CN105361924A - Hand-controlled universal surgical clamp - Google Patents
Hand-controlled universal surgical clamp Download PDFInfo
- Publication number
- CN105361924A CN105361924A CN201510889198.8A CN201510889198A CN105361924A CN 105361924 A CN105361924 A CN 105361924A CN 201510889198 A CN201510889198 A CN 201510889198A CN 105361924 A CN105361924 A CN 105361924A
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- Prior art keywords
- claw beam
- steering connections
- jaw
- rope sheave
- steering
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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
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
-
- 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
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/2833—Locking means
-
- 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
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
-
- 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
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
-
- 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
- A61B2017/2946—Locking means
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Ophthalmology & Optometry (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Rehabilitation Tools (AREA)
Abstract
The invention discloses a hand-controlled universal surgical clamp and particularly discloses a hand-controlled universal minimally-invasive surgical clamp. The hand-controlled universal minimally-invasive surgical clamp comprises a base (5), a clamp rod (4) and a clamp head (1), the clamp head (1) comprises a fixed clamp jaw (11) and a movable clamp jaw (12), at least two steering knuckles are arranged between the clamp rod (4) and the clamp head (1), the base (5) is a hollow cavity and is provided with a clamp jaw control mechanism (9) to control action of the movable clamp jaw (12), and a control ball (6) is arranged in the cavity and is provided with a trigger piece (63) and at least two groups of operation lines (10) for controlling action of the steering knuckles. The hand-controlled universal minimally-invasive surgical clamp is simple in structure and highly flexible and is quite convenient to operate particularly due to the fact that the clamp head can rotate flexibly within a small range.
Description
Technical field
The present invention relates to the universal Minimally Invasive Surgery pincers of the universal operating forceps of a kind of Non-follow control, particularly a kind of Non-follow control.
Background technology
Minimally Invasive Surgery is very common in surgical operation, operating theater instruments is entered in human body by narrower operating walk way to carry out operation technique, so operating theater instruments is relatively little, clamp corresponding operating apparatus often through operating forceps in current operation to carry out, therefore just very high to the requirement of operating forceps.
Minimally Invasive Surgery pincers disclosed in CN103720505A and CN204520875U, primarily of compositions such as the pull bar of clamp handle, claw beam, binding clip and control binding clip or control wires, its binding clip is in the end of claw beam, but the direction of binding clip is fixing, makes troubles to concrete operations.
CN201968770U then realizes the bending of claw beam by multiple intermeshing joint component, CN102525595A then realizes the bending of claw beam by the flexible pipe that can bend, the direction of its binding clip remains fixing, flexibility ratio is lower, particularly in the working place that range of activity is very little, be only that bending being just difficult to of claw beam adapts to.
It is very complicated then to there is mechanism in some operating robots, and cost is high and be difficult to the problem popularized.
Summary of the invention
Technical problem to be solved by this invention is to provide that a kind of structure is simple, flexibility ratio is high, in very little scope, especially can rotate the universal Minimally Invasive Surgery pincers of the universal operating forceps of Non-follow control, particularly a kind of Non-follow control of binding clip neatly.
For achieving the above object, the invention provides following technical scheme: comprise base (5), claw beam (4), binding clip (1), binding clip (1) comprises determines jaw (11) and dynamic jaw (12).
At least two steering connections are provided with between claw beam (4) and binding clip (1), namely steering connections A (2) and between steering connections B (3), steering connections A (2) and steering connections B (3) by bearing pin A (23) hinged.
Determining jaw (11) is fixedly connected on steering connections A (2), dynamic jaw (12) is then articulated with on steering connections A (2), steering connections B (3) is articulated with on claw beam (4) by bearing pin B (34), further, the bearing pin A (23) between steering connections B (3), claw beam (4) and bearing pin B (34) orthogonal formation one gimbal structure between steering connections A (2), steering connections B.
Steering connections A (2) is fixed with rope sheave B (22), dynamic jaw (12) is provided with rope sheave A (13), rope sheave A (13) and the bearing pin A (23) between rope sheave B (22) and steering connections A (2) steering connections B (3) is concentric, and rope sheave A (13) is fixedly connected with dynamic jaw (12) and with bearing pin A (23) for axle rotates.
