CN103494593A - Intelligent colonoscopy - Google Patents
Intelligent colonoscopy Download PDFInfo
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- CN103494593A CN103494593A CN201310021613.9A CN201310021613A CN103494593A CN 103494593 A CN103494593 A CN 103494593A CN 201310021613 A CN201310021613 A CN 201310021613A CN 103494593 A CN103494593 A CN 103494593A
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Abstract
The invention relates to an intelligent colonoscopy and belongs to intelligent electronic medical instruments. A gastrointestinal endoscope is a very indispensable and important instrument for routine examination of digestive tract diseases. However, an existing colonoscopy has no digestive tract intervening operation function and is manually operated to cause harm to a patient. Due to the facts that the physical performance of the contact face between the colonoscopy and the inner wall of the gastrointestinal tract is improved and the friction coefficients between the colonoscopy and the inner wall of the gastrointestinal tract are increased, the colonoscopy can acquire safe, stable and reliable running power in the gastrointestinal tract. The self-adaptive curve of the colonoscopy corresponds to the curve of the gastrointestinal tract, so that scientific and accurate colonoscopy examination can be smoothly and conveniently finished in the situation without any pain risk for the patient. Thus, the medical safety is guaranteed, and the medical quality is improved.
Description
Technical field
The invention belongs to the intelligent electronic medical apparatus and instruments, relate to a kind of intelligent enteroscope that digestive tract is carried out to conventional medical examination.
Technical background
Gastrointestinal Endoscopes for the human body alimentary canal inspection is all manual manual operations at present, there are many drawbacks, not only make to be examined the people and produce inflation unbearably, the untoward reaction of nausea and vomiting, and existence shock, the intestinal perforation equivalent risk, its basic reason is that existing intestinal mirror falls behind for clumsy very much, stiff tetanic intestinal mirror is by manual manual feed bending, unordered gastrointestinal tract, when the intestinal mirror is, where, to which direction turn round and rely on the understanding of doctor to the human gastrointestinal tract region of anatomy fully, with the feel experience, with the inflation information of being examined people's feedback, judge, this is a tentative process that enters, there are many uncertainties, unscientific Gastrointestinal Endoscopes, irrational operational approach must be brought misery and risk to the patient, affected and checked on the quality simultaneously, the patent of invention " intelligent enteroscope " that application number is 2011100945500 is although solved preferably the defect that existing Gastrointestinal Endoscopes exists, make the person under inspection avoid misery and risk, but because there is too much moisture in the gastrointestinal tract inwall, the efficiency that causes Gastrointestinal Endoscopes to move in digestive tract is not high, reliability is inadequate, makes gastrointestinal endoscopy be subject to certain impact, intelligent enteroscope of the present invention is intended to significantly reduce the too much moisture that the digestive tract inwall adheres to, promote the coefficient of friction at intestinal mirror and intestinal wall two interfaces, make Gastrointestinal Endoscopes obtain desirable operation power, thereby greatly improved the Gastrointestinal Endoscopes reliability of operation, improved the medical examination quality.{ annotate: following Gastrointestinal Endoscopes is referred to as the intestinal mirror, and gastrointestinal tract or digestive tract are referred to as intestinal }
Summary of the invention
The object of the present invention is to provide a kind of intestinal mirror, a kind of patent of invention " intelligent enteroscope " that is 2011100945500 than application number has the intestinal mirror that moves more reliably power, adhere to too much moisture by reducing the intestinal inwall, change its physical state, promote its coefficient of friction, make the intestinal mirror obtain desirable frictional force in intestinal, move power, make that intestinal mirror reliability of operation is higher, controllability is stronger, thereby greatly promoted the quality of enteroscopy.
