operating theater instruments, it is streamlined that containment vessel is, the near-end of containment vessel and the distal end articulated of bending section, the far-end of containment vessel is provided with breach; Containment vessel is provided with controls the controlling organization that containment vessel is mutually opened or closed up, and this controlling organization is controlled by joystick.The outer surface of containment vessel is coated with the smooth polymer material layer of protectiveness.
Further; controlling organization comprise be fixed on containment vessel inner surface can make interior stay cord that containment vessel closes up mutually be fixed on containment vessel outer surface can make the relative outer stay cord of opening of containment vessel; when the tension of interior stay cord and outer stay cord are lax, containment vessel closes up mutually, when interior stay cord relaxes and outer stay cord loosens, containment vessel opens relatively.
Or controlling organization comprises the closed linkage that opens linkage and containment vessel is closed up mutually that containment vessel is opened mutually;
Opening hinged place that linkage and closed linkage be double link and two connecting rods is fixed with respectively to open and controls stay cord and Closed control stay cord; the two ends of opening linkage and closed linkage are hinged with containment vessel respectively, and the opening direction that opens linkage and closed linkage is relative.
Further, open linkage and closed linkage and enclose a parallelogram.The length of opening connecting rod is greater than the length of closed connecting rod.Or, in two linkages, arrange and can stop linkage to cross the block at dead point respectively.
Or controlling organization comprises a pair of gear pair being individually fixed on containment vessel, the secondary move toward one another of driven gear makes closed stay cord that containment vessel closes up mutually and the secondary adverse movement of driven gear make the stay cord that opens that containment vessel launches mutually.
Further, gear pair is a pair of half gear being individually fixed in containment vessel.
Or controlling organization comprises linkage and control pull bar, linkage is double link, controls the hinge place that pull bar is fixed on linkage, and linkage two ends are hinged with containment vessel respectively.The push-and-pull drivening rod of controlling pull bar opens or closure mutually, thereby drives containment vessel mutually to close up or closure.Control pull bar and comprise having the pogo barrel of rigidity and be arranged in the steel wire rope in pogo barrel, the flexible covering of pogo barrel surface coverage, as rubber bush.
Further, camera lens comprises the imaging end and the connecting portion that is connected imaging end and bending section that photographic head is housed, and this connecting portion is the bendable structure of flexible of surface coverage, and the structure of connecting portion can be identical with the structure of bending section;
Imaging end is positioned at the parcel region of containment vessel, and the near-end of containment vessel is provided with the empty avoiding portion that allows connecting portion to expose.This empty avoiding portion refers to the arc notch that is arranged on containment vessel near-end, when containment vessel closes up mutually, in the region that connecting portion surrounds in arc notch.Due to the existence of empty avoiding portion, make flexible connecting portion can not hinder containment vessel and mutually close up.
Further, the inner surface of containment vessel is provided with sleeve, and operating theater instruments passes through sleeve.Sleeve is connected with the elastic pipeline part outside operating theater instruments.
Further, the outer surface of containment vessel is provided with the holding tank that holds outer stay cord.
Further, the breach of containment vessel far-end is provided with transparent glasses lens.
Technical conceive of the present invention is: a pair of containment vessel of open and close is mutually set on the end effector of scope, and containment vessel is streamlined.At scope, enter in the process of human body, containment vessel is in closing up state, and containment vessel is wrapped in operating theater instruments and imaging end passes through biological tract, and the resistance entering is little, and can not cause tissue injury.Because the far-end of containment vessel is provided with breach, this breach, as the form of lens shooting, can not affect the operation visual field.
When end effector arrives target location, containment vessel is opened relatively, discharges operating theater instruments and camera lens.And containment vessel is relatively opened and can, by space for execution instrumentation of the separated formation of the internal organs in body cavity of organism, be hurt the risk of unnecessary internal organs or tissue in the time of can reducing endoscopic surgery.
The near-end of containment vessel arranges empty avoiding portion to allow crooked connecting portion to expose; containment vessel only need wrap up imaging end; connecting portion is without the volume that takies containment vessel inside; thereby the volume restrictions to imaging end is relaxed; imaging end use to many arrangements of mirrors head becomes possibility; be conducive to photograph more clear, the picture of performing the operation more fully, for accurately implementing operation, provide safeguard.
