CN109645935A - A kind of scope auxiliary uses manipulator - Google Patents
A kind of scope auxiliary uses manipulator Download PDFInfo
- Publication number
- CN109645935A CN109645935A CN201811531671.5A CN201811531671A CN109645935A CN 109645935 A CN109645935 A CN 109645935A CN 201811531671 A CN201811531671 A CN 201811531671A CN 109645935 A CN109645935 A CN 109645935A
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- fixedly connected
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- scope
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- 230000006698 induction Effects 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 description 8
- 210000000436 anus Anatomy 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 241000252983 Caecum Species 0.000 description 3
- 210000004534 cecum Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 238000003384 imaging method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 210000002784 stomach Anatomy 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000025865 Ulcer Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 210000000214 mouth Anatomy 0.000 description 1
- 230000001537 neural effect Effects 0.000 description 1
- 238000011369 optimal treatment Methods 0.000 description 1
- 210000003695 paranasal sinus Anatomy 0.000 description 1
- 231100000397 ulcer Toxicity 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- 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
- A61B1/00131—Accessories for endoscopes
-
- 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
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a kind of scope auxiliary manipulators, including instrument table, first fixed case and the second fixed case, the side of the instrument table is rotatably connected to backup plate, support frame is fixedly connected at left and right sides of the instrument table bottom, the top of described second fixed box cavity slidably connects rack gear by sliding shoe, mechanical shaft is fixedly connected at the top of the sliding shoe, the top of the mechanical shaft is fixedly connected with support rod, and the top of support rod is fixedly connected with fixture block, the inner rotation of the fixture block is connected with rotation axis, one end of the rotation axis runs through fixture block and extends to the outside of fixture block, one end of the rotation axis is fixedly connected with rotating wheel, it is related to endoscopic technic field.Scope auxiliary manipulator, can replace medical staff using the cooperation between mechanical shaft, support rod and fixture block, and hand steered connecting rod vacates a hand for medical staff, makes medical staff, easy to operate, and work is enable to go on smoothly.
Description
Technical field
The present invention relates to endoscopic technic field, specially a kind of scope auxiliary uses manipulator.
Background technique
Endoscope is to have concentrated traditional optical, ergonomics, precision machinery, hyundai electronics, mathematics, software etc. in one
Detecting instrument.One has imaging sensor, optical lens, light source illumination, mechanical device etc., it can enter stomach with direct oral cavity
It is interior or internal through the entrance of other natural holes.Using endoscope it can be seen that the lesion that X-ray cannot be shown, therefore it is to doctor
It is highly useful.For example, ulcer or tumour in stomach can be observed by endoscope doctor, optimal treatment side is made accordingly
Case.Endoscope is a pipe equipped with light, endoscope can natural hole through human body or underwent operative do it is small
Notch enters in human body.There are many different types, classification methods to have nothing in common with each other, compare in general for medical examination endoscope
More general has following three classification.In terms of market sale, can current most commonly used classification with clinically the side of change
To being divided into hard mirror and elastic two kinds of soft lens.By the function of endoscope, it is divided into single function mirror and Multi-function mirror.Single function mirror refers to
There is no service aisle, the only peephole of optical system；Multi-function mirror refers to except having the function of that peephole is, in same shank,
Also with the service aisle of at least more than one, has and the multiple functions such as illuminate, perform the operation, rinse and attract；It is arrived by endoscope
The position reached；The position difference reached by endoscope is classified: being divided into endoscope for ENT, stomatology endoscope, in dentistry
Sight glass, neural mirror, urethrocystoscope, resectoscope, laparoscope, arthroscope, nasal sinus mirror, laryngoscope etc..It can the side of change according to shank
To；It clinically can change direction according to endoscope shank to classify: be divided into hard mirror and elastic two kinds of soft lens.Hard mirror is
Prism optical system, great advantage are imaging clearlies, can match multiple service aisles, choose multiple visual angles.
Patient lies on instrument table, needs by anus to send scope to caecum, during being somebody's turn to do, it usually needs one of doctor
Hand holds scope, is sent by anus to caecum, and another hand operates control button etc., controls the lens direction etc. of scope, however, should
Process needs two hands to cooperate, inconvenient.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, it the present invention provides a kind of scope auxiliary manipulator, solves and usually requires doctor
A raw hand holds scope, is sent by anus to caecum, another hand operates control button etc., controls the lens direction of scope
Deng, however, the process needs two hands to cooperate, inconvenient problem.