Technical scheme of the present invention is: a kind of intestinal mirror is provided, comprise and get involved gastral capsule shape body, be arranged on the running gear of body, the medical examination device, preventer, chip, also comprise external dehumidifying pump, image recognizing and processing equipment, the computer management device, power supply, also comprise the transmission pipeline that connects body and external body, the anus pipe guide, it is characterized in that: described running gear comprises the dehumidifying capsule connected as one successively, front adsorbate, extrusome, rear adsorbate, described dehumidifying capsule is arranged on the ring-type ventilation capsule in front adsorbate the place ahead, described dehumidifying capsule is provided with a plurality of air-vents, described dehumidifying capsule is connected with external dehumidifying pump by described transmission pipeline, described dehumidifying pump will inject intestinal through the air-vent of described dehumidifying capsule through pretreated gas, the too much moisture of intestinal inwall is volatilized rapidly, the intestinal simultaneously described intestinal mirror body the place ahead fit together is filled, form the air bag of an appropriateness, the resistance moved forward to reduce described intestinal mirror body, before described, rear adsorbate be respectively equipped with a plurality of before, rear adsorbent equipment, each described adsorbent equipment comprises structure, cavity, sucker membrane, adapt to circle, compression spring, clamp ring, each described sucker membrane is provided with a plurality of unidirectional fumaroles, described dehumidifying pump will inject described adsorbent equipment via described transmission pipeline through pretreated gas, the described sucker membrane that is arranged on described adsorbent equipment front end is opened at the gas pressure described unidirectional fumarole of ordering, gas sprays to intestinal wall, the too much moisture of intestinal wall is volatilized again, the intestinal wall surface becomes unsmooth, when described dehumidifying pump has changed the air feed direction, described sucker membrane bounces back under gas negative pressure, described unidirectional fumarole is closed, be arranged on the described adaptation circle direction stretching, extension perpendicular to intestinal wall with cardinal principle under the pressure of described compression spring in described sucker membrane, and agree with self adaptation plastic deformation and right intestinal wall, when gas negative pressure is gradually large, described sucker membrane and intestinal wall just tightly agree with and are integrated, the gas that in intestinal, humidity is larger is discharged in the lump via the dehumidifying pump.
A valve of described dehumidifying pump is used for controlling the ventilation of described dehumidifying capsule, another valve of described dehumidifying pump provides positive and negative pressure gas by forward and reverse automatic interrupter for described forward and backward adsorbent equipment intersects, and described forward and backward adsorbent equipment is alternately agreed with according to the rhythm and pace of moving things and the intestinal wall set.
Described extrusome connects as one described forward and backward adsorbate, and it is with intestinal wall, alternately to adsorb, coordinate the stretching motion that intersects of described extrusome to complete by the described sucker membrane of described forward and backward adsorbent equipment that described intestinal mirror body moves in intestinal.
Described medical examination device comprises that the endoscope apparatus, the biopsy that are arranged on intestinal mirror body front end ask for device, laser Drug therapy device, chip.
Described endoscope apparatus comprises varifocal camera lens and makes camera lens turn, and the travelling mechanism at the convertible elevation angle.
Described biopsy is asked for device and ask for section under being spied on of described endoscope.
Described laser Drug therapy device comprises laser body and drug delivery mechanism.
Described image recognizing and processing equipment is to digestive tract inwall physiology, the pathological image information of the picked-up of described endoscope apparatus, via computer software, is identified, processes, and makes, without the diagnostic equipment of pathological changes, which kind of pathological changes.
Described dehumidifying pump is to have the gas of volatilization, absorption function very by force by the specific gas through super-dry, purification, Temperature Treatment or to moisture, be transported to large enteral via described dehumidifying capsule, make the too much moisture of large intestine inwall volatilize rapidly, absorb, the gas that the humidity produced is larger is discharged via described dehumidifying pump.
At present, the intestinal mirror that the most of hospitals of China are used is introduced from Japan, by medical circles, generally acknowledged, the world's state-of-the-art Olympus intestinal mirror, and no matter compatriots or common people, as long as suffer from, the digestive tract illness is all outer without string will bear misery and the risk that the state-of-the-art intestinal mirror in the so-called world brings, and the present invention has cracked these puzzlement medical circles and common people's global problem, if patent of the present invention is able to Application and Development, being examined the people is substantially there is no perception, in situation without any painful risk, easily, complete quickly enteroscopy, this has not only ensured medical safety, improved the enteroscopy quality, and thoroughly freed the psychosoma pressure that the medical personnel causes because of life-time service intestinal mirror, 1,300,000,000 populous nations have also thoroughly been solved to the long-term present situation relied on of daily output intestinal mirror, broken the general layout of this product by west monopolization, make compatriots, in this field, right of speech arranged, we can formulate the intestinal mirror access higher than international standard, and enteroscopy standard, make compatriots enjoy the highest medical courteous reception or treatment, this carries forward vigorously medical reform to country, the people's livelihood problem that solves the difficulty and high cost of getting medical high cost of getting medical treatment will play a significant role.
The accompanying drawing explanation
Below in conjunction with accompanying drawing, the invention will be further described.
