CN106264639A - A kind of moving link for detecting device and there is its detection device - Google Patents

A kind of moving link for detecting device and there is its detection device Download PDF

Info

Publication number
CN106264639A
CN106264639A CN201610879169.8A CN201610879169A CN106264639A CN 106264639 A CN106264639 A CN 106264639A CN 201610879169 A CN201610879169 A CN 201610879169A CN 106264639 A CN106264639 A CN 106264639A
Authority
CN
China
Prior art keywords
rod
moving link
anastomat
detecting
motor
Prior art date
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.)
Granted
Application number
CN201610879169.8A
Other languages
Chinese (zh)
Other versions
CN106264639B (en
Inventor
孙宝峰
黄晨
马猛
王大全
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Jiangsu Fengh Medical Equipment Co Ltd
Original Assignee
Jiangsu Fengh Medical Equipment Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Jiangsu Fengh Medical Equipment Co Ltd filed Critical Jiangsu Fengh Medical Equipment Co Ltd
Priority to CN201610879169.8A priority Critical patent/CN106264639B/en
Publication of CN106264639A publication Critical patent/CN106264639A/en
Application granted granted Critical
Publication of CN106264639B publication Critical patent/CN106264639B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/068Surgical staplers, e.g. containing multiple staples or clamps
    • A61B17/072Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
    • A61B17/07207Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61BDIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00681Aspects not otherwise provided for
    • A61B2017/00725Calibration or performance testing

Abstract

The invention discloses a kind of moving link for detecting device, including first connecting rod, second connecting rod and third connecting rod, described moving link is for being converted to arcuate movement by linear motion;One end of described first connecting rod is connected with the first pivotal point, and the mid portion of described first connecting rod is connected with the first end of described second connecting rod;Second end of described second connecting rod is connected with the first end of described third connecting rod;Second end and second pivotal point of described third connecting rod are connected;Power is transferred to described third connecting rod by the second pivotal point, then is transferred to described second connecting rod, then is transferred to described first connecting rod, so that described first connecting rod contacts with detected material or separates.According to the present invention for detecting the moving link of device and there is its detection device, in the transmittance process of power, power attenuation is little, can effectively transmit detection force value, percussion force be carried out detection digitized display detected value, the improved properties of anastomat percussion force is improved offer data supporting.