(2) technical solution
In order to achieve the above object, the present invention is achieved by the following technical programs: a kind of scope auxiliary manipulator, packet
Instrument table, the first fixed case and the second fixed case are included, the side of the instrument table is rotatably connected to backup plate, the instrument table bottom
The left and right sides be fixedly connected to support frame, the top of the described second fixed box cavity is slidably connected with teeth by sliding shoe
Item is fixedly connected with mechanical shaft at the top of the sliding shoe, and the top of the mechanical shaft is fixedly connected with support rod, and support rod
Top be fixedly connected with fixture block, the inner rotation of the fixture block is connected with rotation axis, and fixture block is run through in one end of the rotation axis
And the outside of fixture block is extended to, one end of the rotation axis is fixedly connected with rotating wheel, and the outer surface of rotation axis is arranged with branch
Block, is fixedly connected with connecting rod at the top of the bearing piece, and one end of the connecting rod is fixedly connected with fixed bin, and fixed bin
Side is fixedly connected with scope by strut.
Preferably, infrared induction piece is fixedly connected at the top of the fixed bin inner cavity, and the side of fixed bin inner cavity is solid
Surely it is connected with navigator, the other end of the connecting rod is fixedly connected with handle, and the side of handle is provided with button.
Preferably, the left side at the top of first fixed case is fixedly connected with telescopic rod, the top of the telescopic rod with lean on
It is fixedly connected on the left of plate, is fixedly connected with connector sleeve at the top of first fixed case.
Preferably, the front of first fixed case is rotatably connected to cam, the inner surface of the connector sleeve by shaft
Sliding block is slidably connected, the bottom of the sliding block and the top movable of cam connect.
Preferably, support column is fixedly connected at the top of the sliding block, the top of the support column is fixedly connected with connection
Block, the top of the link block are fixedly connected with the bottom of backup plate.
Preferably, the inside of second fixed case is rotatably connected to gear, the side of the gear and tooth by shaft
The side of item is meshed, and the bottom of second fixed case offers placing groove.
Preferably, the back side of first fixed case and the second fixed case is rotatably connected to handle, and described first is fixed
The back side of case and the second fixed case and be located at handle rear be fixedly connected to dial disc.
Preferably, the side of the handle is provided with limited post, and the back side of first fixed case and the second fixed case is equal
Offer limiting slot compatible with limited post.
Preferably, through slot is offered at the top of the instrument table, the inner surface of the through slot and the outer surface of support rod are sliding
It is dynamic to connect, headrest is fixedly connected at the top of the backup plate.
(3) beneficial effect
The present invention provides a kind of scope auxiliary manipulators.Have it is following the utility model has the advantages that
(1), the scope auxiliary use manipulator, by include instrument table, the first fixed case and the second fixed case, instrument table
Side is rotatably connected to backup plate, and support frame, the top of the second fixed box cavity are fixedly connected at left and right sides of instrument table bottom
Portion slidably connects rack gear by sliding shoe, and mechanical shaft is fixedly connected at the top of sliding shoe, and the top of mechanical shaft is fixedly connected
There is support rod, and the top of support rod is fixedly connected with fixture block, it can generation using the cooperation between mechanical shaft, support rod and fixture block
For medical staff, hand steered connecting rod vacates a hand for medical staff, makes medical staff, easy to operate, enables work smoothly
It carries out.
(2), scope auxiliary manipulator, is connected with rotation axis by the inner rotation of fixture block, one end of rotation axis is passed through
It wears fixture block and extends to the outside of fixture block, one end of rotation axis is fixedly connected with rotating wheel, and the outer surface of rotation axis is arranged with
Bearing piece is fixedly connected with connecting rod at the top of bearing piece, and one end of connecting rod is fixedly connected with fixed bin, and the side of fixed bin is logical
It crosses strut and is fixedly connected with scope, bearing piece can be driven to rotate using the cooperation between rotating wheel, rotation axis, and then adjustable
The position of connecting rod, and the angle of scope is adjusted, it is easy to operate, it is practical.
