CN107736869A - A kind of full visual angle colon endoscope of double end and its application method - Google Patents
A kind of full visual angle colon endoscope of double end and its application method Download PDFInfo
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- CN107736869A CN107736869A CN201711001906.5A CN201711001906A CN107736869A CN 107736869 A CN107736869 A CN 107736869A CN 201711001906 A CN201711001906 A CN 201711001906A CN 107736869 A CN107736869 A CN 107736869A
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- visual angle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/31—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the rectum, e.g. proctoscopes, sigmoidoscopes, colonoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
- A61B1/051—Details of CCD assembly
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0661—Endoscope light sources
- A61B1/0684—Endoscope light sources using light emitting diodes [LED]
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/12—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with cooling or rinsing arrangements
- A61B1/121—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with cooling or rinsing arrangements provided with means for cleaning post-use
- A61B1/123—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with cooling or rinsing arrangements provided with means for cleaning post-use using washing machines
Abstract
The present invention relates to a kind of full visual angle colon endoscope of double end and its application method,Including the operating portion being sequentially connected,Insertion section and bending section,Include the flexible pipe and flexible axle being coaxially distributed,Flexible axle is located inside hose,There are eight in the flexible pipe and run through operating portion,Insertion section and the manhole of bending section,Installation detection pipeline in the manhole,The bending section flexible pipe has two forked sections,Forked section increases symmetrically arranged blind hole,Flexible part in the blind hole,The bending section is arranged with compressing member,Operating portion moves axial movement of the compressing member along bending section by drive device using soft axle transmission and screw pair transmission belt,And then the bifurcated of forked section is controlled to open and collapse,Realize adjustment viewing angle,The colon endoscope of the present invention conveniently obtains the three-dimensional information of characteristic point,And realize multi-angle,The observation at full visual angle.
Description
Technical field
The present invention relates to technical field of medical instruments, and in particular to a kind of full visual angle colon endoscope of double end and its user
Method.
Background technology
Global colorectal cancer incidence rate has been located in the 3rd of male cancer, wherein the 2nd of female cancer, the intestines in China
Cancer morbidity speedup reaches average annual 4%, is 2 times of world standard.Trace it to its cause and be that the domestic endoscopy for colon is popularized
Rate is relatively low, and the early prevention of corresponding cancer and early diagnosis are also not perfect enough.
At present clinically, the inspection of colon mainly uses two kinds of equipment, and one kind is conventional colon endoscope, and another kind is glue
Intracapsular sight glass.The former, moves forward scope by the action advances of doctor and the angle of bent front ends, while is inflated to enteric cavity
It is expanded and is strutted, and enteron aisle inwall is observed in moving process, recorded a video.But current conventional colon endoscope exists
Limited viewing angle, active crooking ability deficiency in checking process, and enteron aisle inwall has been covered with microvillus structure, it is general in vivo
In accordion, so the focus for being hidden in the fold back side or fine hair depths is not easy what is be found.
Capsule endoscope is a kind of new detection device for digestive tract examining especially small bowel examination, be the advantage is that
Check convenient, no pain.But compare conventional endoscope, emerging capsule endoscope technology there is also such as diagnosis it is not high and
The shortcomings of function is limited.First, most of capsule endoscopes can only move with intestines peristalsis, so can not be to suspected abnormality
Observation is repeated；Second, equally the focus for being hidden in the fold back side or fine hair depths is not easy to be found by capsule endoscope.
Function is limited to be referred to, the capsule endoscope of Clinical practice can only take pictures at present, and it is advanced not possess actively walking, biopsy and dispenser etc.
Function.
In addition, the research of each ongoing capsule endoscope active drive of research institution is expected to improve existing clinical capsule
Some problems present in endoscopy, but still suffer from complicated peripheral accessory system, equipment costliness, its camera lens side can not be adjusted
The problems such as to enteron aisle can not be expanded.
