CN107049494B - Medical device based on digestive endoscope - Google Patents
Medical device based on digestive endoscope Download PDFInfo
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- CN107049494B CN107049494B CN201710322356.0A CN201710322356A CN107049494B CN 107049494 B CN107049494 B CN 107049494B CN 201710322356 A CN201710322356 A CN 201710322356A CN 107049494 B CN107049494 B CN 107049494B
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- mechanical arm
- digestive endoscope
- flexible mechanical
- driving
- rotating body
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- 230000001079 digestive effect Effects 0.000 title claims abstract description 38
- 238000003825 pressing Methods 0.000 claims description 5
- 238000004804 winding Methods 0.000 claims description 5
- 230000007423 decrease Effects 0.000 claims description 3
- 238000002224 dissection Methods 0.000 claims description 3
- 238000001839 endoscopy Methods 0.000 claims 2
- 230000008602 contraction Effects 0.000 claims 1
- 230000006872 improvement Effects 0.000 description 10
- 238000005452 bending Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000001575 pathological effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 239000000470 constituent Substances 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
Landscapes
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Abstract
The invention relates to the field of medical equipment and discloses a medical device based on a digestive endoscope, which comprises the digestive endoscope, a flexible mechanical arm connected with the digestive endoscope, a plurality of driving ropes connected with the flexible mechanical arm and a power module connected with the driving ropes; the driving rope can be driven by the power module to stretch and retract, so that the flexible mechanical arm is pulled to independently move relative to the digestive endoscope. The flexible mechanical arm is arranged, and can bend towards different directions under the drive of the power module, so that the surgical instrument is driven to independently move relative to the digestive endoscope.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a surgical device for human diagnosis and treatment by using a digestive endoscope, a mechanical arm on the digestive endoscope and other mechanisms.
Background
With the development of technology, digestive endoscopes are increasingly applied to diagnosis and treatment of diseases. The digestive endoscope generally includes a light source for imaging, an objective lens for illuminating human tissue when the objective lens is imaged, and an instrument channel for guiding a surgical instrument (e.g., an electric knife, etc.). When in use, the digestive endoscope is firstly stretched into a patient along the cavity of the human body, and then the surgical instrument is inserted into the instrument channel of the digestive endoscope and moved to the lesion position along the instrument channel. Because the direction and the angle of the surgical instrument need to be frequently adjusted in the operation process, and the surgical instrument does not have power, the scheme of driving the surgical instrument to move through the movement of the digestive endoscope is adopted in the prior art, however, the scheme is difficult to realize flexible direction changing of the surgical instrument, meanwhile, the precision is also difficult to ensure, in addition, the digestive endoscope movement needs a larger space, and more restrictions exist in the actual use process.
Disclosure of Invention
In order to overcome the limitation of the movement mode of the surgical instrument in the prior art and solve the problems that the surgical instrument in the prior art is difficult to realize flexible direction change, low in movement precision, large in space occupation and the like, the invention provides a medical device based on a digestive endoscope.
The technical scheme adopted for solving the technical problems is as follows:
a medical device based on a digestive endoscope comprises the digestive endoscope, a flexible mechanical arm connected with the digestive endoscope, a plurality of driving ropes connected with the flexible mechanical arm and a power module connected with the driving ropes; the driving rope can be driven by the power module to stretch and retract, so that the flexible mechanical arm is pulled to independently move relative to the digestive endoscope.
As a further improvement mode of the scheme, the flexible mechanical arm comprises a plurality of serially connected rotating bodies, more than three driving ropes are distributed along the circumferential direction of the rotating bodies, sequentially penetrate through the rotating bodies along the serial connection direction and are fixedly connected with the endmost rotating bodies;
the front rotating body can reciprocate along at least one direction relative to the rear rotating body along with the extension and retraction of the driving rope, and the swinging directions of the adjacent rotating bodies are staggered.
As a further improvement mode of the scheme, the tail end of the rotating body is provided with a curved surface protruding outwards, the head end of the rotating body is provided with a plane, and the curved surface of the front rotating body is propped against the plane of the rear rotating body.
As a further improvement of the above-described aspect, the former rotator may oscillate in one direction with respect to the latter rotator through the curved surface.