Description

A kind of moving link for detecting device and there is its detection device
Technical field
The present invention relates to the detection device of a kind of surgical instruments, particularly to a kind of moving link for detecting device and There is its detection device, belong to medical instruments field.
Background technology
Be applicable to operating anastomat and executive module be one can will be many while patient wound is sewed up The surgical instruments of remaining cutting tissue, is widely used in the Minimally Invasive Surgerys such as abdominal surgery, gynecological, department of pediatrics and thoracic surgery tissue Excise and coincide.The operation that Microendoscopic is carried out typically has only to open several aperture on the health of patient, will excision, stitching group The apparatus knitted and assist is performed the operation in stretching into patient body from aperture.The wound that Minimally Invasive Surgery brings to patient is little, Bing Renke To recover in a short period of time, therefore Minimally Invasive Surgery is increasingly subject to people's attention.
Clinically, each anastomat the most at least needs to carry out 2-4 percussion.During anastomat uses, percussion force For one of key technical index.Because the structure within existing anastomat designs, firing handle and position fixing handle must be made every time Abutting and just can the most effectively fire to when cannot move, percussion dynamics deficiency will make firing handle not have and location hands Handle fully abuts thus affects the normal use of anastomat.In the case, can only again fire, and due to the tissue quilt of patient Being clamped in the end effector of anastomat, patient will be caused unexpected injuries such as tearing by percussion again, and impact operation is just Often carry out.Therefore, it is necessary to the percussion force of anastomat is detected, and the percussion force of anastomat is only detected by prior art Can the most effectively detect the device of anastomat percussion force by the feel of tester, there is no objective data supporting.And it is existing Technology is not applicable to the moving link of anastomat detection device, it is impossible to realize the function of anastomat detection device.
Summary of the invention
It is desirable to provide a kind of moving link for detecting device and there is its detection device, it is possible to by straight line Motion is converted to arcuate movement, and in the transmittance process of power, power attenuation is little, can effectively transmit detection force value, and the present invention is to pass through Techniques below scheme realizes:
A kind of moving link for detecting device, including first connecting rod, second connecting rod and third connecting rod, described motion structure Part is for being converted to arcuate movement by linear motion;One end of described first connecting rod is connected with the first pivotal point, and described first The mid portion of connecting rod is connected with the first end of described second connecting rod;Second end of described second connecting rod and described third connecting rod First end connects;Second end and second pivotal point of described third connecting rod are connected;Power is transferred to described by the second pivotal point Third connecting rod, then it is transferred to described second connecting rod, then it is transferred to described first connecting rod, so that described first connecting rod is with tested Survey thing contact or separate;Described connection is rotating connection.
Further, described moving link includes described in a described first connecting rod, two described second connecting rods and two Third connecting rod;First end of one described second connecting rod is connected rotationally with the side of the mid portion of described first connecting rod Connecing, the first end of another described second connecting rod is connected rotationally with the opposite side of the mid portion of described first connecting rod, The side of described mid portion is symmetrical with opposite side;Second end of two described second connecting rods and two described third connecting rods First end is rotatably coupled the most correspondingly.
Preferably, described first connecting rod and the connected mode of the first pivotal point, described first connecting rod and described second connecting rod Connected mode, described second connecting rod and the connected mode of described third connecting rod, described third connecting rod and described second pivotal point Connected mode be rolling bearing connect, and described second connecting rod with described first connecting rod for removably connecting.
Described first pivotal point is positioned on the fixed block of described detection device, and described second pivotal point is positioned at described detection dress First end of the sensor put;Second end of described sensor is connected with the motor output shaft of described detection device.
Described second connecting rod and described third connecting rod are additionally provided with the position limiting structure cooperated, and are used for limiting described second even Bar and the anglec of rotation of described third connecting rod, to ensure that first connecting rod has enough strokes thus by described first connecting rod and institute State detected material to be kept completely separate.
Further, described position limiting structure is limited post and stopper slot, and described limited post can move in described stopper slot; Described second connecting rod and described third connecting rod one of them be provided with limited post, another is provided with stopper slot;Or, described It is simultaneously provided with limited post and stopper slot on two connecting rods, described third connecting rod is correspondingly provided with number corresponding with on second connecting rod simultaneously The limited post of amount and stopper slot.
Second end of described second connecting rod is provided with at least one limited post, and the first end of described third connecting rod is provided with at least one Individual stopper slot.
Described limited post is one-body molded with described second connecting rod, and described stopper slot is one-body molded with described third connecting rod.
Described limited post is cylindrical, and described stopper slot is semi-circular, the groove width of described stopper slot and described limited post Equal diameters or more than the diameter of described limited post, high and described limited post the height of the groove of described stopper slot is equal or big Height in described limited post.
Second end of each described second connecting rod is respectively provided with a limited post, and the first end of each described third connecting rod respectively sets There is a stopper slot;The form and dimension of said two second connecting rod is identical, the form and dimension phase of said two third connecting rod With.
Described first connecting rod has the depressed part adaptive with detected material profiling.
A kind of anastomat percussion force checking device of the moving link for detecting device included described in any of the above-described item, Including supporting mechanism, data processing module and control module;Described supporting mechanism is for fixing detected anastomat;Described Control module includes motor, single-chip microcomputer and display module, and described single-chip microcomputer is for controlling the motion of motor;Described data process mould Block is connected with the output shaft of described motor, and under the driving of described motor, described moving link fires described anastomat;Described number The power produced according to processing module perception motor, i.e. percussion force;Described percussion force is acquired, locates by described data processing module After reason, testing result is exported described display module.
Further, described data processing module includes sensor and a/d converter;Percussion needed for the offer of described motor Power, described percussion force is transferred to described sensor by the output shaft of described motor, and described percussion force is transferred to by described sensor Described moving link, described percussion force is transferred to the firing handle of described anastomat by described moving link, and described sensor is subject to Deformation is produced and by analog signal output to a/d converter after power;Described a/d converter receives the signal coming from described sensor After analogue signal be converted into digital signal pass to described single-chip microcomputer, after described single-chip microcomputer receives described digital signal, through number According to after processing, testing result being exported described display module.
Described data processing module also includes comparator;Described comparator is by the actually detected percussion force value obtained and standard Value compares, to judge whether anastomat percussion force meets requirement.