The content of the invention
In order to overcome above-mentioned technological deficiency, the present invention provides a kind of full visual angle colon endoscope of double end, it is therefore an objective to solves existing
Have that conventional colon endoscope visual angle in detection process is narrow and small, active bending force deficiency, can not find that the fold back side or fine hair are deep
The technical barrier of the focus at place, to achieve these goals, the present invention adopts the following technical scheme that：
A kind of full visual angle colon endoscope of double end, including operating portion, insertion section and the bending section being sequentially connected, the insertion
Inside portion and bending section insertion human colon road, operating personnel control the action of bending section by operating portion, the operating portion, insert
Enter flexible pipe and flexible axle that portion and bending section include coaxially being distributed, flexible axle is located inside hose, had in the flexible pipe along its section
Circular diameter symmetrical eight in face run through operating portion, insertion section and the manhole of bending section, are installed in the manhole
Detection pipeline, the bending section flexible pipe have two forked sections, forked section along its axially increased symmetrically arranged blind hole,
Flexible part in the blind hole, the bifurcated of two forked sections can be driven to open, the bending section is arranged with compressing member, operates
Axial movement of the compressing member along bending section is moved by drive device using soft axle transmission and screw pair transmission belt by portion, and then controls
The bifurcated of forked section processed opens and collapsed.
Further, the detection is included along the symmetrical light pipe of flexible pipe diameter of section, pliers pipe, object lens with pipeline
Pipe and water pipe.
Further, the end position that the light pipe is located in bending section is provided with lighting device.
Further, the end position that the pliers pipe is located in bending section is provided with biopsy forceps.
Further, the end position that the objective lens tube is located in bending section is provided with camera.
Further, the end position that the water pipe is located in bending section is provided with shower nozzle.
Further, there is external thread structure, the compressing member passes through institute on the flexible axle external peripheral surface of the bending section
The flexible axle for stating external thread structure and bending section is connected, and the bifurcated stretching degree of the forked section controlled.
Further, the compressing member is hollow nut, including the female thread structure of inner ring and the compressing structure of outer ring, institute
The female thread structure and the external thread structure on the flexible axle of bending section for stating inner ring match, and the compressing structure of outer ring, which has along nut, to be cut
Two cavity structures of face diameter symmetry distribution, cross sectional shape and the forked section cross sectional shape phase of described two cavity structures
Match somebody with somebody, two forked sections of flexible pipe can be stretched into two cavitys of compressing structure.
Further, the drive device is motor, and the output shaft of motor is fixedly connected with the end of flexible axle in operating portion.
Further, the elastic component is resilient metal strip, is bent into semicircle in its natural state.
Further, the operating portion is provided with eight adjustable springs being enclosed on detection pipeline, the adjustable spring one
End is fixedly connected with the end face of operating portion flexible pipe, and the other end is fixedly connected with eight detections with one end of the stretching flexible pipe of pipeline,
For compensating the elongation or shortening amount of detection pipeline when curved forked section bifurcated opens or closed up automatically.
The invention also discloses a kind of application method of the full visual angle colon endoscope of double end, comprise the following steps：
Step 1：When colon endoscope is located at external, hollow nut is located at bending section and insertion section link position, bullet
Property bonding jumper in the presence of, forked section open is in free state.
Step 2：The motor of the full visual angle colon endoscope of double end is controlled to rotate forward, hollow nut is to the soft the tip of the axis in bending section
Mobile, until hollow nut is moved to the soft the tip of the axis in bending section, now hollow nut compresses the forked section of bending section, makes it
Close up, operation endoscope is entered in human body intestinal canal with minimum diameter.
Step 3：Operation colon endoscope is moved in human body intestinal canal, and enteron aisle is checked.
Step 4：After inspection, forked section is collapsed, colon endoscope is taken out.
Further, in the step 3, if necessary to expand viewing angle when, controlled motor reversion, hollow nut to
One lateral movement of bending section and insertion section junction, the exhibition symmetrical in opposite direction under resilient metal strip effect of two forked sections
Open, expand viewing angle, 180 ° of wide-angles upset of the achievable camera of maximum.
Beneficial effects of the present invention：
1st, colon endoscope of the invention, has two symmetrical cameras, the visual theory of people is simulated, from two
Same position in point observation enteron aisle, obtains the image under different visual angles, can realize the matching according to pixel between image
Relation, to obtain the three-dimensional information of characteristic point.
2nd, colon endoscope of the invention, provided with resilient metal strip, is taken the photograph by the elastic deformation of resilient metal strip to change
The deflection of resilient metal strip is controlled as the viewing angle of head, and by compressing member, the achievable camera of maximum
180 ° of wide-angle upsets, realize the observation of multi-angle, full visual angle.
Brief description of the drawings
The Figure of description for forming the part of the application is used for providing further understanding of the present application, and the application's shows
Meaning property embodiment and its illustrate be used for explain the application, do not form the restriction to the application.