Steering connections B (3) is provided with rope sheave C (33), rope sheave C (33) with the bearing pin B (34) between steering connections B (3) and claw beam (4) for axle center.
Above-mentioned base (5) is the cavity of a hollow, be provided with in cavity and control ball (6), this control ball (6) comprises a spheroid that can rotate in cavity (61), spheroid (61) is provided with the manipulation line (10) that trigger piece A (63) and at least two groups are drawn from spheroid (61), above-mentioned every two of manipulation line (10) of drawing from spheroid (61) is one group and forms closed ring in front end, simultaneously, two manipulations line (10) in each group are drawn from the both sides of the diameter line of spheroid (61) respectively
In the ring that at least two groups that above-mentioned manipulation line (10) of drawing from spheroid (61) is formed are closed, walk around the rope sheave B (22) on steering connections A (2) in front end and control the swing of steering connections A (2) through claw beam (4) for one group, another group is walked around the rope sheave C (33) on steering connections B (3) through claw beam (4) in front end and is controlled the swing of steering connections B (3).
Jaw controlling organization (9) is also provided with at described base (5), this jaw controlling organization (9) comprises trigger piece B (91) and pendular body (92), the both sides of pendular body (92) centered by pendular body axle (93) are that exit is provided with at least two manipulations line (10), manipulation line (10) number of this extraction for even number and every two be one group and form closed ring in front end, wherein walk around through claw beam (4) action that rope sheave A (13) controls dynamic jaw (12) in front end at least one group.
Further, above-mentioned control ball (6) is preferably provided with the groove (62) mutually in decussation, described manipulation line (10) is drawn by the two ends of group from the groove (62) of correspondence.
Again further, the manipulation line (10) that above-mentioned control ball (6) and/or jaw controlling organization (9) are drawn preferably is provided with directive wheel (72).
Further again, the manipulation line (10) that above-mentioned control ball (6) is drawn preferably is provided with locking mechanism (8), this locking mechanism (8) comprises the ring body (83) and the plug (86) corresponding with locking hole (84) shape that are provided with center locking hole (84), plug (86) is provided with releasing and pushes away handle (81) and locking spring (87), (83) are also provided with pilot hole D85 to ring body, to facilitate passing through of other manipulation line.
Further again, be preferably provided with claw beam guide plate (43) in above-mentioned claw beam (4), claw beam guide plate (43) is provided with claw beam pilot hole (44).
Further again, above-mentioned steering connections A (2) and/or steering connections B (3) is preferably provided with joint pilot hole (35).
Work process of the present invention is as follows: promote trigger piece A (63) with thumb and rotate control ball (6), by controlling upper two groups of manipulations line (10) of drawing of ball (6), steering connections A (2) or steering connections B (3) can be made to deflect, realize swing or the rotation of binding clip (1), when being provided with locking mechanism (8), locking mechanism (8) releasing can be pressed and push away the unblock that handle (81) carries out controlling ball (6) manipulation line (10), when the swing of binding clip (1) or after turning to appropriate orientation, releasable lock is determined mechanism (8) releasing and is pushed away the locking that handle (81) carries out controlling ball (6) manipulation line (10), promote trigger piece B (91), the deflection of pendular body (92) then can control the action of dynamic jaw (12), the action of operating theater instruments is carried out in the opening and closing realizing the dynamic jaw (12) of binding clip (1).
Compared with prior art, structure of the present invention is simple, flexibility ratio is high, particularly in very little scope, can rotate binding clip neatly, easy to operate.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the structural representation of the embodiment of the present invention 1 binding clip and steering mechanism local.
Fig. 3 is the structural representation that Fig. 2 overlooks.
Fig. 4 is the structural representation of the embodiment of the present invention 1 binding clip exploded.
Fig. 5 is the structural representation of the embodiment of the present invention 1 steering connections A pilot hole.
Fig. 6 is the structural representation that the embodiment of the present invention 1 controls ball exercise control line (10) gland.
