CN104546113B - Hand-held can turn single-hole laparoscopic - Google Patents
Hand-held can turn single-hole laparoscopic Download PDFInfo
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- CN104546113B CN104546113B CN201410857406.1A CN201410857406A CN104546113B CN 104546113 B CN104546113 B CN 104546113B CN 201410857406 A CN201410857406 A CN 201410857406A CN 104546113 B CN104546113 B CN 104546113B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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Abstract
Single-hole laparoscopic, including imaging end, handel and handheld terminal can be turned the invention discloses a kind of hand-held.Being imaged end includes imaging end head, imaging end neck and imaging end rotating mechanism.Handel includes flexible continuous body mechanism and sheath, and flexible continuous body mechanism is divided into the flexible non-individual body of first segment and the flexible non-individual body of second section, altogether including many superelastic NiTi alloy silks and a superelastic NiTi alloy plate.Handheld terminal includes handle, multiple forefinger triggers and multiple thumb triggers, handle includes grip part and connecting portion, and multiple forefinger triggers are articulated with handle connecting portion and are connected to control the flexible non-individual body of first segment and second section flexible body to act and drive the rotation of imaging end with many superelastic NiTi alloy silks respectively.Thumb trigger is articulated with handle connecting portion and for multiple forefinger triggers to be locked or discharged respectively.It easily can carry out being imaged and assisted surgery in single-hole laparoscopic surgery by the present invention.
Description
Technical field
The present invention relates to medical equipment technical field, and in particular to a kind of hand-held can turn single-hole laparoscopic.
Background technology
Laparoscope Minimally Invasive Surgery has successfully reduced the postoperative pain of patient in modern medical service field, reduces postoperative
Complication, reduces the hospital stays.In conventional laparoscopic surgical procedure, two or more skins are generally required
Otch is used to complete operation by operating theater instruments, laparoscope etc..Improve constantly, have as people are desired to Minimally Invasive Surgery curative effect
Scholar, which proposes, only produces a skin incision in so-called single-hole laparoscopic surgery, i.e. surgical procedure, one is inserted in this otch
The individual sheath with multiple operation ducts, operation technique is completed by the operation duct implantation surgery apparatus in this single sheath.
Single-hole laparoscopic surgery can further improve postoperative output, thus become an important development direction of Minimally Invasive Surgery.Towards
Therefore the research of single-port laparoscope instrument, which have, is of great significance.
The content of the invention
Single-hole laparoscopic can be turned it is an object of the invention to provide a kind of hand-held, the apparatus, which is mainly used in, to be based on singly cutting
The laparoscopic surgery of mouth, can carry out hand-held in laparoscopic surgery and provide three-dimensional imaging.
The apparatus from sheath by a diameter of 12mm otch can enter abdominal cavity under a kind of closed position, pass through handheld terminal
Driving, imaging end is reached desired image space, and imaging end head rotary expansion is carried out three-dimensional imaging.
To achieve the above object, according to an aspect of the invention, there is provided the single hole abdominal cavity that a kind of hand-held can be turned
Mirror, including imaging end, handel and handheld terminal, the imaging end include imaging end head, imaging end neck and the rotation of imaging end
Mechanism, the imaging end head can by imaging end rotating mechanism relative to imaging end cervical rotation, it is described into
Picture end neck is provided with key lighting module, and the imaging end head is provided with photographing module, and the handel includes flexible continuously body mechanism
And sheath, continuously body mechanism is divided into the flexible non-individual body of first segment and the flexible non-individual body of second section, the first segment to the flexibility
The flexible non-individual body of flexible non-individual body and second section includes many superelastic NiTi alloy silks and a superelastic NiTi alloy plate, with
And include in sliding block, many superelastic NiTi alloys silk at least one of the rotating mechanism is connected with the sliding block；With
And the handheld terminal includes handle, multiple forefinger triggers and multiple thumb triggers, the handle includes grip part and connecting portion, institute
State multiple forefinger triggers and be articulated with the handle connecting portion, and be connected to push away with many superelastic NiTi alloys silk respectively
The many superelastic NiTi alloys silk is drawn to control the flexible non-individual body of the first segment and/or the flexible non-individual body of the second section
Action, and control the sliding block to drive the imaging end head relative to imaging end cervical rotation, and the thumb
Refer to trigger and be articulated with the connecting portion and for the multiple forefinger trigger to be locked or discharged respectively.