Accompanying drawing is profile schematic diagram, axial section schematic diagram, the radial section schematic diagram of intelligent enteroscope of the present invention.
the specific embodiment
Below by profile schematic diagram, axial section F-F, the radial section figure C1-C1 of intestinal mirror body, and front adsorbent equipment and intestinal wall agree with the enlarged drawing be integrated and illustrate.
{ the present invention is intended to solve intestinal mirror body and moves the problem be short of power in gastrointestinal tract, and this is done and stresses, other parts are done to brief description.}
A-A shown in accompanying drawing profile schematic diagram is the medical examination device.
The 1-1 of parts shown in accompanying drawing is endoscope apparatus.This device comprises varifocal camera lens and makes camera lens turn, and the travelling mechanism at the convertible elevation angle, is the device that obtains digestive tract inwall physiology, pathological image.
The 1-2 of parts shown in accompanying drawing is that device is asked in biopsy.This device is the device of asking for intestinal physiology, pathological section.
The 1-3 of parts shown in accompanying drawing is laser therapy, drug delivery device.
B-B shown in accompanying drawing profile schematic diagram is the dehumidifying capsule, and C-C is front adsorbate, and E-E is extrusome, and D-D is rear adsorbate, connects as one successively the running gear that forms intestinal mirror body with upper-part.
The device of medical examination shown in above and running gear connect as one, and form and get involved gastral intestinal mirror body.
Parts W1 in accompanying drawing shown in the profile schematic diagram is the dehumidifying pump, and parts W2 is hydraulic pump, and parts W3 is image recognizing and processing equipment, and parts W4 is the computer management device, and parts W5 is power supply.Above each parts form the external body of intestinal mirror, and each parts are connected with intestinal mirror body by corresponding pipeline.
Parts Z in accompanying drawing shown in the profile schematic diagram is transmitting catheter.It is total transfer tube that intestinal mirror body connects the various pipelines of external body.
Parts G shown in the profile schematic diagram in accompanying drawing is the anus pipe guide.This device is the protector of anus and the actuator of parts Z transmitting catheter; this device is provided with one pair of pair roller; first live roll, another is driven roll; this pair of pair roller is aided with certain power when intestinal mirror body enters intestinal, when intestinal mirror body exits intestinal, is the major impetus that affects intestinal mirror body.
Parts shown in accompanying drawing 2 are dehumidifying capsules.This capsule is provided with a plurality of passages, be placed in the place ahead of parts 3 front adsorbates, this dehumidifying capsule is connected with the dehumidifying pump through dehumidification pipe, the dehumidifying pump will be through super-dry, temperature, the gas of purified treatment, or moisture is had to volatilization very by force, the gas inject dehumidifying capsule of absorption function, passage through the dehumidifying capsule injects intestinal, this gas has certain pressure, the intestinal on the one hand intestinal mirror body the place ahead fit together is filled, form the air bag of an appropriateness, the resistance moved forward to reduce intestinal mirror body, on the one hand through super-dry, temperature, the gas of purified treatment volatilizees moisture too much on intestinal wall rapidly, the gas that humidity is larger is discharged via the dehumidifying pump, so, the dehumidifying pump is according to the rhythm and pace of moving things inflation of setting, aerofluxus, the moisture evaporation that the intestinal inwall is too much is discharged, thereby strengthened the coefficient of friction of intestinal inwall, make the operation of intestinal mirror obtain larger frictional force.
Parts shown in accompanying drawing 3 are front adsorbates.Its front end is connected with medical examination device, dehumidifying capsule, and rear end is connected with parts 4 extrusomes.
Below by the partial enlarged drawing of front adsorbate parts 3, be described further.
The 3-1 of parts shown in accompanying drawing is the structure of front adsorbate.The material that this structure is stronger by mechanical performance is made, and is all components modeling of front adsorbate, fixing, the body that connects.
The 3-2 of parts shown in accompanying drawing is cavity.It is the circular cell body that an opening diameter is large, base diameter is less, the degree of depth is suitable.
The 3-3 of parts shown in accompanying drawing is sucker membrane.This film is made by highly elastic material, and film body is provided with a plurality of one-way ventilatings hole, and film body outwardly convex, passage when malleation are opened, and when negative pressure, caves inward, passage closes.
The 3-4 of parts shown in accompanying drawing is clamp ring.This circle is placed in the groove of parts 3-2 cavity outer rim, fuses with sucker membrane, sucker membrane is locked on the opening of parts 3-2 cavity.