Present invention provide for the moving link of anastomat detection device, it is achieved that be converted to coincide by the power of motor The percussion force of device, and then achieve the partial function of anastomat detection device.Present invention also offers the inspection with moving link Survey device.The present invention for detecting the moving link of device and there is its detection device, power in the transmittance process of power It is lost little, can effectively transmit detection force value, and can realize linear motion is converted to arcuate movement;The anastomat percussion of the present invention The firing action of force checking device sham operated Shi doctor, is processed by data acquisition and data and detects percussion force and count Wordization display detected value, improves offer data supporting to the improved properties of anastomat percussion force.
Accompanying drawing explanation
Fig. 1 is the moving link schematic diagram of detection device according to embodiments of the present invention;
Fig. 2 is second connecting rod and the decomposing schematic representation of third connecting rod in Fig. 1;
Fig. 3 is the structural representation before detection device detection according to embodiments of the present invention;
Fig. 4 is the structural representation after detection device detection according to embodiments of the present invention, in order to clearly show that connection is closed System, eliminates parts thereof in figure;
Fig. 5 is detection device part exploded perspective view according to embodiments of the present invention, in order to clearly show that annexation, and figure In eliminate parts thereof.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings.Retouching in the present invention In stating, it is to be understood that term " " center ", " longitudinally ", " laterally ", " length ", " width ", " thickness ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward ", " clockwise ", " counterclockwise ", " axle To ", " radially ", the orientation of the instruction such as " circumferential " or position relationship be based on orientation shown in the drawings or position relationship, be only for It is easy to describe the present invention and simplifying describe rather than instruction or the device of hint indication or element must have a specific side Position, with specific azimuth configuration and operation, be therefore not considered as limiting the invention.
Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that instruction or hint relative importance Or the implicit quantity indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or Implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two, three Individual etc., unless otherwise expressly limited specifically.
The embodiment described below with reference to accompanying drawing is exemplary, it is intended to is used for explaining the present invention, and is not understood that For limitation of the present invention.
The anastomat percussion force checking device of the embodiment of the present invention, including supporting mechanism, data processing module and control mould Block.As it is shown on figure 3, supporting mechanism includes base 10, fixed block 1, support column 2, moving link 3;Data processing module includes light Electric switch 5, pulling force sensor 6, a/d converter;Control module includes single-chip microcomputer, motor, display module and some buttons.In order to It is easy to describe the present invention and simplify description, in embodiments of the present invention, based on orientation shown in the drawings or position relationship, Jiang Gebu Part is referred to as " the first end " near one end of fixed block 1, is referred to as " the second end " near one end of motor fixed block 7;By each parts It is referred to as " front " side towards the direction of fixed block 1, is referred to as " afterwards " side towards the direction of motor fixed block 7.
As it is shown in figure 1, include first connecting rod 31, second connecting rod 32, third connecting rod for detecting the moving link 3 of device 33;Further, moving link 3 includes a first connecting rod 31, and one end of first connecting rod 31 is rotatably and removably with solid Determine block 1 to connect;In order to ensure the equilibrium of stress, moving link 3 also includes 32, two third connecting rods 33 of two second connecting rods, uses In linear motion is converted to arcuate movement;One end of first connecting rod 31 is connected with the first pivotal point, in first connecting rod 31 Between part be connected with the first end of second connecting rod 32;Second end of second connecting rod 32 is connected with the first end of third connecting rod 33;The Second end and second pivotal point of three connecting rods 33 are connected;Power is transferred to third connecting rod 33 by the second pivotal point, then is transferred to Second connecting rod 32, then it is transferred to first connecting rod 31, so that described first connecting rod 31 contacts with detected anastomat or separates. Described first pivotal point is positioned on the fixed block 1 of described detection device, and described second pivotal point is positioned at the biography of described detection device First end of sensor 6;Second end of described sensor 6 is connected with the motor output shaft of described detection device.Specifically, two First end of two connecting rods 32 is rotatable and detachably connected with the mid portion of first connecting rod 31 respectively.In first connecting rod 31 Between part refer to the remainder in addition to two ends of first connecting rod 31.Second end difference one of two second connecting rods 32 One accordingly the first end with two third connecting rods 33 be rotatably connected;Second connecting rod 32 and third connecting rod 33 are equipped with spacing knot Structure, described position limiting structure is limited post and stopper slot.Include but not limited to scenario described below: the second end of described second connecting rod 32 sets Have at least one described limited post, the first end of described third connecting rod 33 is provided with at least one described stopper slot;Or described Second end of two connecting rods 32 is provided with at least one described stopper slot, the first end of described third connecting rod 33 is provided with described at least one Limited post;Or the second end of described second connecting rod 32 is simultaneously provided with at least one described limited post and at least one is described spacing Groove, accordingly, the first end of described third connecting rod 33 is simultaneously provided with at least one described stopper slot and at least one is described spacing Post.
Preferably, as it is shown in figure 1, the second end of two second connecting rods 32 is respectively equipped with a described limited post 321, corresponding Ground, the first end of two third connecting rods 33 is respectively equipped with a described stopper slot 331, the form and dimension of two second connecting rods 32 Form and dimensions identical, two third connecting rods 33 are identical.Second end of second connecting rod 32 is provided with limited post 321, third connecting rod First end of 33 is provided with stopper slot 331.First connecting rod 31 is provided with and firing handle 81 profiling matched recess portion 311, first connecting rod The width of 31 is more than the width of firing handle 81, in order to ensure the equilibrium of stress, two second connecting rods 32 respectively with first connecting rod The right and left of 31 is rotatably connected, and is symmetrical arranged, and two third connecting rods 33 are connected with two second connecting rods 32 respectively, and right Claim to arrange.
Specifically, as in figure 2 it is shown, limited post 321 is cylindrical, limited post 321 is one-body molded with second connecting rod 32 or solid Fixed connection;Stopper slot 331 is semi-circular.First end of second connecting rod 32 and the second end are semicylinder, second connecting rod 32 Mid portion is cuboid, and the mid portion of second connecting rod 32 refers to its remaining part in addition to two ends of second connecting rod 32 Point.The mid portion of described second connecting rod 32 and the first end, the second end are the most in smoothing junction, the diameter of described semicolumn and pars intermedia The width dividing cuboid is equal;First end of third connecting rod 33 and the second end are semicylinder, the mid portion of third connecting rod 33 For cuboid, the mid portion of third connecting rod 33 refers to the remainder in addition to two ends of third connecting rod 33.Described The mid portion of third connecting rod 33 and the first end, the second end are the most in smoothing junction, and the diameter of described semicolumn is rectangular with mid portion The width of body is equal.First end of third connecting rod 33 is provided with stage portion, and the height of described step and limited post 321 are at second connecting rod 32 Upper prominent height is equal, and described stage portion is semi-circular, forms stopper slot 331.As in figure 2 it is shown, limited post 321 is substantially in circle Cylinder body shape, is fixedly connected on the second end of second connecting rod 32 or one-body molded with the second end of second connecting rod 32.Second even Having relative motion between bar 32 and the 3rd side rod 33, described relative motion makes.Limited post 321 is the first of third connecting rod 33 End rotate and form track, described track is the most identical with stopper slot 331, stopper slot 331 substantially in semi-circular shape, stopper slot The height of 331 is equal with the height of limited post 321 or slightly larger than the height of limited post 321, the groove width of stopper slot 331 is equal to limit The diameter of position post 321 or slightly larger than the diameter of limited post 321.