It is preferred that the handheld terminal includes three forefinger triggers and three thumb triggers, many super-elasticity NiTis are closed
Spun gold quantity is four, wherein two be connecteds with the first segment flexible non-individual body so as to control it to act, one and described the
The flexible non-individual body connection of two sections is so as to control it to act, and one is connected with the sliding block so as to by sliding block described in push-and-pull and then drive
The dynamic imaging end head is relative to imaging end cervical rotation.
It is preferred that the flexible continuous body mechanism also includes distance piece, stay and Nitinol plate, wherein described
Distance piece is constituted by being spaced equal steel disc, and the Nitinol plate passes through these parallel steel discs, institute with the nitinol alloy wire
Stay is stated to lock with nitinol alloy wire.
It is preferred that being provided with forefinger trigger slot and thumb trigger slot in the handle connecting portion, the multiple thumb trigger leads to
Cross and be hingedly coupled in the thumb trigger slot, multiple hook tooths, the multiple forefinger are provided with the multiple thumb trigger
One end of trigger is located in the forefinger trigger slot and is engaged to carry out the multiple forefinger trigger with a multiple hook tooth
Locking discharges.
It is preferred that the handheld terminal is provided with the first pressing plate, the second pressing plate and the 3rd pressing plate, wherein first pressing plate is used for
The fixed Nitinol plate, second pressing plate is pulled for many nitinol alloy wires to be fixed on into the multiple forefinger
Machine, the NiTi being connected with the described second flexible non-individual body that the 3rd pressing plate is used to fix in many nitinol alloy wires is closed
Spun gold.
It is preferred that the 3rd pressing plate is provided with flat recess, the forefinger trigger is provided with steady pin, and the steady pin can be
Slided in the flat recess.
It is preferred that the handle is provided with multiple stainless steel spring pieces, it is respectively used to pull corresponding the multiple forefinger
Machine carries out resilience with the multiple thumb trigger.
It is preferred that the handle is provided with trapped orbit, for limiting many nitinol alloy wires, so that anti-
Only nitinol alloy wire due to excessive thrust bending-buckling.
It is preferred that the handle is provided with the circuit interface of flexible PCB.
The hand-held of the present invention is turned in single-hole laparoscopic, and the maximum outside diameter of imaging end and handel is 12mm, wherein being imaged
End enters human body with the sheath that flexible continuous body mechanism can be only 12mm by diameter and carries out handheld operation, by same
Sheath may further enter into other single-port laparoscopic minimally-invasive surgery apparatuses and carry out single-port laparoscopic minimally-invasive surgery.Thus, the apparatus energy
Human body is entered through narrow sheath with a kind of retracted posture of closure, by the driving of handheld terminal, reaches imaging end desired
Image space, and make imaging end head rotary expansion carry out three-dimensional imaging.Moreover, being pulled by the multiple forefingers for pulling handheld terminal
Machine and multiple thumb triggers, can control to be imaged the sensing at end, so that operator can easily use this device with rapid flexible
Tool is imaged and aided in single-port laparoscopic minimally-invasive surgery.
Brief description of the drawings
Fig. 1 is that hand-held of the present invention can turn the closed position stereogram of single-hole laparoscopic；
Fig. 2 is present invention imaging end explosive view；
Fig. 3 is the operating attitude stereogram at present invention imaging end；
Fig. 4 is the operating attitude front view at present invention imaging end；
Fig. 5 is that posture stereogram is deployed in present invention imaging end with handel；
Fig. 6 is handheld terminal stereogram of the present invention；And
Fig. 7 is handheld terminal explosive view of the present invention.
Embodiment
Presently preferred embodiments of the present invention is described in detail below with reference to accompanying drawing, to become apparent from understanding the present invention's
Objects, features and advantages.It should be understood that embodiment shown in the drawings is not limited the scope of the present invention, and it is simply
The connotation of explanation technical solution of the present invention.