The 3-5 of parts shown in accompanying drawing is to adapt to circle.The highly elastic material that this circle is stronger by plasticity is made, and the medial surface of this circle and parts 3-3 sucker membrane fuses, and its slightly larger in diameter is in cavity hatch and be located in the cavity hatch place.
The 3-6 of parts shown in accompanying drawing is compression spring.This spring is tower-like, has the tension force of requirement, and the end that diameter is less is fixed on cavity bottom, and the end that diameter is larger adapts to circle with parts 3-5 and merges mutually.
The 3-7 of parts shown in accompanying drawing is cavity ditch through hole.This hole is placed in the bottom of cavity, and, by the pipeline in structure and adjacent cavity communication, this device for cleaning pipeline is crossed transmission pipeline and is connected with external dehumidifying pump.
Parts shown in accompanying drawing 7 are cable tubings.This pipeline is dived and is put in the structure of adsorbate before parts 3-1, is the passage of transmission power circuit, data circuit, fluid pressure line.Equally, also be provided with identical cable tubing in the structure of rear adsorbate.
Parts shown in accompanying drawing 8 are generalized sections of intestinal wall.
When external dehumidifying pump by transmitting catheter, parts 3-7 cavity ditch through hole, while making gas in parts 3-2 cavity be negative pressure, parts 3-3 sucker membrane adapts to by parts 3-5 the self adaptation plastic deformation and the intestinal wall that enclose under negative pressure closely agrees with, and is the state that the front adsorbate of parts 3 shown in axial section F-F and parts 8 intestinal wall are adsorbed as one; Otherwise, when the dehumidifying pump becomes the state of the parts 5 rear adsorbates shown in axial section F-F while bestowing barotropic gas, the adsorbent equipment of this state will not intestinal wall absorption.
To sum up, when the dehumidifying pump is inflated to cavity, at gas pressure, and with cardinal principle, the angle perpendicular to intestinal wall outwards stretches together with adapting to circle to make sucker membrane under the pressure of compression spring, open in the one-way ventilating hole of sucker membrane, by drying, temperature, the gas of purified treatment equally sprays to right intestinal wall through a plurality of passages to the shower nozzle of shower, the moisture that intestinal wall is unnecessary is air-dry again, make the intestinal wall surface become not smooth, when the pressure of gas strengthens gradually, sucker membrane, adapt to circle fits with self adaptation plastic deformation and intestinal wall under the pressure of gas and compression spring, when the reversal valve of dehumidifying pump commutates, be negative pressure in cavity, sucker membrane bounces back under negative pressure, but the adaptation circle of surveying in sucker membrane still is buckling state with intestinal wall under the pressure of compression spring, when the negative pressure in cavity is gradually large, with the periphery of the sucker membrane of intestinal wall laminating under the pressure that adapts to circle, just with intestinal wall, tightly fit together, formation meets the frictional force that intestinal mirror body moves in intestinal, the gas larger for humidity in intestinal is extracted out via the dehumidifying pump.
Parts shown in accompanying drawing 5 are axial sections of rear adsorbate.Because the rear adsorbent equipment of rear adsorbate is identical with structure and the merit of the front adsorbent equipment of parts 3 front adsorbates, therefore not repeat specification is only done following explanation to difference.
The front end of rear adsorbate is connected with the rear end of parts 4 extrusomes, dive and be equipped with the driving mechanism of parts 4 extrusomes at the structure axis part of rear adsorbate, also be provided with passage and the joint of dehumidifying gas transmission pipeline, hydraulic pressure transfer conduit, data circuit, power circuit in structure rear end and structure.
In addition, forward and backward adsorbent equipment intersects and carries out under programme-control with the operation that agrees with of intestinal wall.
Parts shown in accompanying drawing 4 are extrusomes.Extrusome is connected between forward and backward adsorbate.
The 4-1 of parts shown in accompanying drawing is turbine box.This case is placed in the rear end of rear adsorbate.
The 4-2 of parts shown in accompanying drawing is turbine wheel shaft.This shaft rear end is placed in turbine box, by the turbine drive in turbine box.
The 4-3 of parts shown in accompanying drawing is Hooks coupling universal coupling.
The 4-4 of parts shown in accompanying drawing is gear shaft.
The 4-5 of parts shown in accompanying drawing is geared sleeve.This be placed on front adsorbate rear end axis part, with the interlock of the gear of parts 4-4 gear shaft coupling.