(3), scope auxiliary manipulator, by being fixedly connected with support column at the top of sliding block, the top of support column is solid
Surely it is connected with link block, the top of link block is fixedly connected with the bottom of backup plate, and the inside of the second fixed case is rotated by shaft
It is connected with gear, the side of gear is meshed with the side of rack gear, and the bottom of the second fixed case offers placing groove, utilizes gear
Cooperation between rack gear can drive mechanical shaft side-to-side movement, and then drive scope side-to-side movement, and be able to cooperate infrared induction piece
Endoscope position is determined with navigator, and thus adjust, so that the scope is accurately reached accurate position.
(4), scope auxiliary manipulator, by being fixedly connected with infrared induction piece at the top of fixed bin inner cavity, and it is solid
The side for determining box inner cavity is fixedly connected with navigator, and the other end of connecting rod is fixedly connected with handle, and the side setting of handle
There is button, the left side at the top of the first fixed case is fixedly connected with telescopic rod, is fixedly connected on the left of the top of telescopic rod and backup plate,
It is fixedly connected with connector sleeve at the top of first fixed case, support rod can be driven using the cooperation between handle, cam and sliding block
It moves up and down, and telescopic rod is cooperated to adjust the angle of backup plate, patient is enable to have comfortable lying posture.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is structure of the invention rearview；
Fig. 3 is the schematic diagram of internal structure of fixed bin of the present invention；
Fig. 4 is the structural side view of fixture block of the present invention；
Fig. 5 is the structure top view of instrument table of the present invention；
Fig. 6 is the partial enlarged view in Fig. 1 of the present invention at A.
In figure, 1- instrument table, the first fixed case of 2-, the second fixed case of 3-, 4- backup plate, 5- support frame, 6- sliding shoe, 7- machine
Tool bar, 8- support rod, 9- fixture block, 10- rotation axis, 11- rotating wheel, 12- bearing piece, 13- connecting rod, 14- fixed bin, 15- scope,
16- infrared induction piece, 17- handle, 18- button, 19- telescopic rod, 20- connector sleeve, 21- cam, 22- sliding block, 23- link block,
24- gear, 25- rack gear, 26- handle, 27- dial disc, 28- limited post, 29- limiting slot, 30- through slot, 31- headrest, 32- are put
Set slot, 33- navigator.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-6 is please referred to, the embodiment of the present invention provides a kind of technical solution: a kind of scope auxiliary manipulator, including control
Platform 1, the first fixed case 2 and the second fixed case 3 are treated, the left side at 2 top of the first fixed case is fixedly connected with telescopic rod 19, telescopic rod
19 top is fixedly connected with the left side of backup plate 4, and the top of the first fixed case 2 is fixedly connected with connector sleeve 20, the first fixed case 2
Front cam 21 is rotatably connected to by shaft, the inner surface of connector sleeve 20 slidably connects sliding block 22, the top of sliding block 22
It is fixedly connected with support column 34, the top of support column 34 is fixedly connected with link block 23, the top of link block 23 and the bottom of backup plate 4
Portion is fixedly connected, and the bottom of sliding block 22 is connect with the top movable of cam 21, and the inside of the second fixed case 3 is rotated by shaft to be connected
It is connected to gear 24,7 side-to-side movement of mechanical shaft can be driven using the cooperation between 24 rack gear 25 of gear, and then drive scope 15 left
Right movement, and be able to cooperate infrared induction piece 16 and navigator 33 to determine 15 position of scope, and thus adjust, keep the scope quasi-
Really the errorless accurate position of arrival, the side of gear 24 are meshed with the side of rack gear 25, and the bottom of the second fixed case 3 opens up
There is a placing groove 32, the back side of the first fixed case 2 and the second fixed case 3 is rotatably connected to handle 26, utilizes handle 26, cam 21
Cooperation between sliding block 22 can drive support rod 8 to move up and down, and telescopic rod 19 is cooperated to adjust the angle of backup plate 4, make disease
People can have a comfortable lying posture, and the side of handle 26 is provided with limited post 28, and the back side of the first fixed case 2 and the second fixed case 3 is equal
It offers limiting slot 29 compatible with limited post 28, the back side of the first fixed case 2 and the second fixed case 3 and is located at handle 26