Fig. 7 is the structural representation that Fig. 6 left side is looked.
Fig. 8 is the structural representation that the embodiment of the present invention 1 controls ball.
Fig. 9 is the structural representation that Fig. 8 overlooks.
Figure 10 is the structural representation that Fig. 7 left side is looked.
Figure 11 is the structural representation that the embodiment of the present invention 1 controls ball exercise control line (10) locking mechanism.
Figure 12 is the structural representation of the embodiment of the present invention 1 claw beam local.
Figure 13 is the structural representation that Figure 11 left side is looked.
Figure 14 is the structural representation of the embodiment of the present invention 1 jaw controlling organization.
Figure 15 is the structural representation of the embodiment of the present invention 2.
Figure 16 is the structural representation of the embodiment of the present invention 3.
Figure 17 is the structural representation that the embodiment of the present invention 4 controls ball.
Figure 18 is the structural representation that Figure 17 left side is looked.
Figure 19 is the structural representation of the embodiment of the present invention 5 jaw controlling organization.
Shown in figure: 1 is binding clip, 11 for determine jaw, 12 is dynamic jaw, 13 is rope sheave A, 2 is steering connections A, 21 is steering connections A pedestal, 22 is rope sheave B, 23 is bearing pin A, 3 is steering connections B, 31 is steering connections B axle bed, 32 is steering connections B pedestal, 33 is rope sheave C, 34 is bearing pin B, 35 is joint pilot hole, 4 is claw beam, 41 is claw beam body axle bed, 42 is claw beam body, 43 is claw beam guide plate, 44 is claw beam pilot hole, 5 is base, 51 is hands handle, 52 is electrode, 6 for controlling ball, 61 is spheroid, 62 is groove, 63 is trigger piece A, 64 is thenar, 65 is thumb clasp, 7 for controlling ball fixing head, 71 is fixing head pedestal, 72 is directive wheel, 73 is fixing head pilot hole, 74 is fixing head centre bore, 8 is locking mechanism, 81 releasings push away handle, 82 for pushing away handle connecting rod, 83 is ring body, 84 is locking hole, 85 is pilot hole D, 86 is plug, 87 is locking spring, 9 is jaw controlling organization, 91 is trigger piece B, 92 is pendular body, 93 for being pendular body axle,
Detailed description of the invention
Below in conjunction with accompanying drawing, also by embodiment, the invention will be further described.
Embodiment 1: the structural representation with reference to Fig. 1-Figure 14 being the embodiment of the present invention 1.Comprise base 5, claw beam 4, binding clip 1.
Claw beam 4 comprises the body of rod 42 and claw beam axle bed 41, and claw beam body 42 is the body of a hollow, is provided with 2-4 block claw beam guide plate 43 in body, and every block claw beam guide plate 43 is equipped with 6-8 claw beam pilot hole 44.
Binding clip 1 comprises determines jaw 11 and dynamic jaw 12, two steering connections are provided with between claw beam 4 and binding clip 1, i.e. steering connections A2 and steering connections B3, steering connections A2 is provided with steering connections A pedestal 21, hinged by bearing pin A23 between steering connections A pedestal 21 and steering connections B3, determining jaw 11 is fixedly connected on the steering connections A pedestal 21 of steering connections A2, and dynamic jaw 12 to be articulated with on steering connections A2 and with the bearing pin A of steering connections A pedestal 21 for axle rotates.
Steering connections B3 is provided with steering connections B axle bed 31 and steering connections B pedestal 32, steering connections B pedestal 32 is articulated with on the claw beam axle bed 41 of claw beam 4 by bearing pin B34, steering connections A2 and steering connections B3 is equipped with horizontal plate, the plate of this transverse direction is provided with joint pilot hole 35, steering connections B3, bearing pin A23 between claw beam 4 and steering connections A2, bearing pin B34 orthogonal formation one gimbal structure between steering connections B, steering connections A2 is fixed with rope sheave B22, dynamic jaw 12 is provided with rope sheave A13, bearing pin A23 between rope sheave A13 and rope sheave B22 and steering connections A2 steering connections B3 is concentric, and rope sheave A13 is fixedly connected with dynamic jaw 12 and with bearing pin A23 for axle rotates, steering connections B3 is provided with rope sheave C33, rope sheave C33 with the bearing pin B34 between steering connections B3 and claw beam 4 for axle center.