Outer surface at containment vessel arranges holding tank, thereby outer stay cord is accommodated in holding tank, makes the outer surface of containment vessel keep smooth, reduces frictional resistance.
It is little that the present invention has the friction producing with biological tract, can not cause the advantage of tract damage.
Accompanying drawing explanation
Fig. 1 is schematic diagram of the present invention.
Fig. 2 is the schematic diagram of end effector.
Fig. 3 is the schematic diagram of the inner side of containment vessel.
Fig. 4 is the schematic diagram in the outside of containment vessel.
Fig. 5 is the schematic diagram of camera lens.
Fig. 6 is the schematic diagram of a containment vessel while being articulated with end effector.
Fig. 7 is the schematic diagram while adopting the second controlling organization.
Fig. 8 is the schematic diagram while adopting the third controlling organization.
Fig. 9 is the schematic diagram while adopting the 4th kind of controlling organization.
Figure 10 is the schematic diagram of connecting portion.
The specific embodiment
Embodiment mono-
With reference to Fig. 1-6, further illustrate the present invention:
As shown in Figure 1, end effector has the scope of containment vessel, be included in the joystick 1 of near-end, be attached to the flexible insertion section 2 of the far-end of joystick 1, be attached to the far-end of flexible insertion section 2 bending section 3, be attached to the end effector 4 of the far-end of bending section 3, and be covered in the elastic covering on flexible insertion section 2 and bending section 3 surfaces; The distal attachment of elastic covering is to this end effector 4, and the proximal attachment of elastic covering is to the near-end of flexible insertion section 2; End effector 4 comprises camera lens 5 and and the duct outlet of operating theater instruments 6 that exposes to bending section 3.
As in Figure 2-4, end effector 4 be provided with a pair of can be by the coated containment vessel 7 in it of camera lens 4 and operating theater instruments 6, containment vessel 7 is streamlined, the distal end articulated of the near-end of containment vessel 7 and bending section 3, the far-end of containment vessel 7 is provided with breach 71, the form that when this breach 71 closes up as containment vessel, camera lens 5 is taken; Containment vessel is provided with controls the controlling organization that containment vessel is mutually opened or closed up, and this controlling organization is controlled by joystick.The outer surface of containment vessel is coated with the smooth polymer material layer of protectiveness.
Controlling organization comprise be fixed on containment vessel 7 inner surface can make interior stay cord that containment vessel closes up mutually be fixed on containment vessel outer surface can make the relative outer stay cord of opening of containment vessel; when the tension of interior stay cord and outer stay cord are lax, containment vessel closes up mutually, when interior stay cord relaxes and outer stay cord loosens, containment vessel opens relatively.The outer surface of containment vessel 7 is coated with the smooth polymer material layer of protectiveness.The inner surface of containment vessel 7 is provided with the retainer ring 72 of fixing interior stay cord.
Interior stay cord and outer stay cord can be that steel wire can be also bourdon tube.In controlling, stay cord and the tension of outer stay cord or lax device can be interior stay cord and outer stay cord all on fixing and a runner, when runner rotates, must be one be tightened up, another is relaxed.Owing to there being a pair of containment vessel, on each containment vessel, be equipped with interior stay cord and outer stay cord, therefore there is pair of turning wheels to control opening and closing up of containment vessel.Pair of turning wheels coaxially arranges and synchronously rotates, thereby realize, synchronously opens or synchronously closes up.