The front end that is arranged on the parts 4-2 turbine wheel shaft in parts 4-1 turbine box is connected with parts 4-3 Hooks coupling universal coupling, parts 4-4 gear shaft, with the interlock of parts 4-5 geared sleeve, the cross-operation under the driving of the positive and negative hydraulic power of external parts W2 hydraulic pump of the turbine in turbine box, if front adsorbent equipment and intestinal wall agree with, rear adsorbent equipment does not agree with intestinal wall, as shown in accompanying drawing F-F, when parts 4-2 turbine wheel shaft is while being rotated in the forward, be arranged on so the parts 4-5 geared sleeve of front adsorbate rear end by the turn of parts 4-4 gear shaft, rear adsorbate is pulled forward, rear adsorbate moves forward one section in intestinal, before, rear adsorbate is minimum range, then, rear adsorbent equipment and intestinal wall agree with, front adsorbent equipment does not agree with intestinal wall, so, parts 4-5 geared sleeve on front adsorbate is at parts 4-4 gear shaft, , parts 4-3 shaft coupling, under the rotary actuation of parts 4-2 turbine wheel shaft, front adsorbate is promoted forward to one section, now, before, rear adsorbate is ultimate range, so go round and begin again, make the intestinal mirror realize stable operation in intestinal.
The 6-1 of parts shown in accompanying drawing is flexible protective jacket.It is the protective jacket of guard block 4 extrusome normal operations.
The 6-2 of parts shown in accompanying drawing is isolating membrane.This film is the disposable film of using of isolation intestinal mirror extrusome and intestinal.
To sum up, patent of the present invention has solved well the intestinal mirror and moved the problem be short of power in intestinal, for road has been paved in exploitation and the application of intelligent enteroscope, is also that the expansion of the less invasive techniques of digestive tract surgery is laid a good foundation.
Claims (9)
1. an intestinal mirror, comprise and get involved gastral capsule shape body, be arranged on the running gear of body, the medical examination device, preventer, chip, also comprise external dehumidifying pump, image recognizing and processing equipment, the computer management device, power supply, also comprise the transmission pipeline that connects body and external body, the anus pipe guide, it is characterized in that: described running gear comprises the dehumidifying capsule connected as one successively, front adsorbate, extrusome, rear adsorbate, described dehumidifying capsule is arranged on the ring-type ventilation capsule in front adsorbate the place ahead, described dehumidifying capsule is provided with a plurality of air-vents, described dehumidifying capsule is connected with external dehumidifying pump by described transmission pipeline, described dehumidifying pump will inject intestinal through the air-vent of described dehumidifying capsule through pretreated gas, the too much moisture of intestinal inwall is volatilized rapidly, the intestinal simultaneously described intestinal mirror body the place ahead fit together is filled, form the air bag of an appropriateness, the resistance moved forward to reduce described intestinal mirror body, before described, rear adsorbate be respectively equipped with a plurality of before, rear adsorbent equipment, each described adsorbent equipment comprises structure, cavity, sucker membrane, adapt to circle, compression spring, clamp ring, each described sucker membrane is provided with a plurality of unidirectional fumaroles, described dehumidifying pump will inject described adsorbent equipment via described transmission pipeline through pretreated gas, the described sucker membrane that is arranged on described adsorbent equipment front end is opened at the gas pressure described unidirectional fumarole of ordering, gas sprays to intestinal wall, the too much moisture of intestinal wall is volatilized again, the intestinal wall surface becomes unsmooth, when described dehumidifying pump has changed the air feed direction, described sucker membrane bounces back under gas negative pressure, described unidirectional fumarole is closed, be arranged on the described adaptation circle direction stretching, extension perpendicular to intestinal wall with cardinal principle under the pressure of described compression spring in described sucker membrane, and agree with self adaptation plastic deformation and right intestinal wall, when gas negative pressure is gradually large, described sucker membrane and intestinal wall just tightly agree with and are integrated, the gas that in intestinal, humidity is larger is discharged in the lump via the dehumidifying pump.
2. intestinal mirror according to claim 1, it is characterized in that: a valve of described dehumidifying pump is used for controlling the ventilation of described dehumidifying capsule, another valve of described dehumidifying pump provides positive and negative pressure gas by forward and reverse automatic interrupter for described forward and backward adsorbent equipment intersects, and described forward and backward adsorbent equipment is alternately agreed with according to the rhythm and pace of moving things and the intestinal wall set.
3. intestinal mirror according to claim 1, it is characterized in that: described extrusome connects as one described forward and backward adsorbate, and it is with intestinal wall, alternately to adsorb, coordinate the stretching motion that intersects of described extrusome to complete by the described sucker membrane of described forward and backward adsorbent equipment that described intestinal mirror body moves in intestinal.
