CN104706417B - Magnetically fixed suspension type single port laparoscopic surgery robot system - Google Patents
Magnetically fixed suspension type single port laparoscopic surgery robot system Download PDFInfo
- Publication number
- CN104706417B CN104706417B CN201510056246.5A CN201510056246A CN104706417B CN 104706417 B CN104706417 B CN 104706417B CN 201510056246 A CN201510056246 A CN 201510056246A CN 104706417 B CN104706417 B CN 104706417B
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- steel wire
- laparoscopic surgery
- magnetically fixed
- clamp
- robot system
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- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 33
- 239000000725 suspension Substances 0.000 title claims abstract description 18
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 63
- 239000010959 steel Substances 0.000 claims abstract description 63
- 210000000707 wrist Anatomy 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 23
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000003993 interaction Effects 0.000 claims abstract description 6
- 230000009471 action Effects 0.000 abstract description 5
- 238000005516 engineering process Methods 0.000 description 4
- 210000001015 abdomen Anatomy 0.000 description 3
- 210000003815 abdominal wall Anatomy 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 210000002784 stomach Anatomy 0.000 description 3
- 230000003187 abdominal effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000001727 in vivo Methods 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000002980 postoperative effect Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 208000004550 Postoperative Pain Diseases 0.000 description 1
- 206010039580 Scar Diseases 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 210000003195 fascia Anatomy 0.000 description 1
- 238000009730 filament winding Methods 0.000 description 1
- 238000002513 implantation Methods 0.000 description 1
- 238000000338 in vitro Methods 0.000 description 1
- 238000007912 intraperitoneal administration Methods 0.000 description 1
- 239000000696 magnetic material Substances 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 239000011148 porous material Substances 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
- 238000005491 wire drawing Methods 0.000 description 1
Classifications
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2947—Pivots
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Molecular Biology (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a magnetically fixed suspension type single port laparoscopic surgery robot system comprising an executing mechanism. The executing mechanism comprises a clamp, a connecting frame and a wrist pipe. The clamp is hinged to the connecting frame through a first hinge pin. The connecting frame is connected with the wrist pipe through a second hinge pin. The first hinge pin is perpendicular to the second hinge pin. A telescopic joint is arranged at the rear end of the wrist pipe. Two clamp corners of the clamp are connected with two steel wires respectively. A sliding steel wire fixing block is arranged in the telescopic joint. The telescopic joint is inserted into the wrist pipe. The steel wire fixing bock is fixed to the wrist pipe through a third hinge pin. The steel wire fixing block is connected with at least one steel wire. By the adoption of a electromechanical system, specified operation instructions are completed through human-machine interaction, the clamp can complete multi-freedom-degree movement, the operation of actual single port laparoscopic surgery can be basically completed through the actions of the clamp, and interference between multiple instruments is avoided.
Description
Technical field
The present invention relates to a kind of laparoscopic surgery robot, more particularly to a kind of magnetically fixed suspension type single-hole laparoscopic surgery
Robot system.
Background technology
With the improvement of people's living standards, modern medical service technology is also to update, and abdominal operation is from original tradition
Abdominal, has gone to the epoch of laparoscope Minimally Invasive Surgery, and recently, single-hole laparoscopic surgery becomes under the medical conditions of part
Reality.Laparoscopic surgery is exactly to do the little otch of 5～12 millimeters of several diameters in the different parts of belly, by these little otch
Insertion pick-up lens and various special operating theater instruments, by the intraperitoneal various internal organs captured by the Intraabdominal camera of insertion
To on video screen, surgeon is operable in vitro complete image transmitting by observing image with various operating theater instruments
Operation.And single-hole laparoscopic is then that little otch quantity is reduced to into one.
At present, the single-hole laparoscopic surgery of Jing navels is with the obvious advantage, because umbilical notch cut is 10-20mm, body surface is without obvious
Surgical scars, along with operative incision is covered by pore fold, so having gratifying cosmetic result；Operation can be reduced
Probability that complication occurs, reduce postoperative pain sense, reduce in art, the consumption of postoperative arcotic and antalgesic, post-operative recovery
Hurry up, the hospital stays is short.
However, single-hole laparoscopic surgery is because its operation technique is complicated, operating theater instruments work is interfered, and causes doctor to grasp
Make difficult, the operation to doctor of performing the operation requires very high.