In controlling, stay cord and the tension of outer stay cord or lax device can also be outer stay cord and the interior stay cord two ends of fixing and a chain respectively, chain and sprocket engagement transmission, and sprocket wheel is as the control wheel of stay cord in tractive and outer stay cord.During sprocket rotation, drive chain movement, also make that one of interior stay cord and outer stay cord are lax, another tension, thereby open or close up containment vessel.Certainly, each containment vessel is controlled by pair of sprocket link chain mechanism, sprocket coaxiality setting, synchronously rotation.The control device of interior stay cord and outer stay cord can also have other forms, and as leverage, interior stay cord and outer stay cord be fixing and lever two ends respectively, during shifting lever, must be that a stay cord is tightened up, another stay cord lax.In controlling, stay cord and the tension of outer stay cord or lax device are installed on joystick 1.Therefore, the control device of interior stay cord and outer stay cord is not limited in giving an example in the present embodiment.
the inner surface of containment vessel 7 is provided with sleeve 73, and operating theater instruments 6 passes through sleeve 73.Sleeve 73 is connected with the elastic pipeline part outside operating theater instruments 6.
The outer surface of containment vessel 7 is provided with the holding tank 74 that holds outer stay cord.
The breach 71 of containment vessel 7 far-ends is provided with transparent glasses lens.This transparent glasses lens can be piezoid or the resin sheet of the high grade of transparency.On breach 71, transparent glasses lens is set, not only can not stops the shooting sight line of camera lens 5, can also stop the pollution of tissue fluid to camera lens 5 in traveling process, keep camera lens 5 cleanings.
As shown in Figure 5, camera lens 5 comprises the imaging end 51 and the connecting portion 52 that is connected imaging end 51 and bending section 3 that photographic head is housed, this connecting portion 52 is the bendable structure of flexible of surface coverage, and the structure of connecting portion 52 can be identical with the structure of bending section 3.This connecting portion 52 can be the warp architecture of snake bone shape, also can be comprised of a plurality of articulated linkage.Connecting portion 52 can bend to S shape or C shape, thereby can regulate the shooting angle of imaging end, the situation of more fully observing operative region.
The concrete structure of connecting portion 52 is as shown in figure 10: connecting portion is comprised of at least one bending unit, and bending unit comprises the joint pair of a plurality of annulars, joint between be hinged; Each joint is to comprising the first joint ring 52a and second joint ring 52b.
6 front end faces of the close operating theater instruments of two joints ring 52a, 52b and be respectively equipped with lug pair away from the rear end face of operating theater instruments 6, the lug of same end face is to being positioned on same diameter, the lug of front end face to the lug with rear end face to vertical; The rear end face lug of the first joint ring 52a pair with the front end face lug of second joint ring 52b to hinged; The rear end face lug of second joint ring 52b pair with the front end face lug of a rear joint centering the first joint ring 52a to hinged;
The front end face lug of the first joint ring 52a that joint is foremost right is pair hinged with mount pad, and mount pad is provided with the through hole that allows endoscope lens and operating theater instruments to pass.
The corresponding lug of each steel wire ring, steel wire ring with corresponding lug on same diameter; All crooked steel wires are parallel to each other.Tractive crooked steel wire, make crooked steel wire one end loosen one end to further.From right the first joint ring 52a in joint foremost, one end that the right joint ring in all joints all tightens up towards crooked steel wire swings, and makes connecting portion be the bending of C type.When using two bending units, the crooked steel wire of two bending units is separate, makes the degree of tightness opposite direction of the crooked steel wire of two bending units can make the S-type bending of connecting portion.
Imaging end 51 is positioned at the parcel region of containment vessel 7, and the near-end of containment vessel 7 is provided with the empty avoiding portion 75 that allows connecting portion to expose.This empty avoiding portion 75 refers to the arc notch that is arranged on containment vessel near-end, when containment vessel 7 closes up mutually, in the region that connecting portion 52 surrounds in arc notch.Due to the existence of empty avoiding portion 75, make flexible connecting portion 52 can not hinder containment vessel 7 and mutually close up.
Technical conceive of the present invention is: the containment vessel 7 of a pair of open and close is mutually set on the end effector 4 of scope, and containment vessel 7 is streamlined.At scope, enter in the process of human body, containment vessel 7 is in closing up state, and containment vessel 7 is wrapped in operating theater instruments 6 and imaging end 51 passes through biological tract, and the resistance entering is little, and can not cause tissue injury.Because the far-end of containment vessel 7 is provided with breach 71, this breach 71, as the form of lens shooting, can not affect the operation visual field.