As shown in figure 1, the hand-held of the present invention, which can turn single-hole laparoscopic, includes imaging end 1, handel 2 and handheld terminal 3.
As shown in Figure 2-5, imaging end 1 includes lighting module, photographing module and rotating mechanism.Lighting module includes master
Illumination 11 and compensation illumination 12, key lighting 11 include six LEDs and overhanging lamp socket, and compensation illumination 12 includes two LEDs.Take the photograph
Picture module includes two level crossings 13 and two cameras 14, and the angle of two level crossings 13 is 93 °, and two cameras 14 are relative
Place on the same axis, under the reflection of two level crossings 13, two cameras 14 can be equivalent to the center axle clamp with 6 °
Angle is placed side by side.Rotating mechanism is included on rotating base 15, sliding block 16, connecting plate 17 and rotation pin 18, rotating base 15
Provided with rotating hole 19 and chute 10, rotation pin 18 can be inserted into rotating hole 19, and sliding block 16 is placed in chute 10 and can be at this
Slided in chute 10.It is referred to as imaging end head 8 and imaging end neck 9 by being imaged two parts that rotating mechanism is connected in end.
Fig. 2 is the stereochemical structure explosive view at imaging end 1 in the embodiment of the present invention.As shown in Fig. 2 the sheet of imaging end head 8
Body 8a two ends, which are provided with, is used to accommodating the through hole 8b of camera 14, and through hole 8b one end is towards level crossing 13 so that level crossing 13 can
Operation outdoor scene is reflected to camera 14.The lower end of sliding block 16 is provided with insertion in groove 7, connecting plate 17 and stirs pin 18, pin
18 can slide in groove 7.Connecting plate 17 is formed by rotating the nut of the lower end of pin 18 with being imaged the imaging end head 8 at end 1
It is fixedly connected.
Fig. 3 is illustrated as being in stereogram during operating attitude as end 1；Before when Fig. 4 is illustrated as picture end 1 in operating attitude
View.
As shown in figure 4, in the present invention photographing module main body for two cameras 14 on the same axis staggered relatively and
Angle is 93 ° of two level crossings 13.Operation outdoor scene can be reflected to two cameras 14 respectively by two level crossings 13, equivalent to
It is imaged by the camera that two central shaft angles are 6 °.In contrast, in traditional laparoscope, two cameras are usual
To be placed in parallel, therefore the overall dimensions of visual mechanisms are by the camera diameter at least above twice.
As shown in figure 5, handel 2 includes flexible continuous body mechanism and sheath 20, flexible continuous body mechanism is divided into first segment
The flexible non-individual body 22 of flexible non-individual body 21 and second section.And flexible continuous body mechanism include stay 23,24, it is distance piece 25, super
Elastic nitinol alloy wire 26,27,28 and Nitinol plate 29.Distance piece 25 is constituted by being spaced equal steel disc, Nitinol
Silk 26,27,28 passes through each steel disc.In the present embodiment, nitinol alloy wire 26 is two, nitinol alloy wire 27 and Nitinol
Silk 28 is all one, but it will be understood to those skilled in the art that the number of nitinol alloy wire can change according to actual conditions
Become, however it is not limited to number of the invention.
Two nitinol alloy wires 26 are used to control curving for the flexible non-individual body 21 of first segment simultaneously, and nitinol alloy wire 27 is used for
Curving for the flexible non-individual body 22 of second section is controlled, nitinol alloy wire 28 is used for the sliding block that push-and-pull is imaged in the imaging end neck 9 at end 1
16 so drive imaging end head 8 relative to imaging end neck 9 rotate.It is preferred that a diameter of 0.4mm of nitinol alloy wire.
