CN105361924B - Universal operating forceps is controlled manually - Google Patents
Universal operating forceps is controlled manually Download PDFInfo
- Publication number
- CN105361924B CN105361924B CN201510889198.8A CN201510889198A CN105361924B CN 105361924 B CN105361924 B CN 105361924B CN 201510889198 A CN201510889198 A CN 201510889198A CN 105361924 B CN105361924 B CN 105361924B
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- China
- Prior art keywords
- claw beam
- steering connections
- jaw
- control
- rope sheave
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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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
Universal operating forceps is controlled manually the invention discloses one kind, it is particularly a kind of to control universal Minimally Invasive Surgery to clamp manually, including base (5), claw beam (4), binding clip (1), binding clip (1) is comprising determining jaw (11) and dynamic jaw (12), at least two steering connections are provided between claw beam (4) and binding clip (1), base (5) is a hollow cavity, control ball (6) is provided with cavity, the control ball (6) is provided with trigger piece A (63) and at least two groups manipulation lines (10) control two actions of steering connections, base (5) is additionally provided with the action of the dynamic jaw (12) of jaw controlling organization (9) control.Compared with prior art, simple structure of the present invention, flexibility ratio are high, and binding clip particularly can be neatly rotated in the range of very little, easy to operate.
Description
Technical field
Universal operating forceps is controlled manually the present invention relates to one kind, it is particularly a kind of to control universal Minimally Invasive Surgery to clamp manually.
Background technology
Minimally Invasive Surgery is very common in surgical operation, and operating theater instruments is to enter human body by the operating walk way of relatively narrower
Inside it is operated, so operating theater instruments is relatively small, often through the corresponding operation of operating forceps clamping in current operation
Apparatus is carried out, therefore requirement to operating forceps is just very high.
Minimally Invasive Surgery pincers disclosed in CN103720505A and CN204520875U, mainly by clamp handle, claw beam, binding clip and control
Pull bar or control wire of binding clip processed etc. are constituted, and its binding clip is in the end of claw beam, but the direction of binding clip is fixation, gives concrete operations band
It is inconvenient to come.
CN201968770U then realizes the bending of claw beam by multiple intermeshing joint components, and CN102525595A is then
The bending of claw beam is realized by the flexible pipe that can be bent, the direction of its binding clip is still fixed, and flexibility ratio is relatively low, particularly exists
In the operating space of scope of activities very little, the only bending of claw beam is difficult to adapt to.
And some operating robots then have that mechanism is sufficiently complex, cost is high and is difficult to the problem popularized.
The content of the invention
It is high that the technical problems to be solved by the invention are to provide a kind of simple structure, flexibility ratio, especially can be in very little
In the range of neatly rotate the universal operating forceps of control manually of binding clip, it is particularly a kind of to control universal Minimally Invasive Surgery to clamp manually.
To achieve the above object, the present invention provides following technical scheme：Including base (5), claw beam (4), binding clip (1),
Binding clip (1) is comprising determining jaw (11) and dynamic jaw (12).
At least two steering connections, i.e. steering connections A (2) and steering connections B are provided between claw beam (4) and binding clip (1)
(3), it is hinged by bearing pin A (23) between steering connections A (2) and steering connections B (3).
Determine jaw (11) to be fixedly connected on steering connections A (2), dynamic jaw (12) is then articulated with steering connections A (2),
Steering connections B (3) is articulated with claw beam (4) by bearing pin B (34), also, the bearing pin A between steering connections B (3), claw beam (4)
(23) bearing pin B (34) one gimbal structures of orthogonal formation and between steering connections A (2), steering connections B.
Rope sheave B (22) is fixed with steering connections A (2), dynamic jaw (12) is provided with rope sheave A (13), rope sheave A (13) and
Bearing pin A (23) between rope sheave B (22) and steering connections A (2) steering connections B (3) be it is concentric, and rope sheave A (13) with it is dynamic
Jaw (12) is fixedly connected and with bearing pin A (23) for axle is rotated.
Steering connections B (3) is provided with rope sheave C (33), and rope sheave C (33) is with the pin between steering connections B (3) and claw beam (4)
Axle B (34) is axle center.