When end effector 4 arrives target location, containment vessel 7 is opened relatively, discharges operating theater instruments 6 and camera lens 5.And containment vessel 7 is relatively opened and can, by space for execution instrumentation of the separated formation of the internal organs in body cavity of organism, be hurt the risk of unnecessary internal organs or tissue in the time of can reducing endoscopic surgery.
The near-end of containment vessel 7 arranges empty avoiding portion 75 to allow crooked connecting portion 52 to expose; 7 of containment vessels need parcel imaging end 51; connecting portion 52 is without the volume that takies containment vessel 7 inside; thereby the volume restrictions to imaging end 51 is relaxed; the imaging end 51 use to many arrangements of mirrors head becomes possibility; be conducive to photograph more clear, the picture of performing the operation more fully, for accurately implementing operation, provide safeguard.
Outer surface at containment vessel 7 arranges holding tank 74, thereby outer stay cord is accommodated in holding tank 74, makes the outer surface of containment vessel 7 keep smooth, reduces frictional resistance.
It is little that the present invention has the friction producing with biological tract, causes that tract damage is little can also form the advantages such as tissue around of certain operative space protection or organ when operation.
Embodiment bis-
With reference to Fig. 7
The present embodiment is from the difference part of embodiment mono-: the structure of controlling organization is different.The present embodiment adopts and to open the opening and closing that linkage and closed linkage are realized containment vessel.All the other structures are identical with embodiment mono-.
Specifically, controlling organization comprises the closed linkage 811 that opens linkage 812 and containment vessel is closed up mutually that containment vessel is opened mutually;
Opening hinged place that linkage 812 and closed linkage be double link and two connecting rods is fixed with respectively to open and controls stay cord 8121 and Closed control stay cord 8111; the two ends of opening linkage and closed linkage are hinged with containment vessel 7 respectively, open linkage 812 relative with the opening direction of closed linkage 811.Closed linkage 811 openings are towards near-end.
Open linkage 812 and closed linkage 811 and enclose a parallelogram.The length of opening connecting rod is greater than the length of closed connecting rod.Or, in two linkages, arrange and can stop linkage to cross the block at dead point respectively.Two length of connecting rods that open linkage 812 are equal, and two length of connecting rods of closed linkage 811 equate.
In the present embodiment, by tractive, open and control stay cord 8121, two connecting rods that open linkage 812 are launched relatively, thereby containment vessel 7 is opened mutually.Tractive opens while controlling stay cord 8121, and Closed control stay cord 8111 is in relaxed state, and closed linkage 811 launches under the drive of opening linkage 812.
By tractive Closed control stay cord 8111, two connecting rods of closed linkage 811 are closed up mutually, thereby make containment vessel 7 mutually closed.During tractive Closed control stay cord 8111, open and control stay cord 8121 in relaxed state, open linkage 812 and close up under the drive of closed linkage 811.
The present embodiment has simple in structure, easily the advantage of folding containment vessel.
Embodiment tri-
With reference to Fig. 8
The present embodiment is from the difference part of embodiment mono-: the structure of controlling organization is different.The present embodiment adopts gear pair to realize the opening and closing of containment vessel.All the other structures are identical with embodiment mono-.
Specifically; controlling organization comprises a pair of gear pair 821 being individually fixed on containment vessel 7, and secondary 821 move toward one another of driven gear make that closed stay cord 822 that containment vessel 7 closes up mutually and secondary 821 adverse movements of driven gear make that containment vessel 7 launches mutually opens stay cord 823.
Gear pair 821 is a pair of half gear being individually fixed in containment vessel 7.
Open the outer surface that stay cord 823 is fixed on one of them containment vessel 7, closed stay cord 822 is fixed on half gear; The containment vessel 7 of take is fulcrum with the hinge of bending section, and closed stay cord 822 produces the moment of driving gear wheel set 821 move toward one another, opens stay cord 823 and produces driving gear wheel set 821 heterodromous moments.
The present embodiment has simple in structure, easily the advantage of folding containment vessel.
Embodiment tetra-
With reference to Fig. 9
The present embodiment is from the difference part of embodiment mono-: the structure of controlling organization is different.The present embodiment adopts a double connecting rod to realize the opening and closing of containment vessel.All the other structures are identical with embodiment mono-.