In order to improve the problem of existing single-hole laparoscopic surgery, single-hole laparoscopic surgery instrument of the prior art, outside
For the demand for adapting to perform the operation in type, significant improvement, the inconvenience but practicality to get up still have have been done.On the other hand,
Leonardo da Vinci's surgical operation robot is applied to single-hole laparoscopic surgery by someone, and the motion clamp of special design has been used in operation,
Movement interference, operation is avoided to reach reasonable effect.
At the same time, there is a kind of direction in prior art is the special machine for single-hole laparoscopic surgical operation of design
Tool structure.The direction employs magnetically fixed technology, and magnetically fixed technology is referred to outside under the influence of a magnetic field, involves the internal band of control
The tissue of magnetic material or small apparatus, so as to complete chamber medical diagnosis on disease and the treatment that traditional approach is difficult to
A kind of positioning mode.Stomach wall is fixed on by structure is performed with magnetic force, is operated, but it is simple to can be only done some at present
Clamping and fixed operation.
As shown in figure 1, single-hole laparoscopic surgery instrument of the prior art, surgical clamp outer dia 5mm, clamp afterbody
For artificial portion of the handle, head is the executing agency of clamp.R-Port (laparoscope puncture channel) is disc-shaped, need 1.5cm～
The fascia incision of 2cm length, can accommodate 2 5mm and 1 12mm apparatuses, and the size of sheath is adjustable, and by inner and outer ring stomach wall is fixed on,
Depth can be reconciled according to thickness of abdominal wall, and there is a kind of self inflation ring on sheath abdomen surface, skin is close to, for anti-gas-leak.Also its
His similar device through navel, but be similar.
Single-hole laparoscopic surgery of the prior art is at least suffered from the drawback that：
Because apparatus implantation site is concentrated, it is difficult to form operation triangle, apparatus interferes with each other operation and surgical field of view, affects hand
Art practical operation effect.Apparatus and light source coaxially affect to a certain extent judgement of the patient to depth and distance.Because operation
Duct number is limited, and the traction of operative site or adjacent organ has certain difficulty, and the operation to doctor is also a kind of challenge.
The content of the invention
It is an object of the invention to provide a kind of magnetic that can be completed multifreedom motion and many apparatuses can be avoided to interfere is consolidated
Determine suspension type single-hole laparoscopic surgery robot system.
The purpose of the present invention is achieved through the following technical solutions：
The magnetically fixed suspension type single-hole laparoscopic surgery robot system of the present invention, including executing agency, the execution machine
Structure includes clamp, link, wrist pipe, and the clamp passes through the first hinge, the link and institute with the link
Wrist pipe is stated by the second hinge, first bearing pin is mutually perpendicular to the second bearing pin, and the rear end of the wrist pipe is provided with
Telescopic joint, two angle of nips of the clamp are connected to two steel wires.
As seen from the above technical solution provided by the invention, magnetically fixed suspension type single hole provided in an embodiment of the present invention
Laparoscopic surgery robot system, because executing agency includes clamp, link, wrist pipe, clamp passes through first with link
Hinge, with wrist pipe by the second hinge, the first bearing pin is mutually perpendicular to link with the second bearing pin, after wrist pipe
End is provided with telescopic joint, and two angle of nips of clamp are connected to two steel wires.Clamp can complete multifreedom motion, its action base
Instinct completes the operation of actual single-hole laparoscopic surgery, and it can avoid the interference problem of many apparatuses.
Description of the drawings
Fig. 1 is the structural representation of robot actuating mechanism in prior art；
Fig. 2 is magnetically fixed suspension type single-hole laparoscopic surgery robot system block diagram in the embodiment of the present invention；
Fig. 3 is the structural representation of robot actuating mechanism in the embodiment of the present invention；
Fig. 4 is the cross section structure diagram of robot actuating mechanism in the embodiment of the present invention；
Fig. 5 is the structural representation of clamp in the embodiment of the present invention；
Fig. 6 is the structural representation of link in the embodiment of the present invention；
Fig. 7 is the structural representation of wrist pipe in the embodiment of the present invention；
Fig. 8 is the structural representation of telescopic joint in the embodiment of the present invention；
Fig. 9 is the structural representation of fixation with steel wire block in the embodiment of the present invention；
Figure 10 is the structural representation in the embodiment of the present invention；
Figure 11 is the structural representation in the embodiment of the present invention.