As a further improvement of the above-described scheme, the curved surface shape satisfies the following arrangement: the height is equal everywhere along the first direction, and the middle part is highest along the second direction perpendicular to the first direction and gradually decreases to two sides.
As a further improvement mode of the scheme, the power module comprises a plurality of rotating shafts and a power device for driving the rotating shafts to rotate, two driving ropes are wound on the rotating shafts, and winding directions of the two driving ropes are opposite.
As a further improvement mode of the scheme, the power module further comprises a base, a plurality of sleeves and a pressing plate, wherein the sleeves are arranged on the base in parallel, the pressing plate is used for fixing the sleeves on the base, and the driving ropes respectively penetrate through the corresponding sleeves and then are connected with the flexible mechanical arm.
As a further improvement mode of the scheme, the digestive endoscope further comprises a lantern ring sleeved on the digestive endoscope, the flexible mechanical arm is connected with the lantern ring, rope holes are formed in the lantern ring, and the driving rope penetrates through the corresponding rope holes and then is connected with the flexible mechanical arm.
As a further improvement of the above, a surgical instrument connected to the flexible mechanical arm is also included.
As a further improvement of the above, the surgical instrument includes one of a cutting dissecting knife, a suturing instrument, a clamping and gripping instrument, a pulling instrument, or a combination thereof.
As a further improvement of the scheme, the device comprises two flexible mechanical arms, wherein one flexible mechanical arm is connected with the cutting dissection knife, and the other flexible mechanical arm is connected with the clamping and clamping instrument.
The beneficial effects of the invention are as follows:
the flexible mechanical arm is arranged, and can bend towards different directions under the drive of the power module, so that the surgical instrument is driven to independently move relative to the digestive endoscope;
in the preferred embodiment of the invention, the rotating bodies are matched with the plane through the curved surface, and other acting forces which prevent the rotation are not generated except the friction force, so that the flexible rotation between the rotating bodies can be realized;
in a preferred embodiment of the invention, the robot further comprises a surgical instrument for performing a surgical operation;
in the preferred embodiment of the invention, two mechanical arms are adopted to respectively drive the electrotome and the clamping forceps to move, and the steps of operation can be simplified through the combination of different instruments, so that the operation time is shortened.
In the preferred embodiment of the invention, the two driving ropes for controlling the flexible mechanical arm to swing towards one direction are synchronously driven by one rotating shaft, which is beneficial to simplifying the structure of the power module and improving the control precision.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic perspective view of an embodiment of the present invention
FIG. 2 is a schematic perspective view of one embodiment of a flexible robotic arm of the present invention;
FIG. 3 is a schematic perspective view of one embodiment of a rotor of the present invention;
FIG. 4 is a front view of one embodiment of a rotor of the present invention;
FIG. 5 is a side view of one embodiment of a rotor of the present invention;
FIG. 6 is a schematic perspective view of one embodiment of a collar of the present invention;
FIG. 7 is a schematic perspective view of the flexible robotic arm of the present invention attached to a digestive endoscope, collar, surgical instrument;
FIG. 8 is a schematic perspective view of one embodiment of a power module of the present invention;
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present invention. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, etc. used in the present invention are merely with respect to the mutual positional relationship of the constituent elements of the present invention in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any combination of one or more of the associated listed items.
Referring to fig. 1, a schematic perspective view of one embodiment of the medical device of the present invention is shown with a portion of the drive cord between the power module and the flexible robotic arm hidden. As shown in the drawing, the medical device includes a digestive endoscope 100, a flexible mechanical arm 200, a power module 300, and a plurality of driving ropes 400, and the flexible mechanical arm 200 is used to mount external mechanisms such as surgical instruments, which are connected to the digestive endoscope 100 and can enter the human body together with the digestive endoscope 100. The driving rope is used as a medium for transmitting power and is respectively connected with the flexible mechanical arm 200 and the power module 300, and can drive the flexible mechanical arm 200 to independently move relative to the digestive endoscope 100 through stretching along with the driving of the power module 300.
Referring to fig. 2, a schematic perspective view of the flexible mechanical arm of the present invention is shown. As shown, the body structure of the flexible robotic arm includes a number of rotors 210 in series. The rotating bodies 210 can rotate relatively, and are preferably connected through rolling pairs, so that flexible rotation between the rotating bodies can be realized, flexible bending of the mechanical arm can be realized, and the response speed of the mechanical arm is improved.