During detection, limited post 321 can move in stopper slot 331.Between limited post 321 and stopper slot 331 Relative motion depends on the relative motion between second connecting rod 32 and third connecting rod 33, i.e. limited post 321 is in stopper slot 331 Position depend on the angle between second connecting rod 32 and third connecting rod 33;When firing handle 81 is kept completely separate with position fixing handle 82 Time, the edge 332 of stopper slot 331 limits limited post 321 to be continued to rotate, and then limits between second connecting rod 32 and third connecting rod 33 Relative motion so that second connecting rod 32 and third connecting rod 33 geo-stationary and jointly continue to move along, until by first Connecting rod 31 is kept completely separate with firing handle 81;Without position limiting structure, during moving link 3 travels forward, second Connecting rod 32 tapers into the angle of third connecting rod 33, and the stroke of second connecting rod 32 is not enough to push first connecting rod 31 completely open, In the case, first connecting rod 31 is difficult to be kept completely separate with firing handle 81 by action of gravity, thus can not have next time Effect percussion.
As it is shown in figure 5, one end of moving link 3 is rotatable and is detachably connected on fixed block 1, moving link 3 The other end is connected with the first end of motor output shaft 9 movably.The of second end of third connecting rod 33 and pulling force sensor 6 One end is fixing to be connected;Second end of pulling force sensor 6 and the first end of motor output shaft 9 are fixing to be connected, the of motor output shaft 9 Two ends are connected with motor, and motor is fixedly mounted in motor fixed block 7, and motor fixed block 7 is arranged on base 10.First connecting rod 31 with the connected mode of fixed block 1, first connecting rod 31 and the connected mode of second connecting rod 32, second connecting rod 32 and third connecting rod 33 Connected mode, third connecting rod 33 is bearing with the connected mode of pulling force sensor 6 and is connected;Further, described bearing is even Connecing and be rolling bearing connection, rolling bearing has excellent interchangeability and versatility, and startup moment of friction is low, motor process In coefficient of friction low, power attenuation is little, can guarantee that rotating accuracy, can effectively transmit the percussion force during detection.At motor Driving under, described moving link percussion anastomat;The pulling force that described data processing module perception motor produces, i.e. percussion force.
Anastomat 8 includes firing handle 81, position fixing handle 82 and handle 83.Percussion during, motor output shaft 9 by It is moved rearwards by the pulling force effect by motor, drives S-shaped pulling force sensor 6, moving link 3 to be at the uniform velocity moved rearwards by successively, the The profiling matched recess portion 311 of one connecting rod 31 slowly contacts to fitting completely with firing handle 81, first connecting rod 31 tension masterpiece Continue to move to the direction of handle 83 until firing handle 81 abuts with position fixing handle 82, Wu Fayi with driving firing handle 81 Time dynamic, complete the detection of shot power.The direction of pull that motor provides is linear, and the firing handle 81 of anastomat 8 exists Movement locus during percussion is arc, and linear motion can be converted to arcuate movement by moving link 3, and fires described kiss Clutch 8, it is simple to detect percussion force exactly.
The inner surface of the first connecting rod 31 of moving link 3 is provided with the depressed part that firing handle 81 profiling with anastomat is adaptive 311, the shape of depressed part 311 is consistent with the profile of firing handle 81, first connecting rod 31 and firing handle 81 during to ensure to detect Can completely fit, good fixing effect, can effectively transmit percussion force.Motor output shaft 9 is connected with motor, and motor output shaft 9 Central axis all overlap with the central axis of pulling force sensor 6, the impact of Tilt loading and eccentric load so can be made to subtract To minimum, it is ensured that effective transmission of percussion force.One end of motor output shaft 9 is connected with S-shaped pulling force sensor 6, firing handle 81, Position fixing handle 82 is axial symmetry design, it may be assumed that firing handle 81, that position fixing handle 82 is about the axis of symmetry of their own is right The structure claimed.One end of motor output shaft 9 is connected with pulling force sensor 6, the central axis of motor output shaft 9 and pulling force sensor The central axes of 6, and be positioned in the plane of the axis of symmetry of firing handle 81 and the axis of symmetry formation of position fixing handle 82, and And, on the extended line of the central axis that the maximum weighted point on position fixing handle 82 axis of symmetry is positioned at described motor output shaft;Hitting During Faing, firing handle 81 does arcuate movement around the connection end of firing handle 81 with stapler main body, and firing handle 81 is Big stress point is the midpoint of firing handle 81 axis of symmetry, and the impact of Tilt loading and eccentric load so can be made to be minimized, Ensure effective transmission of percussion force.The other end of motor output shaft 9 is connected with described motor;The central axis of motor output shaft 9 Overlap with the horizontal center line axis of pulling force sensor 6, the transmission design of such linear power, transmittance process can be effectively reduced The loss of middle power, it is ensured that the efficient transmission of percussion force.
One end of support column 2 is fixing with base 10 to be connected, and anastomat 8 is removably mounted in fixed block 1, fixed block 1 Being removably mounted on the other end of support column 2, the first end of moving link 3 is rotatable and is detachably connected to fixed block 1 On, the second end of moving link 3 is connected with the first end of pulling force sensor 6, the second end of pulling force sensor 6 and motor output shaft First end of 9 connects, and the second end of motor output shaft 9 is connected with motor, and motor is fixedly mounted in motor fixed block 7, motor Fixed block 7 is arranged on base 10.
As it is shown in figure 5, the inside of fixed block 1 is provided with the depressed part 11 that the shell profiling with anastomat 8 is adaptive, depressed part 11 Shape consistent with the profile of detected anastomat 8, with ensure detection time anastomat 8 main part can be complete with depressed part 11 Full laminating, causes anastomat 8 to rock and affect the degree of accuracy of detection because fixed effect is bad when effectively prevent percussion.Enter one Step ground, fixed block 1 includes first fixed block the 12, second fixed block 13, and first fixed block the 12, second fixed block 13 is full symmetric to be set Put;The inside of the first fixed block 12 is provided with the first depressed part, the inside of the second fixed block 13 is provided with the second depressed part, and described One depressed part and the described second full symmetric setting of depressed part, described first depressed part and described second depressed part are collectively forming recessed Falling into portion 11, such symmetric design is easy to during test be stably installed fixed anastomosis device 8 and can guarantee that uniform force.Before test, First the cut thing that coincide is put into the end effector 84 of anastomat 8, strains position fixing handle 82, the now cut thing quilt that coincide It is fixed in end effector 84, it is preferable that the described cut thing that coincide is foam;Further, the thickness of described foam is 10mm.After tension position fixing handle 82, being fixed on by foam in end effector 84, the first fixed block 12 is positioned on horizontal plane, Then the half of anastomat 8 shell being arranged in the first fixed block 12, the half making anastomat 8 shell is complete with the first depressed part Full laminating, then cover the second fixed block 13, makes the second depressed part fit completely second half of anastomat 8 shell;So, anastomat The shell of 8 is just fixed in fixed block 1, thus is secured firmly in the profiling depressed part 11 of fixed block 1 by anastomat 8.This In embodiment as a example by foam thick for 10mm, the cut thing that coincide can also is that the foam of rubber, animal tissue or other specifications, Depending on meeting the testing requirement of percussion force.