4. intestinal mirror according to claim 1 is characterized in that: described medical examination device comprises that the endoscope apparatus, the biopsy that are arranged on intestinal mirror body front end ask for device, laser Drug therapy device, chip.
5. intestinal mirror according to claim 4 is characterized in that: described endoscope apparatus comprises varifocal camera lens and makes camera lens turn, and the travelling mechanism at the convertible elevation angle.
6. intestinal mirror according to claim 4, it is characterized in that: described biopsy is asked for device and ask for section under being spied on of described endoscope.
7. intestinal mirror according to claim 4, it is characterized in that: described laser Drug therapy device comprises laser body and drug delivery mechanism.
8. intestinal mirror according to claim 1, it is characterized in that: described image recognizing and processing equipment is digestive tract inwall physiology, the pathological image information to described endoscope apparatus picked-up, identified, processed via computer software, made, without the diagnostic equipment of pathological changes, which kind of pathological changes.
9. intestinal mirror according to claim 1, it is characterized in that: described dehumidifying pump is to have the gas of volatilization, absorption function very by force by the specific gas through super-dry, purification, Temperature Treatment or to moisture, be transported to large enteral via described dehumidifying capsule, make the too much moisture of large intestine inwall volatilize rapidly, absorb, the gas that the humidity produced is larger is discharged via described dehumidifying pump.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310021613.9A CN103494593A (en) | 2013-01-22 | 2013-01-22 | Intelligent colonoscopy |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310021613.9A CN103494593A (en) | 2013-01-22 | 2013-01-22 | Intelligent colonoscopy |
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| CN103494593A true CN103494593A (en) | 2014-01-08 |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106037615A (en) * | 2016-05-20 | 2016-10-26 | 温州智宇翱华商务服务有限公司 | Colonoscope |
| CN106419820A (en) * | 2016-09-26 | 2017-02-22 | 江阴市人民医院 | Surgical instrument for thoracoscope |
| CN107485361A (en) * | 2017-08-23 | 2017-12-19 | 鲍鹏升 | A kind of OGD for effectively reducing pain |
| WO2020252838A1 (en) * | 2019-06-18 | 2020-12-24 | 北京大学口腔医学院 | Hollow airbag peristaltic robot for gastrovascular cavity, pipeline, or wall climbing |
| CN112120663A (en) * | 2020-08-21 | 2020-12-25 | 天津大学 | Flexible pneumatic robot capable of bending to advance and bending method thereof |
| CN113081075A (en) * | 2021-03-09 | 2021-07-09 | 武汉大学 | Magnetic control capsule with active biopsy and drug delivery functions |
| CN113827321A (en) * | 2021-09-24 | 2021-12-24 | 吉林大学 | Preoperative pathological diagnosis puncture biopsy device for liver cancer |
-
2013
- 2013-01-22 CN CN201310021613.9A patent/CN103494593A/en active Pending
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106037615A (en) * | 2016-05-20 | 2016-10-26 | 温州智宇翱华商务服务有限公司 | Colonoscope |
| CN106037615B (en) * | 2016-05-20 | 2018-02-06 | 温州医科大学附属第二医院温州医科大学附属育英儿童医院 | Colonoscopy |
| CN106419820A (en) * | 2016-09-26 | 2017-02-22 | 江阴市人民医院 | Surgical instrument for thoracoscope |
| CN107485361A (en) * | 2017-08-23 | 2017-12-19 | 鲍鹏升 | A kind of OGD for effectively reducing pain |
| CN107485361B (en) * | 2017-08-23 | 2019-06-11 | 唐山市天予医药科技有限公司 | A kind of gastroscope that pain is effectively reduced |
| WO2020252838A1 (en) * | 2019-06-18 | 2020-12-24 | 北京大学口腔医学院 | Hollow airbag peristaltic robot for gastrovascular cavity, pipeline, or wall climbing |
| CN112120663A (en) * | 2020-08-21 | 2020-12-25 | 天津大学 | Flexible pneumatic robot capable of bending to advance and bending method thereof |
| CN113081075A (en) * | 2021-03-09 | 2021-07-09 | 武汉大学 | Magnetic control capsule with active biopsy and drug delivery functions |
| CN113827321A (en) * | 2021-09-24 | 2021-12-24 | 吉林大学 | Preoperative pathological diagnosis puncture biopsy device for liver cancer |
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Application publication date: 20140108 |