Above-mentioned base (5) is a hollow cavity, and control ball (6) is provided with cavity, and the control ball (6) can be comprising one
The spheroid (61) rotated in cavity, spheroid (61) is provided with trigger piece A (63) and at least two groups manipulations drawn from spheroid (61)
Line (10), every two of the above-mentioned manipulation line (10) drawn from spheroid (61) forms the ring of closing for one group and in front end, together
When, two in each group manipulate both sides of the line (10) respectively from the diameter line of spheroid (61) and draw.
In at least two groups rings of closing that the above-mentioned manipulation line (10) drawn from spheroid (61) is formed, one group passes through pincers
Bar (4) bypasses the rope sheave B (22) on steering connections A (2) and controls the swing of steering connections A (2) in front end, and another group passes through pincers
Bar (4) bypasses the rope sheave C (33) on steering connections B (3) and controls the swing of steering connections B (3) in front end.
Be additionally provided with jaw controlling organization (9) in described base (5), the jaw controlling organization (9) comprising trigger piece B (91) and
Pendular body (92), both sides of the pendular body (92) centered on pendular body axle (93) are provided with least two manipulation lines for exit
(10), manipulation line (10) number of the extraction is that even number and every two form the ring closed, wherein at least one for one group in front end
Group bypasses the action of the dynamic jaw (12) of rope sheave A (13) controls through claw beam (4) in front end.
Further, the groove (62) mutually in decussation, the manipulation are preferably provided with above-mentioned control ball (6)
Line (10) is drawn by group from the two ends of corresponding groove (62).
Yet further, the manipulation line (10) that above-mentioned control ball (6) and/or jaw controlling organization (9) are drawn is best
It is provided with directive wheel (72).
Further, the manipulation line (10) that above-mentioned control ball (6) is drawn is preferably provided with locking mechanism (8), the locking machine
Structure (8) includes the ring body (83) for being provided with center locking hole (84) and plug (86) corresponding with locking hole (84) shape, plug
(86) releasing push handle (81) and Lock spring (87) are provided with, ring body is additionally provided with pilot hole D85 on (83), to facilitate other manipulation lines
Pass through.
Further, claw beam guide plate (43) is preferably provided with above-mentioned claw beam (4), claw beam guide plate (43) is provided with pincers
Bar pilot hole (44).
Further, joint pilot hole (35) is preferably provided with above-mentioned steering connections A (2) and/or steering connections B (3).
The course of work of the present invention is as follows：Trigger piece A (63) is promoted to rotate control ball (6) with thumb, by drawing in control ball (6)
The two groups of manipulation lines (10) for going out, can make steering connections A (2) or steering connections B (3) deflect, and realize the swing of binding clip (1)
Or rotate, when locking mechanism (8) are provided with, locking mechanism (8) releasing push handle (81) can be pressed and be controlled ball (6) manipulation line
(10) unblock, when the swing of binding clip (1) or after turn to appropriate orientation, releasable lock determines mechanism (8) and releases push handle (81) to enter
The locking of row control ball (6) manipulation line (10), promotes the deflection of trigger piece B (91), pendular body (92) then to can control the dynamic jaw of control
(12) action, realizing the opening and closing of the dynamic jaw (12) of binding clip (1) carries out the action of operating theater instruments.
Compared with prior art, simple structure of the present invention, flexibility ratio are high, particularly can be in the range of very little neatly
Binding clip is rotated, it is easy to operate.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention 1.
Fig. 2 is the local structural representation of the binding clip of the embodiment of the present invention 1 and steering mechanism.
Fig. 3 is the structural representation that Fig. 2 is overlooked.
Fig. 4 is the structural representation of the binding clip exploded of the embodiment of the present invention 1.
Fig. 5 is the structural representation of the steering connections A pilot holes of the embodiment of the present invention 1.
Fig. 6 is the structural representation that the control ball of the embodiment of the present invention 1 manipulates line (10) gland.
Fig. 7 is the structural representation of Fig. 6 left views.
Fig. 8 is the structural representation of the control ball of the embodiment of the present invention 1.
Fig. 9 is the structural representation that Fig. 8 is overlooked.
Figure 10 is the structural representation of Fig. 7 left views.
Figure 11 is the structural representation that the control ball of the embodiment of the present invention 1 manipulates line (10) locking mechanism.
Figure 12 is the local structural representation of the claw beam of the embodiment of the present invention 1.
Figure 13 is the structural representation of Figure 11 left views.
Figure 14 is the structural representation of the jaw controlling organization of the embodiment of the present invention 1.