In figure：
1st, clamp, 2, link, 3, wrist pipe, 4, telescopic joint, the 5, first bearing pin, the 6, second bearing pin, the 7, the 3rd bearing pin, 8,
Fixation with steel wire block, 9, external big magnet, 10, stomach wall, 11, internal small magnet.
Specific embodiment
The embodiment of the present invention will be described in further detail below.
The magnetically fixed suspension type single-hole laparoscopic surgery robot system of the present invention, its preferably specific embodiment is：
Including executing agency, the executing agency includes clamp, link, wrist pipe, the clamp and the link
By the first hinge, the link is with the wrist pipe by the second hinge, first bearing pin and the second pin
Axle is mutually perpendicular to, and the rear end of the wrist pipe is provided with telescopic joint, and two angle of nips of the clamp are connected to two steel wires.
The fixation with steel wire block of slip is provided with the telescopic joint, the telescopic joint is inserted in the wrist pipe, the steel
Silk fixed block is fixed on the wrist pipe by the 3rd bearing pin, and the fixation with steel wire block has been at least connected with a steel wire, the steel
Stretch out behind the front end of the excessively described telescopic joint of filament winding.
The steel wire is connected by conduction device with drive module.
The conducting tube that the conduction device is hinged including more piece, hinge point is provided with pulley.
The drive module includes feed screw nut linear motion device.
Also include magnetically fixed structure, the magnetically fixed structure includes external big magnet and internal small magnet, the execution machine
Structure is fixed on the internal small magnet.
The magnetically fixed structure is using permanent magnet or electromagnet.
Also include control section, the control section is provided with the screen and operated key of man-machine interaction.
The present invention, using Mechatronic Systems, by man-machine interaction assigned operation code is completed on magnetically fixed Suspension Technique,
Clamp can complete multifreedom motion, and its action can complete the operation of actual single-hole laparoscopic surgery substantially, and it can keep away
Exempt from the interference problem of many apparatuses.
Specific embodiment：
As shown in Fig. 2 for the substantially block diagram of magnetically fixed suspension type single-hole laparoscopic surgery robot system.
First, basic exercise structure：
As shown in figure 3, structure integrally using steel wire drawing by the way of, by steel wire pull traction as type of drive.Should
Structure is secured within the body, and its entire length is for about 110mm, mainly including clamp, link, wrist pipe, telescopic joint, steel wire
The parts such as fixed block, straight pin.
As shown in figure 4, fixation with steel wire block is placed on telescopic joint and wrist pipe junction, it is connected with 1 mm straight pins.
2nd, each part is described in detail：
1. clamp：
As shown in figure 5, clamp is a part of the final action output of the mechanism, and for simple pliers, its motion
When around the rotation of heart axle.Pliers has four holes, steel wire is passed through from hole, fixes steel wire and pliers relative position.
2. link：
As shown in fig. 6, link is for fixing pliers, pliers is fixed on link by the pivot pin of link,
Realize the rotary motion of certain angle.
3. wrist pipe：
As shown in fig. 7, the Main Function of wrist pipe is the link and pliers for supporting front end, and the connection of flexible position.
4. telescopic joint：
As shown in figure 8, telescopic joint is for supporting leading portion and fixing flexible.There is a fixation with steel wire inside telescopic joint
Block, fixation with steel wire when steel wire is moved, has then driven the motion of telescopic joint on the block.
5. fixation with steel wire block, as shown in Figure 9.
3rd, concrete motion analysis：
1. pliers motion principle：
The motion of pliers is because that pliers and steel wire relative position are fixed, when steel wire stress produces displacement, it is assumed that steel wire
The steel wire deflection very little produced during motion, i.e. steel wire are rigid, then pliers generates certain anglec of rotation and becomes with steel wire
Change.
2. pliers motor pattern：
Pliers rotates because the cooperation between steel wire can complete to clamp (release) around link, rotates around wrist, integrally stretches
Four kinds of actions of contracting elemental motion.
3. the opposite logical relation that pliers and steel wire are moved：
The structure integrally employs 5 or 6 steel wires.Steel wire 1,2,3,4,5 (6), pliers numbering are expressed as now
For A, B.Steel wire is divided into 3 groups, 1-2,3-4,5-6.Steel wire 1-2 and pliers A connects, and steel wire 3-4 is connected with pliers B, steel wire 5 (6)
It is connected with telescopic joint, wherein steel wire 6 is fixed with fixation with steel wire block position relationship.