After being fixed on by anastomat 8 in fixed block 1, then it is installed along with propping up together with the anastomat 8 after changing by fixed block 1 On dagger 2, the outer surface of fixed block 1 is respectively equipped with, with the outer surface of support column 2, the installation fixed cell cooperated, it is achieved Gu Determine removably connecting of block 1 and support column 2.Preferably, supporting mechanism comprises four support columns 2, and four support columns 2 are all and base 10 fixing connect and all vertical with base 10.Specifically, described installation fixed cell includes chute and slide block, each support column 2 On be equipped with chute 21, the outer surface of fixed block 1 is provided with slide block 121 accordingly, the size of chute is with the size of slide block substantially Equal, chute 21 and slide block 121 are the most substantially in rectangular shape, and position one_to_one corresponding, and slide block 121 slides in chute 21 Fixed block 1, and then fixed anastomosis device 8 can be firmly fixed behind the bottom of chute 21.Detection equipment can be started with that Power supply, tests the percussion force of anastomat 8.
Further, pulling force sensor 6 is S-shaped pulling force sensor, and motor is direct current generator.
The operation principle of anastomat 8 is to utilize cutter cutting patient tissue and utilize titanium nail to kiss patient tissue Closing, during Clinical practice, the number of times (i.e. coincideing and the number of times of cutting) of the percussion of anastomat 8 is maximum based on doctor's hands Be applied to during size, every time percussion the maximum, force of apparatus, anastomat 8 firing handle 81 and end effector 84 away from The factor such as the size of the power needed for, end effector 84 and ergonomics determines;Consider factors above, typically It is that the number of times coincideing in whole for anastomat 8 work process and cut is divided into three times, additionally, complete to coincide and after cutting, also need Firing and once return by cutter, the end effector 84 of anastomat 8 opens, and makes the tissue of patient depart from end effector 84, anastomat 8 could be taken out in abdominal cavity of patients, i.e. anastomat 8 at least needs to carry out 2-4 effectively percussion.Percussion every time Time, firing handle 81 is abutted with position fixing handle 82 to it from being kept completely separate with position fixing handle 82, has been calculated as the most complete Percussion process.Because the structure within existing anastomat designs, after having fired for the first time, firing handle 81 could be discharged, During until it is kept completely separate with position fixing handle 82, just can proceed by and the most effectively fire.
It should be noted that during percussion force detects, before anastomat 8 is fired, first connecting rod 31 and firing handle 81 fit the most completely, and firing handle 81 remains static, and anastomat 8 is not fired, and force value now only pulls first Pulling force needed for connecting rod 31, is not belonging to fire the scope of force value, can be not counted in the detection range of described percussion force;Additionally, hit Sending out handle 81 when abutting with position fixing handle 82, the power continuing to pull back also is not belonging to the scope of percussion force value.Based on above-mentioned former Cause, the starting point of detection is when first connecting rod 31 and firing handle 81 are fitted completely, and the terminal of detection is set to firing handle 81 Stopping record with position fixing handle 82 when will abut, owing to the speed of motor is set as quantitatively, the stroke that moving link 3 runs is also It is quantitative, therefore can be by setting detection starting point and the detection terminal that the detection time controls to detect every time.
Photoswitch 5 is fixedly mounted on support column 2, and photoswitch 5, pulling force sensor 6 all couple with control module.Light Electric switch 5 is used for monitoring whether first connecting rod 31 is kept completely separate with firing handle 81.When motor rotates forward, by motor output shaft 9 Promoting forward, motor output shaft 9 promotes moving link 3 to move forward.When mobile complete with firing handle 81 to first connecting rod 31 During separation, the display lamp of photoswitch 5 lights, and prompting tester's firing handle 81 is completely released;Motor receives percussion hands Starting reversion after the signal that handle 81 has been completely released, the display lamp of photoswitch 5 extinguishes, and motor output shaft 9 is drawn by motor Under power effect, pull pulling force sensor 6 and then pull moving link 3 to be moved rearwards by;When first connecting rod 31 is complete with firing handle 81 When entirely fitting, proceed by percussion force test.During motor main story, thrust sequentially passes through motor output shaft 9, S-shaped pulling force sensor 6, third connecting rod 33, second connecting rod 32 to first connecting rod 31, and make moving link 3 and S-shaped pulling force sensor 6 the evenest Speed is mobile, and along with first connecting rod 31 rotates forward, firing handle 81 is released, under the elastic force effect of anastomat inner spring, Firing handle 81 rotates forward and is kept completely separate with position fixing handle 82;Signal is passed to MCU, MCU by this letter by photoswitch 5 Number passing to motor, motor starts reversion after receiving the signal of MCU, and motor output shaft 9 is moved back by by the pulling force effect of motor Dynamic, carry out the detection of second time percussion force, by that analogy, after completing four percussion force tests, by fixed block 1 from support column 2 Take off, first remove the second fixed block 13, the most replaceable anastomat 8, carry out percussion force detection next time.In whole detection process In, motor uniform rotation, say, that the speed that motor rotates forward is equal to the speed of motor reversal.
Described motor may be alternatively located at the front of firing handle 81, and now, motor produces thrust through sensor and driver Structure acts in firing handle 81, promotes firing handle 81, it is achieved the percussion of anastomat, it is also possible to realize the detection of percussion force.
The operation principle of the anastomat percussion force checking device of the present invention is: before detection, first connecting rod 31 and firing handle 81 are in the state of being kept completely separate, and the first end of S-shaped pulling force sensor 6 is connected with the second end of moving link 3, pulling force sensor 6 The second end be connected with the first end of motor output shaft 9, start power supply when starting to detect, motor reversal, motor output shaft 9 due to It is moved rearwards by by the pulling force effect of motor, drives S-shaped pulling force sensor 6, moving link 3 to be at the uniform velocity moved rearwards by successively, first Connecting rod 31 slowly contacts to fitting completely with firing handle 81, first connecting rod 31 tension power effect drive firing handle 81 continue to When the direction of handle 83 is moved until firing handle 81 abuts with position fixing handle 82, cannot move, complete percussion force for the first time Detection.
Being pasted with resistance strain gage on the surface of S-shaped pulling force sensor 6, during percussion anastomat 8, motor is anti- Turning, drive motor output shaft 9 produces pulling force through S-shaped pulling force sensor 6 to moving link 3, and then makes firing handle 81 with fixed Position handle 82 produces elastic deformation, i.e. S-shaped from released state percussion to the state of abutting, S-shaped pulling force sensor 6 under tension effect Pulling force sensor 6 is in the state of being kept completely separate to firing handle 81 and position fixing handle 82 by first connecting rod 31 and firing handle 81 Pulling force effect during abutting and produce elastic deformation, make to be pasted onto the resistance strain gage on its surface also in company with being deformed, After resistance strain gage deformation, its resistance value will change, then through corresponding measuring circuit, this resistance change is converted to The signal of telecommunication, thus complete the process that pulling force is converted to the signal of telecommunication.The change that the signal of telecommunication occurs exports electricity after processing of circuit Pressure analogue signal also sends a/d converter to, and voltage analog signal is converted into digital signal and sends single-chip microcomputer to by a/d converter, Single-chip microcomputer (i.e. micro-control unit Microcontroller Unit) is called for short MCU, is to be integrated with inner treater (CPU), memorizer One piece of integrated chip that (RAM, ROM), enumerator and I/O port are integrated.On the basis of this hardware circuit, will process Data, computational methods, step, operational order be compiled into program, deposit in MCU interiorly or exteriorly memorizer, MCU is running Time can take out from memorizer automatically, continuously and perform.In the present invention, the rotating and reverse of motor, the startup of motor and Stop all by Single-chip Controlling.