Nitinol plate 29 plays a part of bent support.Stay 23,24 passes through weldering with nitinol alloy wire 26,27,28
The mode such as connect, be bonded to lock.Wherein nitinol alloy wire 26 is lock onto in first segment stay 23, and nitinol alloy wire 27 lock onto
In two section stays 24, thus handel 2 can realize that two curve the free degree by nitinol alloy wire 26 and 27.Distance piece 25 by
Constituted every multiple stainless steel substrates of equidistance, nitinol alloy wire 26,27,28 passes through these parallel steel with Nitinol plate 29
Piece.It is preferred that adjacent two pieces of steel disc spacing are 4mm.The acting as of distance piece 25 prevents nitinol alloy wire due to excessive thrust
And bending-buckling so that nitinol alloy wire can carry out normal push-and-pull control by handheld terminal forefinger trigger.It will hereafter retouch in detail
State.
20 points of sheath is two operation ducts up and down, imaging end and handel that upper duct can be by the present invention, and lower duct can
By other single-hole laparoscopic surgery apparatuses, so as to carry out single-port laparoscopic minimally-invasive surgery.It is preferred that the external diameter of sheath 20 is
12mm。
Fig. 6 is handheld terminal stereogram of the invention.As shown in fig. 6, handheld terminal 3 include handle 38, three forefinger triggers 31,
32nd, 33 and three pressing plates 37 of thumb trigger 34,35,36, first, the second pressing plate 40, the 3rd pressing plate 41 and stainless steel spring
Piece 43,44.Wherein, handle 38 includes grip part 381 and connecting portion 382, and forefinger trigger slot 3821 and thumb are provided with connecting portion 382
Refer to trigger slot 3822, thumb trigger 34,35,36 is hinged through the hinge in thumb trigger slot 3822, forefinger trigger 31,32,
Multiple hook tooths 310,320,330 are respectively equipped with 33, one end of forefinger trigger 31,32,33 is located in forefinger trigger slot 3821,
Thumb trigger 34,35,36 is engaged that forefinger trigger 31,32,33 is locked or released with hook tooth 310,320,330 respectively
Put, nitinol alloy wire 26,27,28 is fixed on three forefinger triggers 31,32,33 respectively, so that three forefinger triggers can directly drive
The dynamic flexible non-individual body 21 of first segment, the rotary expansion for curving and being imaged end 1 of the flexible non-individual body 22 of second section.First pressing plate 37 is used
Nitinol plate 29 in fixed handel 2.The handle 38 of handheld terminal 3 is also all in addition to the fixation for each several part is provided
Nitinol alloy wire 26,27,28 and Nitinol plate 29 provide trapped orbit 39, and flexible PCB 4 circuit interface 30.Gu
Orbit determination road 39 prevent nitinol alloy wire due to excessive thrust bending-buckling.Preferably, because the complicated moulding of handle and knot
Structure, therefore select the mode of 3D printing to manufacture.
The handheld terminal explosive view of Fig. 7 present invention.As shown in fig. 7, nitinol alloy wire 26,27,28 passes through corresponding respectively
Two pressing plates 40 are fixed on corresponding forefinger trigger 31,32,33.Wherein for forefinger trigger 32, it is provided with from two pieces of end faces non-
3rd pressing plate 41 of complete half slot, is bolted two piece of the 3rd pressing plate 41, the end of nitinol alloy wire 27 is fixed on
In incomplete half slot.The steady pin 42 that the lower section of 3rd pressing plate 41 is provided with flat recess (not shown), forefinger trigger 32 can be at this
Slided in flat recess (not shown), and then the circular motion of pin 42 be changed into linear motion of the 3rd pressing plate 41 along guide rail 45,
And then push-and-pull nitinol alloy wire 27, to prevent the unstability of nitinol alloy wire 27 from bending.Stainless steel spring piece 43 passes through its opened hole
It is fixed on handle, stainless steel steel bomb reed 44 is fixed on handle by its opened hole with pin connection, is eaten with bolt connection
Refer to trigger and the contact with stainless steel spring piece 43,44 is realized by eccentric cam structure with thumb trigger, it is thus achieved that forefinger
The resilience of trigger and thumb trigger.