Rear is fixedly connected to dial disc 27, and the top of instrument table 1 offers through slot 30, the inner surface and support rod 8 of through slot 30
Outer surface be slidably connected, the top of backup plate 4 is fixedly connected with headrest 31, and the side of instrument table 1 is rotatably connected to backup plate 4, controls
It treats and is fixedly connected to support frame 5 at left and right sides of 1 bottom of platform, the top of 3 inner cavity of the second fixed case is connected by the sliding of sliding shoe 6
It is connected to rack gear 25, the top of sliding shoe 6 is fixedly connected with mechanical shaft 7, utilizes matching between mechanical shaft 7, support rod 8 and fixture block 9
Conjunction can replace medical staff, and hand steered connecting rod vacates a hand for medical staff, makes medical staff, easy to operate, make work
Work can be gone on smoothly, and the top of mechanical shaft 7 is fixedly connected with support rod 8, and the top of support rod 8 is fixedly connected with fixture block 9, folder
The inner rotation of block 9 is connected with rotation axis 10, and one end of rotation axis 10 runs through fixture block 9 and extends to the outside of fixture block 9, rotation axis
10 one end is fixedly connected with rotating wheel 11, bearing piece 12 can be driven to rotate using the cooperation between rotating wheel 11, rotation axis 10,
And then the position of adjustable connecting rod 13, and the angle of scope is adjusted, and it is easy to operate, it is practical, and rotation axis 10 is outer
Surface is arranged with bearing piece 12, and the top of bearing piece 12 is fixedly connected with connecting rod 13, and one end of connecting rod 13 is fixedly connected with fixation
Box 14 is fixedly connected with infrared induction piece 16 at the top of 14 inner cavity of fixed bin, and the side of 14 inner cavity of fixed bin is fixedly connected with
Navigator 33, the other end of connecting rod 13 is fixedly connected with handle 17, and the side of handle 17 is provided with button 18, and fixed bin
14 side is fixedly connected with scope 15 by strut.
In use, patient lies on instrument table 1, the handle 26 on the first fixed case 2 is rotated, band moving cam 21 rotates, leads to
Mating band movable slider 22 before crossing cam 21 and sliding block 22 does movement downward upwards in the inner surface of connector sleeve 20, and then adjusts
The angle for saving backup plate 4, lies in patient on instrument table 1 with comfortable lying posture, and scope 15 is being passed through the bearing piece in connecting rod 13
12 are stuck in the outer surface of rotation axis 10, rotate the handle 26 on the second fixed case 3, and band moving gear 24 rotates, and pass through 24 He of gear
Cooperation between rack gear 25 can be moved with carry-over bar 25, and then mechanical shaft 7 is driven to move downward, and mechanical shaft 7 passes through support rod 8
It drives connecting rod 13 to move, and then scope 15 is driven to protrude into the anus of patient, by swing handle 26 come command range, medical care
Personnel can be rotated rotating wheel 11 and rotation axis 10 driven to rotate, and then connecting rod 13 is driven to rotate, and adjust the angle of scope 15, complete
Work.
It should be noted that, in this document, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also including other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (9)
1. a kind of scope auxiliary manipulator, including instrument table (1), the first fixed case (2) and the second fixed case (3), described to control
The side for treating platform (1) is rotatably connected to backup plate (4), is fixedly connected to support frame at left and right sides of instrument table (1) bottom
(5), it is characterised in that: the top of the second fixed case (3) inner cavity slidably connects rack gear (25), institute by sliding shoe (6)
It states and is fixedly connected at the top of sliding shoe (6) mechanical shaft (7), the top of the mechanical shaft (7) is fixedly connected with support rod (8),
And the top of support rod (8) is fixedly connected with fixture block (9), the inner rotation of the fixture block (9) is connected with rotation axis (10), described
One end of rotation axis (10) runs through fixture block (9) and extends to the outside of fixture block (9), and one end of the rotation axis (10) is fixedly connected
Have rotating wheel (11), and the outer surface of rotation axis (10) is arranged with bearing piece (12), is fixedly connected at the top of the bearing piece (12)
One end of connecting rod (13), the connecting rod (13) is fixedly connected with fixed bin (14), and the side of fixed bin (14) passes through branch
Bar is fixedly connected with scope (15).