Referring to fig. 3 to 5, there are shown a perspective view, a front view and a side view, respectively, of an embodiment of the rotor of the present invention. As shown, the rotors 210 are generally cylindrical, and for rotation between adjacent rotors 210, the rotors 210 preferably have a planar surface 211 at the leading end and an outwardly projecting curved surface 212 at the trailing end, the curved surface 212 satisfying the following: the height is equal everywhere in the direction of the arrow in fig. 4, and the middle portion is highest in the direction of the arrow in fig. 5, and gradually decreases to both sides, i.e., the rotator 210 may swing in the direction of the arrow in fig. 5. The rotor 210 is further provided with an instrument channel 214, and the instrument channel 214 penetrates the rotor 210 in the serial direction for guiding the surgical instrument.
The rotor 210 is preferably further provided with a plurality of rope holes 213, the number of the rope holes 213 corresponds to that of the driving ropes 400, and four rope holes 213 are preferably provided in the present embodiment, and the four rope holes 213 are uniformly distributed along the circumferential direction of the rotor 210.
Referring to fig. 2, a plurality of rotating bodies 210 are connected in series, and the curved surface 212 of the front rotating body 210 abuts against the flat surface 211 of the rear rotating body 210, and since the curved surface 212 and the flat surface 211 are in line contact, there is no other acting force which hinders rotation except friction force, so that the rotation between the rotating bodies 210 is very flexible.
In order to achieve multi-directional bending of the mechanical arm, the swinging directions of the adjacent rotating bodies 210 are staggered, and preferably, the swinging directions of the adjacent rotating bodies 210 are perpendicular to each other in the embodiment.
The number of the rotating bodies and the included angle between the rotating bodies can be adjusted according to practical situations, for example, the included angle between the rotating bodies can be 30 degrees, 45 degrees or 60 degrees, etc., and the invention is not limited in particular.
The driving rope 400 is used as a power source of the mechanical arm, sequentially passes through the corresponding rope holes 213 on each rotating body 210 along the serial direction, and is fixedly connected with the endmost rotating body 210 (as shown in fig. 2, the endmost rotating body is the uppermost rotating body). The invention comprises more than three driving ropes (the invention refers to the number), preferably, four driving ropes are arranged on the flexible mechanical arm corresponding to the bending of the flexible mechanical arm in four directions, and two opposite driving ropes are combined into a group. When one side of the drive string 400 is tensioned while the opposite side of the drive string 400 is released, the robot arm will bend towards the tensioned side of the drive string.
In the above embodiment, the front rotating body can only swing along one direction relative to the rear rotating body, but the degree of freedom between the adjacent rotating bodies can also be increased by adjusting the shape of the curved surface 212, for example, the shape of the curved surface 212 along the arrow direction in fig. 4 is the same as the shape of the arrow direction in fig. 5, the middle part is highest, and gradually lowers towards two sides, so that the front rotating body can swing along two directions relative to the rear rotating body.
The flexible robotic arm 200 of the present invention is preferably coupled to the digester endoscope 100 via a collar 500, and referring to fig. 6, a schematic perspective view of one embodiment of the collar of the present invention is shown. As shown in the figure, the collar includes a collar body 510 and a boss 520 provided on the circumference of the collar body 510, the collar body 510 is provided with a radial screw hole 511, and the boss 520 is provided with a rope hole 521 and an instrument passage 522. Preferably, two bosses 520 are symmetrically disposed on the collar body 510. The collar 100 is sleeved over the distal end of the endoscope 100 by the collar body 510 and preferably locked by threaded holes 511 in the collar body 510 and corresponding threaded fasteners.
The flexible mechanical arm 200 is mounted on the corresponding boss 520, the instrument channel 214 on the rotator 210 is communicated with the instrument channel 522 on the boss 520, and the driving rope 400 passes through the corresponding rope hole 521 on the boss 520 and then passes through the corresponding rope hole 213 on the rotator 210, so that the flexible mechanical arm 200 is connected with the collar 100.