Specifically, controlling organization comprises linkage 831 and control pull bar 832, and linkage 831 is double link, controls the hinge place that pull bar 832 is fixed on linkage 831, and linkage 831 two ends are hinged with containment vessel 7 respectively.The push-and-pull drivening rod of controlling pull bar 832 opens or closure mutually, thereby drives containment vessel 7 mutually to close up or closure.Control pull bar 832 and comprise thering is the pogo barrel 8321 of rigidity and be arranged in the steel wire rope 8322 in pogo barrel 8321.The flexible covering of pogo barrel 8321 surface coverage, as rubber bush.
In the present embodiment, will control pull bar 832 to proximal direction tractive, two connecting rods in linkage 831 draw in mutually, and drive containment vessel 7 mutually closed.In the time of controlling pull bar 832 and push to distal direction, two connecting rods of linkage 831 open mutually.Owing to controlling pull bar 832, by pogo barrel 8321 and steel wire rope 8322, formed, to far-end, push and control pull bar 832 specifically towards far-end promotion steel wire rope 8322, steel wire rope 8322 promotes linkage 831 to far-end under the restriction of pogo barrel 8321, and the effect of its motive force is less than the effect of traction force.Two connecting rods open mutually slightly, and then drive containment vessel 7 mutually slightly to open, and obtain operative space.
The present embodiment has simple in structure, easily the advantage of folding containment vessel.
Content described in this description embodiment is only enumerating the way of realization of inventive concept; protection scope of the present invention should not be regarded as only limiting to the concrete form that embodiment states, protection scope of the present invention also and in those skilled in the art, according to the present invention, conceive the equivalent technologies means that can expect.
Claims (10)
1. end effector has the scope of containment vessel, is included in the joystick of near-end, is attached to the flexible insertion section of the far-end of joystick, is attached to the end effector of the far-end of flexible insertion section, and is covered in the elastic covering on surface, flexible insertion section; End effector comprises and exposes to the outlet of the camera lens of bending section and the duct of operating theater instruments; It is characterized in that: end effector be provided with a pair of can be by the coated containment vessel in it of camera lens and operating theater instruments, it is streamlined that containment vessel is, the near-end of containment vessel and the distal end articulated of bending section, the far-end of containment vessel is provided with breach; Containment vessel is provided with controls the controlling organization that containment vessel is mutually opened or closed up, and this controlling organization is controlled by joystick.
2. the end effector as described in claim 1 has the scope of containment vessel; it is characterized in that: controlling organization comprise be fixed on containment vessel inner surface can make interior stay cord that containment vessel closes up mutually be fixed on containment vessel outer surface can make the relative outer stay cord of opening of containment vessel; when the tension of interior stay cord and outer stay cord are lax, containment vessel closes up mutually, when the lax and outer stay cord of interior stay cord is strained, containment vessel opens relatively.
3. the end effector as described in claim 1 has the scope of containment vessel, it is characterized in that: controlling organization comprises the closed linkage that opens linkage and containment vessel is closed up mutually that containment vessel is opened mutually;
Opening hinged place that linkage and closed linkage be double link and two connecting rods is fixed with respectively to open and controls stay cord and Closed control stay cord; the two ends of opening linkage and closed linkage are hinged with containment vessel respectively, and the opening direction that opens linkage and closed linkage is relative.
4. the end effector as described in claim 3 has the scope of containment vessel, it is characterized in that: open linkage and closed linkage and enclose a parallelogram.
5. the end effector as described in claim 1 has the scope of containment vessel; it is characterized in that: controlling organization comprises a pair of gear pair being individually fixed on containment vessel, the secondary move toward one another of driven gear makes closed stay cord that containment vessel closes up mutually and the secondary adverse movement of driven gear make the stay cord that opens that containment vessel launches mutually.
6. the end effector as described in claim 1 has the scope of containment vessel, it is characterized in that: controlling organization comprises linkage and controls pull bar, linkage is double link, controls the hinge place that pull bar is fixed on linkage, and linkage two ends are hinged with containment vessel respectively; Control pull bar and comprise thering is the pogo barrel of rigidity and be arranged in the steel wire rope in pogo barrel.