Fig. 1 is colon endoscope overall structure diagram of the present invention；
Fig. 2 is inventive hose structural representation；
Fig. 3 be in Fig. 2 of the present invention A to schematic cross-section；
Fig. 4 be in Fig. 2 of the present invention B to schematic cross-section；
Fig. 5 is structural representation under resilient metal strip nature of the present invention；
Fig. 6 is structural representation under resilient metal strip rounding state of the present invention；
Fig. 7 is flexible axle structural representation of the present invention；
Fig. 8 is hollow nut structural representation of the present invention；
Fig. 9 is axle geodesic structure schematic diagram in bending section of the present invention；
Figure 10 is operating portion axle geodesic structure schematic diagram of the present invention；
Figure 11 is forked section open configuration structural representation of the present invention；
Wherein：1. operating portion, 2. insertion sections, 3. bending sections, 31. forked sections, 4. flexible pipes, 5. flexible axles, 6. manholes,
7. rectangle blind hole, 8. resilient metal strips, 9. water pipes, 10. external thread structures, 11. hollow nuts, 111. female thread structures,
112. compressing structure, 1121. cavity structures, 12. motors, 13. end caps, 14. adjustable springs, 15. light pipes, 16. pliers pipes,
17.CCD objective lens tubes.
Embodiment
It is noted that described further below is all exemplary, it is intended to provides further instruction to the application.It is unless another
Indicate, all technologies used herein and scientific terminology are with usual with the application person of an ordinary skill in the technical field
The identical meanings of understanding.
It should be noted that term used herein above is merely to describe embodiment, and be not intended to restricted root
According to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singulative
It is also intended to include plural form, additionally, it should be understood that, when in this manual using term "comprising" and/or " bag
Include " when, it indicates existing characteristics, step, operation, device, component and/or combinations thereof.
As background technology is introduced, existing conventional colon endoscope there is visual angle is narrow and small, active bending force deficiency,
The technical barrier of the focus of the fold back side or fine hair depths can not be found, in view of the above-mentioned problems, present applicant proposes a kind of double end
Full visual angle colon endoscope.
In a kind of exemplary embodiment of the application, as shown in figs. 1-11, a kind of full visual angle colon endoscope of double end, including
Operating portion 1, insertion section 2 and the bending section 3 being sequentially connected, the operating portion, insertion section and bending section include what is be coaxially distributed
Flexible pipe 4 and flexible axle 5, flexible axle are located inside hose, and the flexible pipe is made of rubber-based products, have certain flexibility, pass through
Injection molding forms, and the flexible axle is Bowden cable, and the transmission of moment of torsion can be achieved, have in the flexible pipe along its section circular diameter
Symmetrical eight run through operating portion, insertion section and the manhole of bending section 6.
Installation detection pipeline in the manhole 6, the detection pipeline include symmetrically dividing along flexible pipe diameter of section
Light pipe 15, pliers pipe 16, CCD objective lens tubes 17 and the water pipe 9 of cloth, the light pipe are the optical fiber class production with flexible metal armour
Product, its end position being located in bending section are provided with LED, for increasing illuminance, the convenient observation to enteron aisle；The pliers pipe
Including flexible metal armouring and interior biopsy forceps operating rope is wrapped in, its end position being located in bending section is provided with biopsy forceps,
Live body sampling can be carried out to enteron aisle；The CCD objective lens tubes are the CCD camera cable for being enclosed with flexible metal armouring, its position
CCD camera is provided with the end position in bending section, for carrying out image information collecting to enteron aisle；The water pipe is positioned at bending
End position in portion is provided with shower nozzle, and the designated area in enteron aisle can be cleaned.
The flexible pipe of the bending section is cut along its diameter, forms two forked sections 31, and described two forked sections are cut
Face is shaped as the arc less than semicircle, and the forked section is in addition to eight detection pipelines, also along its diameter symmetry
Two rectangle blind holes 7 being axially distributed along it are set up, resilient metal strip 8, the elasticity are installed in the rectangle blind hole
Bonding jumper is strip, and its end surface shape is the rectangle to match with rectangle blind hole, and in its natural state, resilient metal strip is curved
Bent semicircular in shape, therefore in its natural state, resilient metal strip can drive two forked sections to open.