Referring to fig. 7, there is shown a schematic perspective view of the flexible robotic arm of the present invention in connection with a digestive endoscope, collar, surgical instrument. The surgical instruments disclosed by the invention comprise, but are not limited to, cutting anatomical cutters (such as electrotomes and laser cutters), suturing instruments, clamping and clamping instruments (such as clamping pliers and the like), traction instruments (such as sucking discs and the like) and the like, and can be matched and selected according to the needs. Preferably, the embodiment comprises two flexible mechanical arms, wherein one flexible mechanical arm is connected with the cutting dissection tool, and the other flexible mechanical arm is connected with the clamping and clamping instrument. More preferably, the electric knife 610 is adopted as the cutting dissecting tool, and the specific connection mode is that the electric knife 610 is inserted into an instrument channel of the mechanical arm; the clamping and clamping apparatus adopts a clamping forceps 620, and the specific connection mode is that a connecting piece 630 with a hinging seat is arranged at the tail end of the flexible mechanical arm, and the clamping forceps 620 are hinged on the connecting piece 630. The electrotome 610 is used for cutting pathological tissues, the clamping forceps 620 is used for lifting pathological tissues, and the stripped tissues can be directly taken out of the clamping forceps, namely, the embodiment can allow two surgical instruments to enter a human body at the same time, and the steps of surgical operation can be simplified through the combination of different instruments, so that the surgical time is shortened.
Referring to fig. 8, a schematic perspective view of an embodiment of the power module of the present invention is shown, with the housing and control device of the power module hidden. As shown in the figure, the power module includes several sets of rotating shafts 310 and power devices for driving the rotating shafts 310 to rotate, where the power devices may be motors, revolving cylinders, etc., and in this embodiment, the motors 320 are preferably used. Two parallel grooves are axially arranged on the circumference of the rotating shaft 310, and the diameters of the bottoms of the grooves are preferably equal. The driving ropes 400 are wound in the grooves, and winding directions of the driving ropes in the upper and lower grooves are opposite, so that when the rotating shaft 310 rotates in one direction, the driving ropes 400 with the winding direction identical to the rotating direction of the rotating shaft 310 shrink, the driving ropes 400 with the winding direction opposite to the rotating direction of the rotating shaft 310 stretch out synchronously, and the shrinking length is preferably equal to the stretching length, so that the bending of the flexible mechanical arm is controlled.
One rotation shaft 310 can control one group of driving ropes 400, in the present invention, a single flexible mechanical arm 200 needs two groups of driving ropes 400 to control, and meanwhile, a clamping forceps 620 needs one group of driving ropes 400 to control opening and closing, so that the present invention is preferably provided with five rotation shafts and a corresponding number of motors.
Preferably, in order to realize orderly arrangement of the driving ropes 400, the power module further comprises a base 330 and a pressing plate 340, a plurality of grooves are arranged on the top surface of the base 330 in parallel corresponding to the driving ropes 400, a sleeve 350 is arranged in each groove, the pressing plate 340 is fixed above the base 330 through screws, the sleeve 350 is crimped and fixed, and the driving ropes 400 respectively pass through the corresponding sleeve 350 and then are connected with the flexible mechanical arm.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are included in the scope of the present invention as defined in the appended claims.
Claims (6)
1. The medical device based on the digestive endoscope is characterized by comprising the digestive endoscope, a flexible mechanical arm connected with the digestive endoscope, a plurality of driving ropes connected with the flexible mechanical arm and a power module connected with the driving ropes; the driving rope can be driven by the power module to stretch and retract, so that the flexible mechanical arm is pulled to independently move relative to the digestive endoscope;
the flexible mechanical arm comprises a plurality of serially connected rotating bodies, more than three driving ropes are distributed along the circumferential direction of the rotating bodies, sequentially penetrate through the rotating bodies along the serial direction and are fixedly connected with the endmost rotating bodies;
the former rotating body can reciprocate along at least one direction relative to the latter rotating body along with the expansion and contraction of the driving rope, and the swinging directions of the adjacent rotating bodies are staggered with each other;
the end face of the head end of the rotating body is a plane, the tail end of the rotating body is provided with a curved surface protruding outwards, and the curved surface of the former rotating body is propped against the head end of the latter rotating body;
the former rotating body can swing along one direction relative to the latter rotating body through the curved surface;
the curved surface shape satisfies the setting: the height is equal everywhere along the first direction, and the middle part is highest along the second direction perpendicular to the first direction and gradually decreases to two sides.