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 of the control ball of the embodiment of the present invention 4.
Figure 18 is the structural representation of Figure 17 left views.
Figure 19 is the structural representation of the jaw controlling organization of the embodiment of the present invention 5.
Shown in figure：1 is binding clip, and 11 is to determine jaw, and 12 is dynamic jaw, and 13 is rope sheave A, and 2 is steering connections A, and 21 is to turn
To joint A pedestals, 22 is rope sheave B, and 23 is bearing pin A, and 3 is steering connections B, and 31 is steering connections B axle seat, and 32 is steering connections B
Pedestal, 33 is rope sheave C, and 34 is bearing pin B, and 35 is joint pilot hole, and 4 is claw beam, and 41 is claw beam body axle bed, and 42 is claw beam body, 43
It is claw beam guide plate, 44 is claw beam pilot hole, and 5 is base, and 51 is electrode, and 52 is handle, and 6 is control ball, and 61 is spheroid, and 62 are
Groove, 63 is trigger piece A, and 64 is thenar, and 65 is thumb clasp, and 7 is control ball fixed plate, and 71 is fixed plate pedestal, and 72 is to lead
To wheel, 73 is fixed plate pilot hole, and 74 is fixed plate centre bore, and 8 is locking mechanism, and 81 release push handle, and 82 is push handle connecting rod, 83
It is ring body, 84 is locking hole, and 85 is pilot hole D, and 86 is plug, and 87 is Lock spring, and 9 is jaw controlling organization, and 91 is trigger piece
B, 92 is pendular body, and 93 is pendular body axle.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings and by embodiment.
Embodiment 1：Reference picture 1- Figure 14 is the structural representation of the embodiment of the present invention 1.Including base 5, claw beam 4, binding clip
1。
Claw beam 4 includes the body of rod 42 and claw beam axle bed 41, and claw beam body 42 is a hollow body, and 2-4 blocks pincers are provided with body
Bar guide plate 43, every piece of claw beam guide plate 43 is equipped with 6-8 claw beam pilot hole 44.
Binding clip 1 is provided with two steering connections comprising jaw 11 and dynamic jaw 12 is determined between claw beam 4 and binding clip 1, that is, turn to
Joint A2 and steering connections B3, steering connections A2 are provided with steering connections A pedestals 21, steering connections A pedestals 21 and steering connections B3
Between be hinged by bearing pin A23, determine jaw 11 and be fixedly connected on the steering connections A pedestals 21 of steering connections A2, move jaw 12
Then it is articulated with steering connections A2 and is rotated by axle of the bearing pin A of steering connections A pedestals 21.
Steering connections B3 is provided with steering connections B axle 31 and steering connections B of seat pedestals 32, and steering connections B pedestals 32 pass through pin
Axle B34 is articulated with the claw beam axle bed 41 of claw beam 4, is equipped with horizontal plate on steering connections A2 and steering connections B3, the transverse direction
Plate be provided with joint pilot hole 35, the bearing pin A23 and steering connections A2, steering connections B between steering connections B3, claw beam 4 it
Between bearing pin B34 it is orthogonal form a gimbal structure, rope sheave B22 is fixed with steering connections A2, set on dynamic jaw 12
It is concentric to have the bearing pin A23 between rope sheave A13, rope sheave A13 and rope sheave B22 and steering connections A2 steering connections B3, and is restricted
Wheel A13 is fixedly connected with dynamic jaw 12 and is that axle is rotated with bearing pin A23, and steering connections B3 is provided with rope sheave C33, rope sheave C33 with
Bearing pin B34 between steering connections B3 and claw beam 4 is axle center.
Base 5 is a hollow cavity, and base 5 is provided with handle 52 and electrode 51.