Testing result is exported display module 47 through calculating after receiving described digital signal by single-chip microcomputer, and tester just may be used To obtain the value of this anastomat percussion force on display module 47..It should be noted that the detection of display module 47 Dynamic Announce During the instantaneous value of percussion force that records.A/d converter i.e. analog-digital converter, being one is numeral letter by analog-signal transitions Number electronic component, specifically, be the transducer of digital signal that an input voltage signal is converted to an output.This A/d converter in bright embodiment is 24 high-precision AD converters, and being provided with gain in described high-precision AD converter is 128 times Programming amplifier, HX711 chip can be used.HX711 is a 24 bit A/D converter chips aiming at high precision apparatus design, With compared with other chip of type, this integrated chip includes other same type chip such as regulated power supply, on-chip clock oscillator Required peripheral circuit, has the advantages such as integrated level height, fast response time, strong interference immunity.
The control module of the anastomat percussion force checking device of the present invention also includes display module 47 and several buttons, as Shown in Fig. 3, described button is reset key 41, determine button 42, forward key 43, Reverse keys 44, automatic keying 45, pattern Adjusting key 46.The work process of the anastomat percussion force checking device of the present invention is: first detection is filled by operation power switch button Put energising;Detection device is reset or after peeling, then by mode tuning key 46, test pattern is adjusted to " automatic mode ".First press Once determine button 42, after detection device receives signal, proceed by the detection of continuous four percussion forces;After having detected, will Fixed block 1 takes off from support column 2, first removes the second fixed block 13, the most replaceable anastomat 8, then covers the second fixed block 13, Fixed block 1 is installed along with on support column 2 together with anastomat 8, the percussion force detection of next anastomat 8 can be carried out.This The anastomat percussion force checking device of invention can also carry out manual test as required, and specifically, pattern is first adjusted by tester Joint key 46 is adjusted to manual mode, by forward key 43, the rotating forward of Reverse keys 44 Non-follow control motor, reversion, thus carries out Manual mode detects.During manual mode detection percussion force, it is only necessary to clicking forward key 43 or Reverse keys 44, motor will be by setting The Stroke Control motor rotating forward reserved, the startup inverted, stopping, automatically controlling starting point and the terminal of percussion detection every time, enter The detection of row percussion force and judgement.
As a further improvement on the present invention, the anastomat percussion force checking device of the present invention also includes comparator, described The actually detected percussion force value obtained is compared by comparator with standard value, and automatic decision is detected each the hitting of anastomat Have an effect and whether meet requirement.Specifically, first operation power switch button 41 will detection device energising;After device clearing will be detected, Set the percussion force value of maximum as X, this maximum percussion force value X be early stage according to the multiple anastomats of manual percussion after, according to test Person's feel picks out percussion process anastomat smoothly, and these anastomats are defaulted as the anastomat that percussion force is qualified, with this Calculate after the percussion force value of the multiple described anastomat chosen described in bright anastomat percussion force detection device to test is flat Average, or maximum percussion force value X is to set as required.The force value that anastomat percussion force detection device records fires every time is also Actual maximum percussion force value during percussion every time is compared with pre-set percussion force value X, when actually detected Percussion force value less than or equal to maximum percussion force value X set time, the percussion force of this anastomat meets requirement, and anastomat hits This detected value of detection device records of having an effect;Can be carried out the detection of the percussion force next time of this anastomat.When actually detected When percussion force value is more than percussion force value X set, anastomat percussion force checking device alarm tester, this of this anastomat Secondary percussion force is unsatisfactory for requirement, and tester can stop the detection of this anastomat and take out this anastomat, checks underproof reason; Or proceeding the detection of residue degree until taking out this anastomat after completing four detections, reexamining underproof reason, To carry out follow-up improvement.
In sum, the moving link for detecting device of the present invention, in the transmittance process of power, power attenuation is little, energy Effectively transmission detection force value, and can realize linear motion is converted to arcuate movement;The anastomat percussion force detection dress of the present invention Put the firing action of sham operated Shi doctor, by data acquisition and data process, percussion force is carried out detection also digitized and show Detected value, improves offer data supporting to the improved properties of anastomat percussion force.
In the present invention, unless otherwise clearly defined and limited, term " install ", " being connected ", " connection ", " fixing " etc. Term should be interpreted broadly, and connects for example, it may be fixing, it is also possible to be to removably connect, or integral;Can be that machinery connects Connect, it is also possible to be electrical connection or each other can communication;Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, permissible It is connection or the interaction relationship of two elements of two element internals, unless otherwise clear and definite restriction.For this area For those of ordinary skill, above-mentioned term concrete meaning in the present invention can be understood as the case may be.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature " on " or D score permissible It is that the first and second features directly contact, or the first and second features are by intermediary mediate contact.And, fisrt feature exists Second feature " on ", " top " and " above " but fisrt feature directly over second feature or oblique upper, or be merely representative of Fisrt feature level height is higher than second feature.Fisrt feature second feature " under ", " lower section " and " below " can be One feature is immediately below second feature or obliquely downward, or is merely representative of fisrt feature level height less than second feature.
In the description of this specification, reference term " embodiment ", " some embodiments ", " example ", " specifically show Example " or the description of " some examples " etc. means to combine this embodiment or example describes specific features, structure, material or spy Point is contained at least one embodiment or the example of the present invention.In this manual, to the schematic representation of above-mentioned term not Identical embodiment or example must be directed to.And, the specific features of description, structure, material or feature can be in office One or more embodiments or example combine in an appropriate manner.Additionally, in the case of the most conflicting, the skill of this area The feature of the different embodiments described in this specification or example and different embodiment or example can be tied by art personnel Close and combination.
Although above it has been shown and described that embodiments of the invention, it is to be understood that above-described embodiment is example Property, it is impossible to being interpreted as limitation of the present invention, those of ordinary skill in the art within the scope of the invention can be to above-mentioned Embodiment is changed, revises, replaces and modification.