Base 5 is the cavity of a hollow, and base 5 is provided with handle 52 and electrode 51.
Be provided with in the cavity of base 5 hollow and control ball 6, this control ball 6 comprises a spheroid that can rotate in cavity 61, spheroid 61 is provided with the manipulation line 10 that trigger piece A63 and at least two group is drawn from spheroid 61, above-mentioned every two of manipulation line 10 of drawing from spheroid 61 is one group and forms closed ring in front end, simultaneously, two manipulation lines 10 in each group are drawn from the both sides of the diameter line of spheroid 61 respectively, control ball 6 and be provided with the mutual groove 62 in decussation, described manipulation line 10 is drawn from the two ends of the groove 62 of correspondence by group.Above-mentioned control ball 6 is fixed in the cavity of base 5 hollow by the fixing head pedestal 71 controlling ball fixing head 7, fixing head pedestal 71 is provided with directive wheel 72 and fixing head pilot hole 73, effectively can distribute the manipulation line 10 controlling position that leads of drawing from control ball 6, in two groups of rings closed that above-mentioned manipulation line 10 of drawing from spheroid 61 is formed, walk around the rope sheave B22 on steering connections A2 in front end through claw beam 4 and control the swing of steering connections A2 for one group, another group is walked around the rope sheave C33 on steering connections B3 through claw beam 4 in front end and is controlled the swing of steering connections B3.
The manipulation line 10 that above-mentioned control ball 6 is drawn is provided with locking mechanism 8, this locking mechanism 8 comprises the ring body 83 and the plug 86 corresponding with locking hole 84 shape that are provided with center locking hole 84, plug 86 is provided with releasing and pushes away handle 81 and locking spring 87, (83) are also provided with pilot hole D85 to ring body, to facilitate passing through of other manipulation line, certainly, other manipulation line also can walk around locking mechanism 8 from other position, repeats no more.
Jaw controlling organization 9 is also provided with at described base 5, this jaw controlling organization 9 comprises trigger piece B91 and pendular body 92, trigger piece B91 and pendular body 92 form L shape lever, the both sides of pendular body 92 centered by pendular body axle 93 manipulate lines 10 for exit is provided with two, the manipulation line 10 of this extraction forms closed ring in front end, and walks around through claw beam 4 action that rope sheave A13 controls dynamic jaw 12 in front end.
Embodiment 2: with reference to Figure 15, for the structural representation of the embodiment of the present invention 2, compared with embodiment 1, the difference of the present embodiment is: base 5 is for hold shape cylinder always, jaw controlling organization 9 comprises trigger piece B91 and pendular body 92, and trigger piece B91 and pendular body 92 form T shape bar.
Embodiment 3: with reference to Figure 16, be the structural representation of the embodiment of the present invention 3, compared with embodiment 2, the difference of the present embodiment is: jaw controlling organization 9 comprises trigger piece B91 and pendular body 92, and trigger piece B91 and pendular body 92 form L shape lever.
Embodiment 4: with reference to Figure 17, Figure 18, for the structural representation of the embodiment of the present invention 4, compared with embodiment 1, the difference of the present embodiment is: control ball 6, the spheroid 61 of this control ball 6 is in a spherical crown shape, and two groups of manipulation lines 10 of drawing from spheroid 61 are connected on four points of the symmetry of the plane of spheroid 61 spherical crown.
Embodiment 5: with reference to Figure 19, for the structural representation of the embodiment of the present invention 5, compared with embodiment before, the difference of the present embodiment is: jaw controlling organization 9 comprises trigger piece B91 and pendular body 92, pendular body 92 is in a spheroid, and trigger piece B91 is fixedly connected on spheroid.
Above-described is only the preferred embodiment of the present invention, it should be pointed out that for the person of ordinary skill of the art, and without departing from the concept of the premise of the invention, can also make some changes and improvements, these all belong to protection scope of the present invention.