2. a kind of scope auxiliary manipulator according to claim 1, it is characterised in that: fixed bin (14) inner cavity
Top is fixedly connected with infrared induction piece (16), and the side of fixed bin (14) inner cavity is fixedly connected with navigator (33), described
The other end of connecting rod (13) is fixedly connected with handle (17), and the side of handle (17) is provided with button (18).
3. a kind of scope auxiliary manipulator according to claim 1, it is characterised in that: the first fixed case (2) top
It is fixedly connected on the left of portion telescopic rod (19), is fixedly connected on the left of the top and backup plate (4) of the telescopic rod (19), it is described
Connector sleeve (20) are fixedly connected at the top of first fixed case (2).
4. a kind of scope auxiliary manipulator according to claim 3, it is characterised in that: first fixed case (2)
Front is rotatably connected to cam (21) by shaft, and the inner surface of the connector sleeve (20) slidably connects sliding block (22), described
The bottom of sliding block (22) is connect with the top movable of cam (21).
5. a kind of scope auxiliary manipulator according to claim 4, it is characterised in that: the top of the sliding block (22) is solid
Surely it is connected with support column (34), the top of the support column (34) is fixedly connected with link block (23), the link block (23)
Top is fixedly connected with the bottom of backup plate (4).
6. a kind of scope auxiliary manipulator according to claim 1, it is characterised in that: second fixed case (3)
Inside is rotatably connected to gear (24) by shaft, and the side of the gear (24) is meshed with the side of rack gear (25), described
The bottom of second fixed case (3) offers placing groove (32).
7. a kind of scope auxiliary manipulator according to claim 1, it is characterised in that: first fixed case (2) and
The back side of second fixed case (3) is rotatably connected to handle (26), the back of first fixed case (2) and the second fixed case (3)
Face and be located at handle (26) rear be fixedly connected to dial disc (27).
8. a kind of scope auxiliary manipulator according to claim 7, it is characterised in that: the side of the handle (26) is set
It is equipped with limited post (28), the back side of first fixed case (2) and the second fixed case (3) offers and limited post (28) Xiang Shi
The limiting slot (29) matched.
9. a kind of scope auxiliary manipulator according to claim 1, it is characterised in that: the top of the instrument table (1)
It offers through slot (30), the outer surface of the inner surface and support rod (8) of the through slot (30) is slidably connected, the backup plate (4)
Top is fixedly connected with headrest (31).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531671.5A CN109645935A (en) | 2018-12-14 | 2018-12-14 | A kind of scope auxiliary uses manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811531671.5A CN109645935A (en) | 2018-12-14 | 2018-12-14 | A kind of scope auxiliary uses manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN109645935A true CN109645935A (en) | 2019-04-19 |
Family
ID=66113077
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811531671.5A Pending CN109645935A (en) | 2018-12-14 | 2018-12-14 | A kind of scope auxiliary uses manipulator |
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| Country | Link |
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| CN (1) | CN109645935A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110179506A (en) * | 2019-07-01 | 2019-08-30 | 四川大学华西医院 | A kind of therapeutic endoscopy attachment autonomous control device |
| CN112006877A (en) * | 2020-09-22 | 2020-12-01 | 王灵云 | Novel clinical production of gynaecology and obstetrics is assisted device |
| CN112704569A (en) * | 2020-12-23 | 2021-04-27 | 华中科技大学同济医学院附属协和医院 | Simulation hand for endoscope operation |
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| US20150080907A1 (en) * | 2013-09-13 | 2015-03-19 | Vanderbilt University | System and method for endoscopic deployment of robotic concentric tube manipulators for performing surgery |
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| CN110179506A (en) * | 2019-07-01 | 2019-08-30 | 四川大学华西医院 | A kind of therapeutic endoscopy attachment autonomous control device |
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| CN112704569A (en) * | 2020-12-23 | 2021-04-27 | 华中科技大学同济医学院附属协和医院 | Simulation hand for endoscope operation |
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