Simultaneously (pliers is all clockwise and anticlockwise from just to pliers for initialization steel wire and the corresponding relation of pliers motion
The direction of the visible ropes of A is range estimation direction, and the direction of rotation of wrist is with the face of the toothless type of pliers A to look at direction straight)：
When the tension of steel wire 1, steel wire 2 loosen, pliers A counterclockwise movements
When the tension of steel wire 3, steel wire 4 loosen, pliers B clockwise movements
Movement relation (steel wire tension is 1, is loosened as 0, and holding is not changed into NULL) as shown in the table corresponding with steel wire：
4th, steel wire drive structure：
As shown in Figure 10, steel wire is transmitted to external drive module by internal executing agency.Between need it is reliable
Conduction device.Steel wire conduction is primarily due to problem spatially.It is in addition because the motion of steel wire will because the restriction in space
Seek smoothness.By the way of pulley guiding, guiding steel wire is from internal location transmission to external, with outside driving for this patent
Module is connected.The structure for driving steel wire is feed screw nut linear motion.
5th, magnetically fixed structure：
As shown in figure 11, magnetically fixed employing permanent magnet and electromagnet is all feasible.Present design temporarily adopts permanent magnet
Scheme.By the permanent magnet of inside and outside two, executing agency is fixed on internal abdominal wall.Shape it is larger be it is outside magnetically fixed,
And it is relatively small be it is magnetically fixed in vivo, centre is the internal abdominal wall of human body.In the case where magnetic force is adapted to, the magnetic force between magnet
Both tissue will not have been hurt, the execution of operation had not been interfered with yet.
6th, control section：
Control section major control pair as if motor, then need perform some man-machine interactions operation.Specific behaviour
Make various informative.
The beneficial effect that technical solution of the present invention is brought：
The present invention mainly in the presence of magnetically fixed, Minimally Invasive Surgery is carried out in vivo.Because it is not take up belly single hole
Position, it is to avoid the problem that clamp movement interference is fought.The existing single-hole laparoscopic surgery executing agency fortune of the system enhancement
The not good situation of dynamic performance.It is simple to operate, it is not necessary to the direct operation pincers of doctor, but grasped with the mode of man-machine interaction
Make.
From the economic viewpoint, the surgery systems are for single-hole laparoscopic surgery, complicated relative to Leonardo da Vinci etc.
Surgery systems, this system for being specifically designed for single-hole laparoscopic surgery, price is more cheap, and performance is not also poor.
In specific embodiment, the form that executing agency's aspect is realized is also other, such as by the connecting rod of pneumatic driving
Structure, is similar to the structure of snake-shaped robot.Purpose is to produce clamp displacement spatially；In the selection of the protection pipe of steel wire drive
On, select flexible pipe, and rigid pipe.Purpose be all it is smooth make steel wire drive, while frictional force reduces, also ensure size energy
It is compatible with single hole operation；Permanent magnet and electromagnet that magnetically fixed aspect is mainly applied, permanent magnetic suck power is fixed, electromagnet absorption affinity
Adjustable, the two has quality.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
All should be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (7)
1. a kind of magnetically fixed suspension type single-hole laparoscopic surgery robot system, it is characterised in that described to hold including executing agency
Row mechanism includes clamp, link, wrist pipe, and the clamp is with the link by the first hinge, the link
With the wrist pipe by the second hinge, first bearing pin is mutually perpendicular to the second bearing pin, the rear end of the wrist pipe
Telescopic joint is provided with, two angle of nips of the clamp are connected to two steel wires；
The fixation with steel wire block of slip is provided with the telescopic joint, the telescopic joint is inserted in the wrist pipe, the steel wire is consolidated
Determine block to be fixed on the wrist pipe by the 3rd bearing pin, the fixation with steel wire block has been at least connected with a steel wire, the steel wire around
Stretch out behind the front end for crossing the telescopic joint.
2. magnetically fixed suspension type single-hole laparoscopic surgery robot system according to claim 1, it is characterised in that described
Steel wire is connected by conduction device with drive module.
3. magnetically fixed suspension type single-hole laparoscopic surgery robot system according to claim 2, it is characterised in that described
The conducting tube that conduction device is hinged including more piece, hinge point is provided with pulley.
4. magnetically fixed suspension type single-hole laparoscopic surgery robot system according to claim 3, it is characterised in that described
Drive module includes feed screw nut linear motion device.