Claims (10)
1. the universal operating forceps of Non-follow control, comprises base (5), claw beam (4), binding clip (1), and binding clip (1) comprises determines jaw (11) and dynamic jaw (12), it is characterized in that:
At least two steering connections are provided with between claw beam (4) and binding clip (1), namely steering connections A (2) and between steering connections B (3), steering connections A (2) and steering connections B (3) by bearing pin A (23) hinged;
Determining jaw (11) is fixedly connected on steering connections A (2), dynamic jaw (12) is then articulated with on steering connections A (2), steering connections B (3) is articulated with on claw beam (4) by bearing pin B (34), further, the bearing pin A (23) between steering connections B (3), claw beam (4) and bearing pin B (34) orthogonal formation one gimbal structure between steering connections A (2), steering connections B;
Steering connections A (2) is fixed with rope sheave B (22), dynamic jaw (12) is provided with rope sheave A (13), rope sheave A (13) and the bearing pin A (23) between rope sheave B (22) and steering connections A (2) steering connections B (3) is concentric, and rope sheave A (13) is fixedly connected with dynamic jaw (12) and with bearing pin A (23) for axle rotates;
Steering connections B (3) is provided with rope sheave C (33), rope sheave C (33) with the bearing pin B (34) between steering connections B (3) and claw beam (4) for axle center;
Base (5) is the cavity of a hollow, be provided with in cavity and control ball (6), this control ball (6) comprises a spheroid that can rotate in cavity (61), spheroid (61) is provided with the manipulation line (10) that trigger piece A (63) and at least two groups are drawn from spheroid (61), described every two of manipulation line (10) of drawing from spheroid (61) is one group and forms closed ring in front end, simultaneously, two manipulations line (10) in each group are drawn from the both sides of the diameter line of spheroid (61) respectively
In the ring that at least two groups that described manipulation line (10) of drawing from spheroid (61) is formed are closed, walk around the rope sheave B (22) on steering connections A (2) in front end and control the swing of steering connections A (2) through claw beam (4) for one group, another group is walked around the rope sheave C (33) on steering connections B (3) through claw beam (4) in front end and is controlled the swing of steering connections B (3);
Jaw controlling organization (9) is also provided with at described base (5), this jaw controlling organization (9) comprises trigger piece B (91) and pendular body (92), the both sides of pendular body (92) centered by pendular body axle (93) are that exit is provided with at least two manipulations line (10), manipulation line (10) number of this extraction for even number and every two be one group and form closed ring in front end, wherein walk around through claw beam (4) action that rope sheave A (13) controls dynamic jaw (12) in front end at least one group.
2. the universal operating forceps of Non-follow control according to claim 1, it is characterized in that: described control ball (6) is provided with the groove (62) mutually in decussation, and described manipulation line (10) is drawn by the two ends of group from the groove (62) of correspondence.
3. the universal operating forceps of Non-follow control according to claim 1 and 2, it is characterized in that: the manipulation line (10) that described control ball (6) is drawn is provided with locking mechanism (8), this locking mechanism (8) comprises the ring body (83) and the plug (86) corresponding with locking hole (84) shape that are provided with center locking hole (84), and plug (86) is provided with releasing and pushes away handle (81) and locking spring (87).
4. the universal operating forceps of Non-follow control according to claim 1 and 2, is characterized in that: the manipulation line (10) that described control ball (6) and/or jaw controlling organization (9) are drawn is provided with directive wheel (72).
5. the universal operating forceps of Non-follow control according to claim 3, is characterized in that: the manipulation line (10) that described control ball (6) and/or jaw controlling organization (9) are drawn is provided with directive wheel (72).
6. the universal operating forceps of Non-follow control according to claim 1 and 2, it is characterized in that: be provided with claw beam guide plate (43) in described claw beam (4), claw beam guide plate (43) is provided with claw beam pilot hole (44).
7. the universal operating forceps of Non-follow control according to claim 3, is characterized in that: be provided with claw beam guide plate (43) in described claw beam (4), claw beam guide plate (43) is provided with claw beam pilot hole (44).