The flexible axle external peripheral surface of the bending section has external thread structure 10, is equipped with the external thread structure hollow
There is the female thread structure 111 of inner ring and the compressing structure 112 of outer ring, the hollow nut to lead to for nut 11, the hollow nut
The female thread structure for crossing inner ring is assemblied on the flexible axle of bending section, and the compressing structure of outer ring is symmetrical along nut diameter of section
Two cavity structures 1121, the sections of described two cavity structures is to be less than semicircle with what forked section cross sectional shape matched
Arc, two forked sections of flexible pipe can be stretched into two cavitys of compressing structure, and axial direction of the hollow nut along bending section is moved
Dynamic, in the presence of compressing structure, two forked sections can realize gathering.
The hollow nut 11 is driven along the axial movement of bending section using drive device, and the drive device is peace
One end connection of flexible axle, the rotation of motor output shaft pass through in the motor 12 of operating portion, the output shaft and operating portion of motor
Soft axle transmission drives the rotation of flexible axle other end external thread structure, and hollow nut is driven along bending using screw nut driven principle
Portion is axially moved, and then realizes opening and the gathering of forked section, and the housing of the motor is located at the side of output shaft provided with end
Lid 13, the end cap are provided with the concentric fixing hole corresponding with eight manhole positions, and eight detections are stretched with pipeline
Go out flexible pipe, and stretch out and be fixed on end cap by fixing hole.
The operating portion is provided with eight adjustable springs 14, and the adjustable spring is enclosed on detection pipeline, the flexible bullet
Spring one end is fixedly connected with the end face of operating portion flexible pipe, and the other end is fixedly connected with end cap, and then is realized and detection pipeline
It is fixedly connected, when detection is elongated or shortened with pipeline, drives end cap motion, realize the compression or elongation of spring, and then realize certainly
The elongation or shortening amount of detection pipeline when the dynamic curved forked section bifurcated of compensation opens or closed up.
The invention also discloses a kind of application method of the full visual angle colon endoscope of double end, comprise the following steps：
Step 1：When colon endoscope is located at external, hollow nut is located at bending section and insertion section link position, elasticity
In the presence of bonding jumper, forked section, which is opened, is in free state.
Step 2：Control the motor of the full visual angle colon endoscope of double end to rotate forward, drive the rotation of flexible axle, pass through soft axle transmission
The rotation of bending section flexible axle is driven, hollow nut is moved by screw nut driven to the soft the tip of the axis in bending section, until hollow
Nut is moved to the soft the tip of the axis in bending section, and now hollow nut compresses the forked section of bending section, closes up it, is peeped in operation
Mirror uses existing conventional colon endoscope application method with minimum diameter, into human body intestinal canal.
Step 3：During human motion, operating personnel can be entered colon endoscope by water pipe to enteron aisle designated area
Row cleaning, observation and the record of 180 ° of Full-angle three-dimensional images are carried out by two CCD cameras, is also carried out using biopsy forceps
Live body samples, and LED can increase illuminance, convenient observation.
During if necessary to expand viewing angle, controlled motor reversion, hollow nut is to bending section and insertion section junction
One lateral movement, two forked sections expansion symmetrical in opposite direction under resilient metal strip effect, expands viewing angle, maximum can
Realize 180 ° of wide-angles upset of CCD camera.
Step 4：After inspection, forked section is bent and collapsed, colon endoscope is taken out.
Although above-mentioned the embodiment of the present invention is described with reference to accompanying drawing, model not is protected to the present invention
The limitation enclosed, one of ordinary skill in the art should be understood that on the basis of technical scheme those skilled in the art are not
Need to pay various modifications or deformation that creative work can make still within protection scope of the present invention.
Claims (10)
1. a kind of full visual angle colon endoscope of double end, it is characterised in that including operating portion, insertion section and the bending being sequentially connected
Portion, the insertion section and bending section are inserted inside human colon road, and operating personnel pass through the action that operating portion controls bending section, institute
Stating operating portion, insertion section and bending section includes the flexible pipe and flexible axle that are coaxially distributed, and flexible axle is located inside hose, in the flexible pipe
With running through operating portion, insertion section and the manhole of bending section, the circle along symmetrical eight of its section circular diameter
Installation detection pipeline in through hole, the bending section flexible pipe have two forked sections, and forked section is axially increased symmetrically along its
The blind hole of setting, flexible part in the blind hole, the bifurcated of two forked sections can be driven to open, the bending section is arranged with
Compressing member, operating portion move axial direction of the compressing member along bending section by drive device using soft axle transmission and screw pair transmission belt
It is mobile, and then control the bifurcated of forked section to open and collapse.