In surgical procedure, the imaging end 1 that hand-held can turn single-hole laparoscopic need to be first in closed position, that is, be imaged end
Head 8 is parallel with imaging end neck 9, whole imaging end 1 and the cylinder morphology of the formation closing of handel 2.Under this form, pass through
Hand-held handle 38 is pushed into as end 1 passes through sheath 20 and moves forward into human abdominal cavity, is then stirred forefinger trigger 33 and is pulled handel 2
The dragging sliding block 16 of nitinol alloy wire 28 slide so that it is 90 ° of position that imaging end head 8, which is rotated to the imaging angle of end neck 9,
When putting, voltage and signal are transmitted by flexible PCB 4, key lighting 11 is opened, opens and mends if intensity of illumination is not enough to imaging
Illumination 12 is repaid, two cameras 6 is then turned on and three-dimensional imaging is started by the reflection of two pieces of level crossings 5.Pulled by stirring forefinger
Machine 31,32 and then push-and-pull nitinol alloy wire 26,27 are adjusted to the locus as end 1 and sensing, with reach it is desired into
Then other single-port laparoscopic minimally-invasive surgery apparatuses are extend into operative site by image position by the lower end through hole of sheath 20, are carried out
Single-port laparoscopic minimally-invasive surgery.
In operation, corresponding forefinger trigger 31,32 can be discharged by stirring thumb trigger 34,35, so as to adjust in real time
It is imaged locus and the sensing at end.Post operation, stir three thumb triggers 33,34,35 discharge three forefinger triggers 31,
32nd, 33 to initial position, is now imaged end and is changed into initial closing cylinder posture again, to extract sufferer abdominal cavity out.
The hand-held of the present invention can be turned in single-hole laparoscopic, and imaging end is 12mm with handel maximum outside diameter, wherein being imaged
End enters human body with the sheath that flexible continuous body mechanism can be only 12mm by diameter.Thus, the apparatus can be with a kind of closure
Retracted posture enters human body through narrow sheath, by the driving of handheld terminal, imaging end is reached desired image space, and
Imaging end head rotary expansion is set to carry out three-dimensional imaging.Moreover, multiple forefinger triggers and multiple thumbs by pulling handheld terminal
Trigger, can control to be imaged the sensing at end, so that operator easily can be imaged using this apparatus with rapid flexible
And aid in single-port laparoscopic minimally-invasive surgery.
Presently preferred embodiments of the present invention is described in detail above, it is understood that being said having read the above-mentioned of the present invention
Award after content, those skilled in the art can make various changes or modifications to the present invention.For example, changing the number of LED, two
Angle of level crossing, etc..These equivalent form of values equally fall within the application appended claims limited range.
Claims (9)
1. a kind of hand-held can turn single-hole laparoscopic, including imaging end, handel and handheld terminal, the imaging end includes imaging end
Head, imaging end neck and imaging end rotating mechanism, the imaging end head can pass through the imaging end rotating mechanism phase
For imaging end cervical rotation, imaging end neck is provided with key lighting module, and the imaging end head is provided with shooting mould
Block, it is characterised in that：
The handel includes flexible continuous body mechanism and sheath, and the flexible continuous body mechanism is divided into the flexible non-individual body of first segment
With the flexible non-individual body of second section, the flexible non-individual body of the first segment and the flexible non-individual body of second section include many super-elasticity NiTis and closed
Spun gold and a superelastic NiTi alloy plate, and imaging end rotating mechanism include sliding block, many super-elasticity NiTis
At least one in B alloy wire is connected with the sliding block；And
The handheld terminal includes handle, multiple forefinger triggers and multiple thumb triggers, and the handle includes grip part and connecting portion,
The multiple forefinger trigger is articulated with the handle connecting portion, and be connected respectively with many superelastic NiTi alloys silk so that
Many superelastic NiTi alloys silk described in push-and-pull controls the flexible non-individual body of the first segment and/or the second section flexible continuous
Body is acted, and controls the sliding block to drive the imaging end head relative to imaging end cervical rotation, and described
Thumb trigger is articulated with the handle connecting portion；Wherein
The multiple forefinger trigger is respectively equipped with multiple hook tooths, the thumb trigger be engaged respectively with the multiple hook tooth from
And the forefinger trigger is locked or discharged.