7. the end effector as described in one of claim 1-6 has the scope of containment vessel, it is characterized in that: camera lens comprises the imaging end and the connecting portion that is connected imaging end and bending section that photographic head is housed, this connecting portion is the bendable structure of flexible of surface coverage; Imaging end is positioned at the parcel region of containment vessel, and the near-end of containment vessel is provided with the empty avoiding portion that allows connecting portion to expose.
8. the end effector as described in claim 7 has the scope of containment vessel, it is characterized in that: the inner surface of containment vessel is provided with sleeve, and operating theater instruments passes through sleeve; Sleeve is connected with the elastic pipeline part outside operating theater instruments.
9. the end effector as described in claim 8 has the scope of containment vessel, it is characterized in that: the outer surface of containment vessel is provided with the holding tank that holds outer stay cord.
10. the end effector as described in claim 9 has the scope of containment vessel, it is characterized in that: the breach of containment vessel far-end is provided with transparent glasses lens.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210122995.XA CN102697443B (en) | 2012-04-24 | 2012-04-24 | Endoscope provided with protective casings on end actuator |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210122995.XA CN102697443B (en) | 2012-04-24 | 2012-04-24 | Endoscope provided with protective casings on end actuator |
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| CN102697443A CN102697443A (en) | 2012-10-03 |
| CN102697443B true CN102697443B (en) | 2014-10-08 |
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Families Citing this family (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103315781B (en) * | 2013-07-10 | 2015-03-18 | 上海交通大学 | Endoscope noninvasive surgery system |
| CN104473688B (en) * | 2014-12-03 | 2016-10-26 | 中国人民解放军第二军医大学 | There is the bendable end operating theater instruments in bendable joint |
| CN104490467B (en) * | 2014-12-03 | 2017-03-08 | 中国人民解放军第二军医大学 | The non-Myometrial involvement tumor of bladder intracavity operation device system of per urethra approach |
| CN106333639A (en) * | 2016-09-09 | 2017-01-18 | 江苏科沁光电科技有限公司 | Electronic endoscope for human body nature cavity |
| CN106595883A (en) * | 2016-12-07 | 2017-04-26 | 四川秋明山测绘有限公司 | Rock temperature measuring device capable of protecting temperature measuring probe |
| CN106644121A (en) * | 2016-12-07 | 2017-05-10 | 四川秋明山测绘有限公司 | Novel rock temperature measuring device |
| CN106595902A (en) * | 2016-12-07 | 2017-04-26 | 四川秋明山测绘有限公司 | Apparatus for measuring rock temperature |
| CN106644123A (en) * | 2016-12-07 | 2017-05-10 | 四川秋明山测绘有限公司 | Rock temperature measuring device used for mine |
| CN106644116A (en) * | 2016-12-07 | 2017-05-10 | 四川秋明山测绘有限公司 | Simple rock temperature measuring device |
| CN106644118A (en) * | 2016-12-07 | 2017-05-10 | 四川秋明山测绘有限公司 | Telescopic rock temperature measurement device |
| CN108210959A (en) * | 2016-12-09 | 2018-06-29 | 深圳市先赞科技有限公司 | For the both ends open entirety sterilizing methods of endoscope |
| CN109567727B (en) * | 2019-01-24 | 2021-06-01 | 安多特(北京)内窥镜技术有限公司 | Assembly of medical endoscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP3367376B2 (en) * | 1997-03-31 | 2003-01-14 | 富士写真光機株式会社 | Cell collection device |
| KR101477125B1 (en) * | 2006-06-13 | 2014-12-29 | 인튜어티브 서지컬 인코포레이티드 | Minimally invasive surgical system |
| JP5431270B2 (en) * | 2010-08-17 | 2014-03-05 | 株式会社モリタ製作所 | Endoscope tip cover and endoscope |
| CN202821280U (en) * | 2012-04-24 | 2013-03-27 | 王东 | Endoscope with end portion actuator provided with protective shells |
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