Control ball 6 is provided with the hollow cavity of base 5, the control ball 6 includes a spheroid 61 that can be rotated in cavity,
Spheroid 61 is provided with trigger piece A63 and at least two groups manipulation lines 10 drawn from spheroid 61, the above-mentioned behaviour drawn from spheroid 61
10 every two, control line forms the ring of closing for one group and in front end, meanwhile, two manipulation lines 10 in each group are respectively from ball
The both sides of the diameter line of body 61 are drawn, and control ball 6 is provided with the groove 62 mutually in decussation, and the manipulation line 10 presses group
Drawn from the two ends of corresponding groove 62.Above-mentioned control ball 6 is fixed on bottom by the fixed plate pedestal 71 of control ball fixed plate 7
In 5 hollow cavitys of seat, fixed plate pedestal 71 is provided with directive wheel 72 and fixed plate pilot hole 73, can effectively distribute from control
The manipulation line 10 drawn on ball processed 6 is simultaneously oriented to controlling position, above-mentioned formed two groups of manipulation line 10 drawn from spheroid 61
In the ring of closing, one group bypasses the rope sheave B22 on steering connections A2 and controls the pendulum of steering connections A2 through claw beam 4 in front end
Dynamic, another group bypasses the rope sheave C33 on steering connections B3 and controls the swing of steering connections B3 through claw beam 4 in front end.
The manipulation line 10 that above-mentioned control ball 6 is drawn is provided with locking mechanism 8, and the locking mechanism 8 is included and is provided with center locking
The ring body 83 in hole 84 and plug 86 corresponding with the shape of locking hole 84, plug 86 are provided with releasing push handle 81 and Lock spring 87, ring
Body is additionally provided with pilot hole D85 on (83), and to facilitate passing through for other manipulation lines, certainly, other manipulation lines also can be from other positions
Locking mechanism 8 is bypassed, is repeated no more.
Jaw controlling organization 9 is additionally provided with described base 5, the jaw controlling organization 9 includes trigger piece B91 and pendular body
92, trigger piece B91 form L shape levers with pendular body 92, and both sides of the pendular body 92 centered on pendular body axle 93 are provided with for exit
Two manipulation lines 10, the manipulation line 10 of the extraction forms the ring of closing in front end, and bypasses rope sheave A13 in front end through claw beam 4
The action of the dynamic jaw 12 of control.
Embodiment 2：Reference picture 15, is the structural representation of the embodiment of the present invention 2, compared with Example 1, the present embodiment
Difference is：To hold shape cylinder always, jaw controlling organization 9 includes trigger piece B91 and pendular body 92, trigger piece B91 and swing to base 5
Body 92 forms T-shaped bar.
Embodiment 3：Reference picture 16, is the structural representation of the embodiment of the present invention 3, compared with Example 2, the present embodiment
Difference is：Jaw controlling organization 9 includes trigger piece B91 and pendular body 92, and trigger piece B91 forms L shape levers with pendular body 92.
Embodiment 4：Reference picture 17, Figure 18, is the structural representation of the embodiment of the present invention 4, compared with Example 1, this reality
The difference for applying example is：Control ball 6, the spheroid 61 of the control ball 6 is in a spherical crown shape, two groups of manipulation lines drawn from spheroid 61
10 are connected on symmetrical four point of the plane of the spherical crown of spheroid 61.
Embodiment 5：Reference picture 19, is the structural representation of the embodiment of the present invention 5, compared with embodiment before, this reality
The difference for applying example is：Jaw controlling organization 9 includes trigger piece B91 and pendular body 92, and pendular body 92 is in an orbicule, trigger piece B91
It is fixedly connected on orbicule.
Above-described is only the preferred embodiment of the present invention, it is noted that for one of ordinary skill in the art
For, without departing from the concept of the premise of the invention, some changes and improvements can also be made, these belong to the present invention
Protection domain.