Claims (14)

1. for detecting a moving link for device, including first connecting rod, second connecting rod and third connecting rod, it is characterised in that Described moving link is for being converted to arcuate movement by linear motion;One end of described first connecting rod is connected with the first pivotal point Connecing, the mid portion of described first connecting rod is connected with the first end of described second connecting rod;Second end of described second connecting rod and institute The first end stating third connecting rod connects;Second end and second pivotal point of described third connecting rod are connected;Power is pivoted by second Point is transferred to described third connecting rod, then is transferred to described second connecting rod, then is transferred to described first connecting rod, so that described the One connecting rod contacts with detected material or separates;Described connection is rotating connection.
Moving link for detecting device the most according to claim 1, it is characterised in that described moving link includes one Individual described first connecting rod, two described second connecting rods and two described third connecting rods;First end of one described second connecting rod with The side of the mid portion of described first connecting rod is connected rotationally, the first end of another described second connecting rod and described the The opposite side of the mid portion of one connecting rod is connected rotationally, and the side of described mid portion is symmetrical with opposite side;Two First end of the second end of described second connecting rod and two described third connecting rods is rotatably coupled the most correspondingly.
Moving link for detecting device the most according to claim 2, it is characterised in that described first connecting rod and first The connected mode of pivotal point, described first connecting rod and the connected mode of described second connecting rod, described second connecting rod and the described 3rd The connected mode of connecting rod, described third connecting rod are rolling bearing with the connected mode of described second pivotal point and are connected, and described Second connecting rod and described first connecting rod are for removably connecting.
4. according to the moving link for detecting device described in any one of claims 1 to 3, it is characterised in that described first Pivotal point is positioned on the fixed block of described detection device, and described second pivotal point is positioned at the first of the sensor of described detection device End;Second end of described sensor is connected with the motor output shaft of described detection device.
Moving link for detecting device the most according to claim 1, it is characterised in that described second connecting rod is with described Third connecting rod is additionally provided with the position limiting structure cooperated, for limiting the anglec of rotation of described second connecting rod and described third connecting rod Degree, to ensure that first connecting rod has enough strokes thus is kept completely separate with described detected material by described first connecting rod.
Moving link for detecting device the most according to claim 5, it is characterised in that described position limiting structure is spacing Post and stopper slot, described limited post can move in described stopper slot;Described second connecting rod and described third connecting rod one of them Being provided with limited post, another is provided with stopper slot;Or, described second connecting rod is simultaneously provided with limited post and stopper slot, institute State and be correspondingly provided with on third connecting rod and the limited post of respective amount on second connecting rod and stopper slot simultaneously.
Moving link for detecting device the most according to claim 6, it is characterised in that the second of described second connecting rod End is provided with at least one limited post, and the first end of described third connecting rod is provided with at least one stopper slot.
Moving link for detecting device the most according to claim 7, it is characterised in that described limited post and described the Two connecting rods are one-body molded, and described stopper slot is one-body molded with described third connecting rod.
9. according to the moving link for detecting device described in claim 7 or 8, it is characterised in that described limited post is circle Cylindricality, described stopper slot is semi-circular, the equal diameters of the groove width of described stopper slot and described limited post or more than described limit The diameter of position post, the groove of described stopper slot is high equal with the height of described limited post or is more than the height of described limited post.
Moving link for detecting device the most according to claim 7, it is characterised in that each described second connecting rod The second end be respectively provided with a limited post, the first end of each described third connecting rod is respectively provided with a stopper slot;Said two The form and dimension of two connecting rods is identical, and the form and dimension of said two third connecting rod is identical.
11. moving links for detecting device according to claim 1, it is characterised in that described first connecting rod has The depressed part adaptive with detected material profiling.
The anastomat percussion force detection of 12. 1 kinds of moving links for detecting device included as described in power 1 to 11 any one Device, it is characterised in that include supporting mechanism, data processing module and control module;Described supporting mechanism will be for being detected Anastomat fix;Described control module includes motor, single-chip microcomputer and display module, and described single-chip microcomputer is for controlling the fortune of motor Dynamic;Described data processing module is connected with the output shaft of described motor, and under the driving of described motor, described moving link fires Described anastomat;The power that described data processing module perception motor produces, i.e. percussion force;Described data processing module is to described Percussion force is acquired, process after, testing result is exported described display module.
13. anastomat according to claim 12 percussion force checking devices, it is characterised in that described data processing module bag Include sensor and a/d converter;Percussion force needed for the offer of described motor, described percussion force is transmitted by the output shaft of described motor To described sensor, described percussion force is transferred to described moving link by described sensor, and described moving link is by described percussion Power is transferred to the firing handle of described anastomat, produces deformation and by analog signal output to AD conversion after described force acting on transducer Device;Analogue signal is converted into digital signal after receiving the signal coming from described sensor and passes to described by described a/d converter Single-chip microcomputer, after described single-chip microcomputer receives described digital signal, exports described display module after data process by testing result.
14. anastomat according to claim 13 percussion force checking devices, it is characterised in that described data processing module is also Including comparator;The actually detected percussion force value obtained is compared by described comparator with standard value, to judge that anastomat hits Have an effect and whether meet requirement.
CN201610879169.8A 2016-09-30 2016-09-30 A kind of moving link and its detection device for stapler percussion force checking device Active CN106264639B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610879169.8A CN106264639B (en) 2016-09-30 2016-09-30 A kind of moving link and its detection device for stapler percussion force checking device