2. hand-held according to claim 1 can turn single-hole laparoscopic, it is characterised in that the handheld terminal includes three
Forefinger trigger and three thumb triggers, many superelastic NiTi alloys silk quantity is four, wherein two and described first
The flexible non-individual body connection of section is so as to control it to act, and one is connected so as to control it to act with the flexible non-individual body of the second section,
One be connected with the sliding block so as to by sliding block described in push-and-pull so that drive it is described imaging end head relative to the imaging end
Cervical rotation.
3. hand-held according to claim 1 can turn single-hole laparoscopic, it is characterised in that the flexible continuous body mechanism
Also include distance piece, stay, wherein the distance piece is constituted by being spaced equal parallel steel disc, the superelastic NiTi alloy
Plate passes through these parallel steel discs with superelastic NiTi alloy silk, and the stay is locked with superelastic NiTi alloy silk
Tightly.
4. hand-held according to claim 1 can turn single-hole laparoscopic, it is characterised in that be set in the handle connecting portion
There are forefinger trigger slot and thumb trigger slot, the multiple thumb trigger is hinged through the hinge in the thumb trigger slot, described
One end of multiple forefinger triggers is located in the forefinger trigger slot, and the multiple thumb trigger is stung with the multiple hook tooth respectively
Close that the multiple forefinger trigger is locked or discharged.
5. hand-held according to claim 1 can turn single-hole laparoscopic, it is characterised in that the handheld terminal is provided with first
Pressing plate, the second pressing plate and the 3rd pressing plate, wherein first pressing plate is used to fix the superelastic NiTi alloy plate, described second
Pressing plate is used to many superelastic NiTi alloys silk being fixed on the multiple forefinger trigger, and the 3rd pressing plate is used to fix
The superelastic NiTi alloy silk being connected with the flexible non-individual body of the second section in many superelastic NiTi alloys silk.
6. hand-held according to claim 5 can turn single-hole laparoscopic, it is characterised in that the 3rd pressing plate is provided with one
Word groove, the forefinger trigger is provided with steady pin, and the steady pin can be slided in the flat recess.
7. hand-held according to claim 1 can turn single-hole laparoscopic, it is characterised in that the handle is provided with multiple
Stainless steel spring piece, is respectively used to carry out resilience to corresponding the multiple forefinger trigger and the multiple thumb trigger.
8. hand-held according to claim 1 can turn single-hole laparoscopic, it is characterised in that the handle is provided with fixation
Track, many superelastic NiTi alloys silk passes through trapped orbit, so as to prevent superelastic NiTi alloy silk due to excessive
Thrust and bending-buckling.
9. hand-held according to claim 1 can turn single-hole laparoscopic, it is characterised in that the handle is provided with flexibility
The circuit interface of circuit board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410857406.1A CN104546113B (en) | 2014-12-30 | 2014-12-30 | Hand-held can turn single-hole laparoscopic |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410857406.1A CN104546113B (en) | 2014-12-30 | 2014-12-30 | Hand-held can turn single-hole laparoscopic |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104546113A CN104546113A (en) | 2015-04-29 |
| CN104546113B true CN104546113B (en) | 2017-08-11 |
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| CN201410857406.1A Active CN104546113B (en) | 2014-12-30 | 2014-12-30 | Hand-held can turn single-hole laparoscopic |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112957107B (en) * | 2021-02-19 | 2021-11-30 | 南昌华安众辉健康科技有限公司 | Pleuroperitoneal cavity surgical instrument with laparoscope |
| CN113679448B (en) * | 2021-07-14 | 2022-11-04 | 新乡市中心医院 | Handheld turnable single-port laparoscope |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102397098B (en) * | 2010-09-07 | 2013-07-17 | 上海理工大学 | Single-hole surgery operation platform for laparoscopic surgery |
| CN102846365A (en) * | 2012-09-07 | 2013-01-02 | 北京航空航天大学 | Wrist type end effector driven by four shape memory alloy wires |
| DE102013006918A1 (en) * | 2013-04-20 | 2014-10-23 | Martin Storz | Operating handle with locking mechanism for surgical shaft instruments |
| CN103519772B (en) * | 2013-10-29 | 2016-03-16 | 上海交通大学 | Single-port laparoscopic minimally-invasive surgery imaging system |
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2014
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