2. a kind of full visual angle colon endoscope of double end as claimed in claim 1, it is characterised in that the detection is included with pipeline
Light pipe, pliers pipe, objective lens tube and water pipe；
The end position that the light pipe is located in bending section is provided with lighting device；
The end position that the pliers pipe is located in bending section is provided with biopsy forceps；
The end position that the objective lens tube is located in bending section is provided with camera；
The end position that the water pipe is located in bending section is provided with shower nozzle.
3. a kind of full visual angle colon endoscope of double end as claimed in claim 1, it is characterised in that outside the flexible axle of the bending section
There is external thread structure on circumferential surface, the compressing member is connected by the external thread structure and the flexible axle of bending section,
And control the bifurcated stretching degree of the forked section.
4. a kind of full visual angle colon endoscope of double end as claimed in claim 3, it is characterised in that the compressing member is hollow spiral shell
Mother, including the female thread structure of inner ring and the compressing structure of outer ring, the female thread structure of the inner ring with the flexible axle of bending section
External thread structure matches, and the compressing structure of outer ring has along two symmetrical cavity structures of nut diameter of section.
5. a kind of full visual angle colon endoscope of double end as claimed in claim 4, it is characterised in that described two cavity structures
Cross sectional shape matches with the forked section cross sectional shape, and two forked sections of flexible pipe can stretch into two skies of compressing structure
In chamber.
6. a kind of full visual angle colon endoscope of double end as claimed in claim 1, it is characterised in that the drive device is electricity
Machine, the output shaft of motor are fixedly connected with the end of flexible axle in operating portion.
7. a kind of full visual angle colon endoscope of double end as claimed in claim 1, it is characterised in that the elastic component is elasticity gold
Belong to bar, be bent into semicircle in its natural state.
8. a kind of full visual angle colon endoscope of double end as claimed in claim 1, it is characterised in that the operating portion is provided with eight
The adjustable spring being enclosed on detection pipeline, described adjustable spring one end are fixedly connected with the end face of operating portion flexible pipe, the other end
It is fixedly connected with eight detections with one end of the stretching flexible pipe of pipeline, for compensating curved forked section bifurcated opening automatically or closing up
When detection pipeline elongation or shortening amount.
A kind of 9. application method of the full visual angle colon endoscope of double end described in any one of claim 1-8, it is characterised in that bag
Include following steps：
Step 1：When the full visual angle colon endoscope of double end is located at external, hollow nut is located at bending section and insertion section link position
Locate, in the presence of resilient metal strip, forked section, which is opened, is in free state；
Step 2：The motor for operating the full visual angle colon endoscope of double end rotates forward, and hollow nut moves to the soft the tip of the axis in bending section,
Until hollow nut is moved to the soft the tip of the axis in bending section, now hollow nut compresses the forked section of bending section, closes up it,
The full visual angle colon endoscope of double end is operated with minimum diameter to enter in human body intestinal canal；.
Step 3：The full visual angle colon endoscope of double end moves in human body intestinal canal, carries out the inspection to enteron aisle.
Step 4：After inspection, forked section is collapsed, the full visual angle colon endoscope of double end is taken out.
A kind of 10. application method of the full visual angle colon endoscope of double end as claimed in claim 9, it is characterised in that the step
In rapid three, during if necessary to expand viewing angle, controlled motor reversion, hollow nut to bending section and insertion section junction one
Lateral movement, two forked sections expansion symmetrical in opposite direction under resilient metal strip effect, expands viewing angle, maximum can be real
180 ° of wide-angles upset of existing camera.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711001906.5A CN107736869B (en) | 2017-10-24 | 2017-10-24 | Double-head full-view colonoscope and application method thereof |
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| CN201711001906.5A CN107736869B (en) | 2017-10-24 | 2017-10-24 | Double-head full-view colonoscope and application method thereof |
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| CN107736869B CN107736869B (en) | 2023-10-20 |
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| CN110074826A (en) * | 2019-05-20 | 2019-08-02 | 温州医科大学附属第一医院 | Biopsy catheter |
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| CN106175651A (en) * | 2015-04-29 | 2016-12-07 | 申亚琪 | The endoscope of controlled deflection |
| CN208510986U (en) * | 2017-10-24 | 2019-02-19 | 齐鲁工业大学 | A kind of double end full view colon endoscope |
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| CN108742481A (en) * | 2018-06-20 | 2018-11-06 | 北京理工大学 | A kind of capsule robot with asymmetric side force inducing function |
| CN110074826A (en) * | 2019-05-20 | 2019-08-02 | 温州医科大学附属第一医院 | Biopsy catheter |
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