5. the magnetically fixed suspension type single-hole laparoscopic surgery robot system according to any one of Claims 1-4, its feature
It is that also including magnetically fixed structure, the magnetically fixed structure includes external big magnet and internal small magnet, and the executing agency consolidates
It is scheduled on the internal small magnet.
6. magnetically fixed suspension type single-hole laparoscopic surgery robot system according to claim 5, it is characterised in that described
Magnetically fixed structure is using permanent magnet or electromagnet.
7. magnetically fixed suspension type single-hole laparoscopic surgery robot system according to claim 6, it is characterised in that also wrap
Control section is included, the control section is provided with the screen and operated key of man-machine interaction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201510056246.5A CN104706417B (en) | 2015-02-03 | 2015-02-03 | Magnetically fixed suspension type single port laparoscopic surgery robot system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510056246.5A CN104706417B (en) | 2015-02-03 | 2015-02-03 | Magnetically fixed suspension type single port laparoscopic surgery robot system |
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| Publication Number | Publication Date |
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| CN104706417A CN104706417A (en) | 2015-06-17 |
| CN104706417B true CN104706417B (en) | 2017-05-10 |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105326470B (en) * | 2015-11-30 | 2017-03-29 | 西安交通大学第一附属医院 | A kind of magnetic grappling laparoscope system based near infrared light visual diagnostic |
| CN105662539B (en) * | 2016-03-15 | 2018-01-12 | 西安交通大学第一附属医院 | A kind of built-in nipper system under magnetic anchoring system |
| CN105748123A (en) * | 2016-04-11 | 2016-07-13 | 济南创泽生物医药科技有限公司 | Novel microscopic needle holder |
| CN107260310B (en) * | 2017-07-31 | 2021-04-13 | 成都博恩思医学机器人有限公司 | Surgical instrument of surgical robot and surgical robot |
| CN107802322B (en) * | 2017-10-16 | 2020-04-10 | 西安交通大学医学院第一附属医院 | Magnetic anchoring system with built-in nipper clutch for magnetic control laparoscopic surgery |
| CN111481243B (en) * | 2019-01-29 | 2024-05-03 | 首都医科大学附属北京友谊医院 | Single-hole endoscope operation robot instrument straight line delivery device |
| CN112754547B (en) * | 2021-01-18 | 2022-03-25 | 中南大学湘雅医院 | Multi-degree-of-freedom laparoscopic surgical instrument |
| CN116250895B (en) * | 2023-01-31 | 2024-04-12 | 极限人工智能有限公司 | Multi-degree-of-freedom abdominal cavity surgical forceps based on steel wire coupling and surgical robot |
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| GB9309142D0 (en) * | 1993-05-04 | 1993-06-16 | Gyrus Medical Ltd | Laparoscopic instrument |
| US5792135A (en) * | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| CN2534981Y (en) * | 2002-03-22 | 2003-02-12 | 冯立人 | Bite-cutting forceps for interanasal sight glass operation |
| US8114119B2 (en) * | 2008-09-09 | 2012-02-14 | Ethicon Endo-Surgery, Inc. | Surgical grasping device |
| ES2388867B1 (en) * | 2009-10-27 | 2013-09-18 | Universitat Politècnica De Catalunya | MINIMALLY INVASIVE LAPAROSCOPIC SURGERY CLAMPS. |
| CN102178560B (en) * | 2011-04-11 | 2012-07-04 | 西安交通大学 | Magnetic auxiliary tensioning device for single-pore laparoscope |
| CN102232855A (en) * | 2011-04-11 | 2011-11-09 | 西安交通大学 | Magnetic anastomat device for single-port laparoscopic colorectal resection |
| KR101427330B1 (en) * | 2011-11-23 | 2014-08-06 | 주식회사 리브스메드 | Differential component |
| EP2783643B1 (en) * | 2011-11-23 | 2019-01-23 | Livsmed Inc. | Surgical instrument |
| DE102012201081A1 (en) * | 2012-01-25 | 2013-07-25 | Herbert Maslanka | Surgical instrument |
| US9789613B2 (en) * | 2012-04-26 | 2017-10-17 | Bio-Medical Engineering (HK) Limited | Magnetic-anchored robotic system |
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2015
- 2015-02-03 CN CN201510056246.5A patent/CN104706417B/en not_active Expired - Fee Related
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| CN104706417A (en) | 2015-06-17 |
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