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201910288267.8A CN110025346A (en) 2016-09-30 2016-09-30 A kind of moving link
CN201610879169.8A CN106264639B (en) 2016-09-30 2016-09-30 A kind of moving link and its detection device for stapler percussion force checking device

Related Child Applications (1)

Application Number Title Priority Date Filing Date
CN201910288267.8A Division CN110025346A (en) 2016-09-30 2016-09-30 A kind of moving link

Publications (2)

Publication Number Publication Date
CN106264639A true CN106264639A (en) 2017-01-04
CN106264639B CN106264639B (en) 2019-05-31

Family

ID=57716845

Family Applications (2)

Application Number Title Priority Date Filing Date
CN201910288267.8A Pending CN110025346A (en) 2016-09-30 2016-09-30 A kind of moving link
CN201610879169.8A Active CN106264639B (en) 2016-09-30 2016-09-30 A kind of moving link and its detection device for stapler percussion force checking device

Family Applications Before (1)

Application Number Title Priority Date Filing Date
CN201910288267.8A Pending CN110025346A (en) 2016-09-30 2016-09-30 A kind of moving link

Country Status (1)

Country Link
CN (2) CN110025346A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107334543A (en) * 2016-12-27 2017-11-10 江苏风和医疗器材股份有限公司 A kind of moving link for detection means and there is its detection means
CN110907158A (en) * 2019-12-05 2020-03-24 山东威瑞外科医用制品有限公司 Comprehensive test system of anastomat
CN111012508A (en) * 2018-10-09 2020-04-17 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111012512A (en) * 2018-10-09 2020-04-17 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111358562A (en) * 2018-10-09 2020-07-03 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111358561A (en) * 2018-10-09 2020-07-03 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000356567A (en) * 1999-06-14 2000-12-26 Japan Science & Technology Corp Vibration device for testing wind tunnel
CN1991321A (en) * 2005-12-30 2007-07-04 财团法人工业技术研究院 Manual nail gun output testing device
CN101011284A (en) * 2006-01-31 2007-08-08 伊西康内外科公司 Motor-driven surgical cutting and fastening instrument with loading force feedback
CN202837004U (en) * 2012-09-13 2013-03-27 苏州市电子产品检验所有限公司 Rotational life testing machine of potentiometer
CN103320974A (en) * 2012-03-20 2013-09-25 贺欣机械厂股份有限公司 Press foot and wire cutting drive device of sewing machine
CN205204071U (en) * 2015-10-30 2016-05-04 重庆界石仪表有限公司 A conveyor for making manometer

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09177760A (en) * 1995-12-26 1997-07-11 Energy Support Corp Link device
DE102008054335B4 (en) * 2008-11-03 2012-04-19 Ernst Juraschka Rotary Linear Modules Jura-DLM-EZ-A1
JP5112276B2 (en) * 2008-12-16 2013-01-09 株式会社岡村製作所 Parallel link type equipment support device
CN103953837B (en) * 2014-05-06 2016-05-11 迈柯唯医疗设备(苏州)有限公司 Medical hoist tower arm system and for the rotating shaft of this medical hoist tower arm system
CN105596046B (en) * 2015-12-22 2018-05-08 苏州英途康医疗科技有限公司 Stapler

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000356567A (en) * 1999-06-14 2000-12-26 Japan Science & Technology Corp Vibration device for testing wind tunnel
CN1991321A (en) * 2005-12-30 2007-07-04 财团法人工业技术研究院 Manual nail gun output testing device
CN101011284A (en) * 2006-01-31 2007-08-08 伊西康内外科公司 Motor-driven surgical cutting and fastening instrument with loading force feedback
CN103320974A (en) * 2012-03-20 2013-09-25 贺欣机械厂股份有限公司 Press foot and wire cutting drive device of sewing machine
CN202837004U (en) * 2012-09-13 2013-03-27 苏州市电子产品检验所有限公司 Rotational life testing machine of potentiometer
CN205204071U (en) * 2015-10-30 2016-05-04 重庆界石仪表有限公司 A conveyor for making manometer

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107334543A (en) * 2016-12-27 2017-11-10 江苏风和医疗器材股份有限公司 A kind of moving link for detection means and there is its detection means
CN107334543B (en) * 2016-12-27 2020-04-24 江苏风和医疗器材股份有限公司 Motion component for detection device and detection device with motion component
CN111012508B (en) * 2018-10-09 2021-06-18 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111012508A (en) * 2018-10-09 2020-04-17 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111012512A (en) * 2018-10-09 2020-04-17 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111358562A (en) * 2018-10-09 2020-07-03 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111358561A (en) * 2018-10-09 2020-07-03 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111358561B (en) * 2018-10-09 2021-06-22 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111012512B (en) * 2018-10-09 2021-06-22 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN111358562B (en) * 2018-10-09 2021-08-10 成都博恩思医学机器人有限公司 Surgical instrument control method of laparoscopic surgery robot
CN110907158A (en) * 2019-12-05 2020-03-24 山东威瑞外科医用制品有限公司 Comprehensive test system of anastomat

Also Published As

Publication number Publication date
CN106264639B (en) 2019-05-31
CN110025346A (en) 2019-07-19

Similar Documents

Publication Publication Date Title
CN106264639A (en) A kind of moving link for detecting device and there is its detection device
CN107334543A (en) A kind of moving link for detection means and there is its detection means
CN106491211A (en) A kind of anastomat fires force checking device
Harris et al. Understanding position transducer technology for strength and conditioning practitioners
CN104434129B (en) It is that disease movement disorder symptoms quantifies evaluating apparatus and method outside a kind of parkinson and relevant cone
US20060052726A1 (en) Key device to measure pronation and supination of the forearm
US20120255355A1 (en) Hand muscle measurement device
Eckner et al. Reliability and criterion validity of a novel clinical test of simple and complex reaction time in athletes
CN106413529A (en) Optical pressure sensor
MX2011010226A (en) Device and method for assessing thermoalgesic and vibratory sensitivity.
Pinto et al. Hamstring‐to‐quadriceps fatigue ratio offers new and different muscle function information than the conventional non‐fatigued ratio
CN104188663A (en) Human physiological parameter acquisition effective value self-starting method and system
CN106679869A (en) Device for detecting triggering force of surgical stapler
CN107689040B (en) The mobile terminal of blood sugar test
CN106388947A (en) Anastomat percussion force detection method
CN109124996A (en) A kind of multi-mode device for healing and training and method with comprehensive assessment function
CN103637783A (en) Wireless control based human health detection system and method
WO2017179425A1 (en) Pulse wave detection device and biometric information measurement device
Walsh et al. Capturing the overarm throw in darts employing wireless inertial measurement
Rohafza et al. Correlation of reaching and grasping kinematics and clinical measures of upper extremity function in persons with stroke related hemiplegia
CN207850512U (en) A kind of tape measure of measurable obesity index
CN210433485U (en) Hand function evaluating and measuring device
CN208492073U (en) Diagnosis by feeling the pulse gloves
KR20170041878A (en) Elasticity detection probe
KR101428323B1 (en) Method for controlling manipulator using brain wave

Legal Events

Date Code Title Description
PB01 Publication
C06 Publication
SE01 Entry into force of request for substantive examination
C10 Entry into substantive examination
CB02 Change of applicant information

Address after: Dongsheng Road, Jiangyin city 214437 Jiangsu city of Wuxi province No. 6 D3 the first layer

Applicant after: Jiangsu wind and medical equipment Limited by Share Ltd

Address before: Dongsheng Road, Jiangyin city 214437 Jiangsu city of Wuxi province No. 6 D3 the first layer

Applicant before: Jiangsu wind and medical equipment Co., Ltd

CB02 Change of applicant information
CB03 Change of inventor or designer information

Inventor after: Sun Baofeng

Inventor after: Ma Meng

Inventor after: Wang Daquan

Inventor before: Sun Baofeng

Inventor before: Huang Chen

Inventor before: Ma Meng

Inventor before: Wang Daquan

CB03 Change of inventor or designer information
GR01 Patent grant
GR01 Patent grant