2. The medical device based on the digestive endoscope according to claim 1, wherein the power module comprises a plurality of rotating shafts and a power device for driving the rotating shafts to rotate, two driving ropes are wound on the rotating shafts, and the winding directions of the two driving ropes are opposite.
3. The medical device of claim 2, wherein the power module further comprises a base, a plurality of sleeves arranged on the base in parallel, and a pressing plate for fixing the sleeves on the base, wherein the driving ropes respectively pass through the corresponding sleeves and then are connected with the flexible mechanical arms.
4. A medical device based on a digestive endoscope according to any one of claims 1 to 3 and also comprising a collar sleeved on said digestive endoscope, said flexible mechanical arm being connected to said collar, and said collar being provided with a plurality of rope holes, said drive ropes being connected to said flexible mechanical arm after passing through said corresponding rope holes.
5. The digestive endoscopy based medical device of any of claims 1-3, further comprising a surgical instrument coupled to the flexible robotic arm, the surgical instrument comprising one of a cutting dissecting tool, a stapling instrument, a clamping jaw instrument, a pulling-type instrument, or a combination thereof.
6. The digestive endoscopy based medical device of claim 5, including two of the flexible robotic arms, one of the flexible robotic arms being connected to the cutting dissection tool and the other flexible robotic arm being connected to the clamping and pinching instrument.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322356.0A CN107049494B (en) | 2017-05-09 | 2017-05-09 | Medical device based on digestive endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322356.0A CN107049494B (en) | 2017-05-09 | 2017-05-09 | Medical device based on digestive endoscope |
Publications (2)
| Publication Number | Publication Date |
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| CN107049494A CN107049494A (en) | 2017-08-18 |
| CN107049494B true CN107049494B (en) | 2024-01-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710322356.0A Active CN107049494B (en) | 2017-05-09 | 2017-05-09 | Medical device based on digestive endoscope |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108078624A (en) * | 2017-11-16 | 2018-05-29 | 席婷 | A kind of special stripping off device of digestive endoscopy |
| CN108908319B (en) * | 2018-07-13 | 2020-07-07 | 哈尔滨工业大学（深圳） | Lightweight flexible robot |
| CN108942978B (en) * | 2018-07-13 | 2020-07-14 | 哈尔滨工业大学（深圳） | Flexible robot drive control panel and drive control box |
| CN110507416B (en) * | 2019-07-12 | 2022-01-18 | 南京航空航天大学 | Minimally invasive surgery system adopting self-unfolding flexible micro-fine operation arm and control method thereof |
| CN112790864B (en) * | 2020-12-30 | 2022-03-08 | 山东大学 | Parameter optimization design method for flexible unfolding arm |
| CN113907876A (en) * | 2021-09-22 | 2022-01-11 | 中南大学湘雅医院 | Spine-imitated high-rigidity linear driving mechanical arm and surgical robot |
| CN113696127B (en) * | 2021-11-01 | 2022-02-08 | 极限人工智能(北京)有限公司 | Steel wire mounting and tensioning device |
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| CN102697564A (en) * | 2012-06-20 | 2012-10-03 | 哈尔滨工业大学 | Flexible-arm robot for single-pore laparoscopic minimally-invasive operation |
| CN104027061A (en) * | 2012-04-24 | 2014-09-10 | 王东 | Soft endoscope system on basis of electric-control driving instrument |
| CN207693678U (en) * | 2017-05-09 | 2018-08-07 | 深圳市罗伯医疗机器人研究所 | A kind of medical treatment device based on digestive endoscopy |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8021293B2 (en) * | 2006-01-13 | 2011-09-20 | Olympus Medical Systems Corp. | Medical treatment endoscope |
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|---|---|---|---|---|
| CN104027061A (en) * | 2012-04-24 | 2014-09-10 | 王东 | Soft endoscope system on basis of electric-control driving instrument |
| CN102697564A (en) * | 2012-06-20 | 2012-10-03 | 哈尔滨工业大学 | Flexible-arm robot for single-pore laparoscopic minimally-invasive operation |
| CN207693678U (en) * | 2017-05-09 | 2018-08-07 | 深圳市罗伯医疗机器人研究所 | A kind of medical treatment device based on digestive endoscopy |
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| CN107049494A (en) | 2017-08-18 |
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