8. the universal operating forceps of Non-follow control according to claim 4, is characterized in that: be provided with claw beam guide plate (43) in described claw beam (4), claw beam guide plate (43) is provided with claw beam pilot hole (44).
9. the universal operating forceps of Non-follow control according to claim 5, is characterized in that: be provided with claw beam guide plate (43) in described claw beam (4), claw beam guide plate (43) is provided with claw beam pilot hole (44).
10. the universal operating forceps of Non-follow control according to claim 9, is characterized in that: described steering connections A (2) and/or steering connections B (3) is provided with joint pilot hole (35).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510889198.8A CN105361924B (en) | 2015-12-07 | 2015-12-07 | Universal operating forceps is controlled manually |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510889198.8A CN105361924B (en) | 2015-12-07 | 2015-12-07 | Universal operating forceps is controlled manually |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105361924A true CN105361924A (en) | 2016-03-02 |
| CN105361924B CN105361924B (en) | 2017-06-23 |
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ID=55364906
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510889198.8A Expired - Fee Related CN105361924B (en) | 2015-12-07 | 2015-12-07 | Universal operating forceps is controlled manually |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105361924B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109171967A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | One kind can flexible curved surgical robotic apparatus |
| CN109431565A (en) * | 2018-12-03 | 2019-03-08 | 郑州大学第附属医院 | Controllable nose formula hysteroscope needle holder |
| CN109984804A (en) * | 2017-12-29 | 2019-07-09 | 江苏木偶医疗科技有限公司 | A kind of Minimally Invasive Surgery pincers |
| CN113243950A (en) * | 2021-05-21 | 2021-08-13 | 绵阳美科电子设备有限责任公司 | Five-axis minimally invasive instrument integrated system |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US5312023A (en) * | 1991-10-18 | 1994-05-17 | United States Surgical Corporation | Self contained gas powered surgical apparatus |
| CN2794438Y (en) * | 2004-12-24 | 2006-07-12 | 浙江大学医学院附属第一医院 | Laparoscope operation instrument with steerable front end |
| CN102973321A (en) * | 2012-10-17 | 2013-03-20 | 哈尔滨工程大学 | Manual multi-degree of freedom micro-manipulator for surgical operation |
| CN103169542A (en) * | 2013-03-22 | 2013-06-26 | 哈尔滨工业大学 | Decoupling type surgical device used for peritoneoscope minimally invasive surgery |
-
2015
- 2015-12-07 CN CN201510889198.8A patent/CN105361924B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5312023A (en) * | 1991-10-18 | 1994-05-17 | United States Surgical Corporation | Self contained gas powered surgical apparatus |
| CN2794438Y (en) * | 2004-12-24 | 2006-07-12 | 浙江大学医学院附属第一医院 | Laparoscope operation instrument with steerable front end |
| CN102973321A (en) * | 2012-10-17 | 2013-03-20 | 哈尔滨工程大学 | Manual multi-degree of freedom micro-manipulator for surgical operation |
| CN103169542A (en) * | 2013-03-22 | 2013-06-26 | 哈尔滨工业大学 | Decoupling type surgical device used for peritoneoscope minimally invasive surgery |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109984804A (en) * | 2017-12-29 | 2019-07-09 | 江苏木偶医疗科技有限公司 | A kind of Minimally Invasive Surgery pincers |
| CN109984804B (en) * | 2017-12-29 | 2023-12-26 | 江苏木偶医疗科技有限公司 | Minimally invasive surgical forceps |
| CN109171967A (en) * | 2018-09-30 | 2019-01-11 | 泗洪县正心医疗技术有限公司 | One kind can flexible curved surgical robotic apparatus |
| CN109431565A (en) * | 2018-12-03 | 2019-03-08 | 郑州大学第附属医院 | Controllable nose formula hysteroscope needle holder |
| CN113243950A (en) * | 2021-05-21 | 2021-08-13 | 绵阳美科电子设备有限责任公司 | Five-axis minimally invasive instrument integrated system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105361924B (en) | 2017-06-23 |
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