Claims (10)
1. one kind controls universal operating forceps, including base (5), claw beam (4), binding clip (1) manually, and binding clip (1) is comprising determining jaw
And dynamic jaw (12) (11), it is characterised in that：
At least two steering connections, i.e. steering connections A (2) and steering connections B (3) are provided between claw beam (4) and binding clip (1),
It is hinged by bearing pin A (23) between steering connections A (2) and steering connections B (3)；
Determine jaw (11) to be fixedly connected on steering connections A (2), dynamic jaw (12) is then articulated with steering connections A (2), is turned to
Joint B (3) is articulated with claw beam (4) by bearing pin B (34), also, the bearing pin A (23) between steering connections B (3), claw beam (4)
With bearing pin B (34) one gimbal structures of orthogonal formation between steering connections A (2), steering connections B；
Rope sheave B (22) is fixed with steering connections A (2), dynamic jaw (12) is provided with rope sheave A (13), rope sheave A (13) and rope sheave
Bearing pin A (23) between B (22) and steering connections A (2) steering connections B (3) is concentric, and rope sheave A (13) and dynamic jaw
(12) it is fixedly connected and with bearing pin A (23) for axle is rotated；
Steering connections B (3) is provided with rope sheave C (33), and rope sheave C (33) is with the bearing pin B between steering connections B (3) and claw beam (4)
(34) it is axle center；
Base (5) is a hollow cavity, and control ball (6) is provided with cavity, and the control ball (6) can be in cavity transfer comprising one
Dynamic spheroid (61), spheroid (61) is provided with trigger piece A (63) and at least two groups manipulation lines (10) drawn from spheroid (61), institute
Every two of the manipulation line (10) drawn from spheroid (61) is stated to be one group and form the ring of closing in front end, meanwhile, each group
In two manipulations line (10) drawn from the both sides of the diameter line of spheroid (61) respectively,
In at least two groups rings of closing that the manipulation line (10) drawn from spheroid (61) is formed, one group passes through claw beam
(4) bypass the rope sheave B (22) on steering connections A (2) in front end and control the swing of steering connections A (2), another group passes through claw beam
(4) bypass the rope sheave C (33) on steering connections B (3) in front end and control the swing of steering connections B (3)；
Jaw controlling organization (9) is additionally provided with described base (5), the jaw controlling organization (9) is comprising trigger piece B (91) and swings
Body (92), both sides of the pendular body (92) centered on pendular body axle (93) are provided with least two manipulations line (10) for exit, should
It is that even number and every two form the ring closed for one group in front end that the manipulation line (10) of extraction is counted, and one group of wherein at least passes through pincers
Bar (4) bypasses the action of the dynamic jaw (12) of rope sheave A (13) controls in front end.
It is 2. according to claim 1 to control universal operating forceps manually, it is characterised in that：Described control ball (6) is provided with
Mutually in the groove (62) of decussation, manipulation line (10) is drawn by group from the two ends of corresponding groove (62).
It is 3. according to claim 1 and 2 to control universal operating forceps manually, it is characterised in that：Described control ball (6) is drawn
The manipulation line (10) for going out is provided with locking mechanism (8), the locking mechanism (8) comprising the ring body (83) for being provided with center locking hole (84) and
Plug (86) corresponding with locking hole (84) shape, plug (86) is provided with releasing push handle (81) and Lock spring (87).
It is 4. according to claim 1 and 2 to control universal operating forceps manually, it is characterised in that：Described control ball (6) and/
Or the manipulation line (10) that jaw controlling organization (9) is drawn is provided with directive wheel (72).
It is 5. according to claim 3 to control universal operating forceps manually, it is characterised in that：Described control ball (6) and/or pincers
The manipulation line (10) that mouth controlling organization (9) is drawn is provided with directive wheel (72).
It is 6. according to claim 1 and 2 to control universal operating forceps manually, it is characterised in that：It is provided with described claw beam (4)
Claw beam guide plate (43), claw beam guide plate (43) is provided with claw beam pilot hole (44).
It is 7. according to claim 3 to control universal operating forceps manually, it is characterised in that：Pincers are provided with described claw beam (4)
Bar guide plate (43), claw beam guide plate (43) is provided with claw beam pilot hole (44).
It is 8. according to claim 4 to control universal operating forceps manually, it is characterised in that：Pincers are provided with described claw beam (4)
Bar guide plate (43), claw beam guide plate (43) is provided with claw beam pilot hole (44).
It is 9. according to claim 5 to control universal operating forceps manually, it is characterised in that：Pincers are provided with described claw beam (4)
Bar guide plate (43), claw beam guide plate (43) is provided with claw beam pilot hole (44).
It is 10. according to claim 9 to control universal operating forceps manually, it is characterised 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 CN105361924A (en) | 2016-03-02 |
| CN105361924B true CN105361924B (en) | 2017-06-23 |
Family
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) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113243950B (en) * | 2021-05-21 | 2022-08-26 | 绵阳美科电子设备有限责任公司 | Five-axis minimally invasive instrument integrated system |
Family Cites Families (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 |
| CN102973321B (en) * | 2012-10-17 | 2014-12-03 | 哈尔滨工程大学 | Manual multi-degree of freedom micro-manipulator for surgical operation |
| CN103169542B (en) * | 2013-03-22 | 2015-01-07 | 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
Also Published As
| Publication number | Publication date |
|---|---|
| CN105361924A (en) | 2016-03-02 |
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