CN110123253A - A kind of Alimentary tract disease scope positioning device - Google Patents
A kind of Alimentary tract disease scope positioning device Download PDFInfo
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- CN110123253A CN110123253A CN201910473675.0A CN201910473675A CN110123253A CN 110123253 A CN110123253 A CN 110123253A CN 201910473675 A CN201910473675 A CN 201910473675A CN 110123253 A CN110123253 A CN 110123253A
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- air bag
- tracheae
- positioning device
- tract disease
- camera
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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
- A61B1/00131—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
- A61B1/04—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
-
- 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
- A61B1/273—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 upper alimentary canal, e.g. oesophagoscopes, gastroscopes
- A61B1/2736—Gastroscopes
-
- 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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3954—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI
- A61B2090/3958—Markers, e.g. radio-opaque or breast lesions markers magnetic, e.g. NMR or MRI emitting a signal
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3987—Applicators for implanting markers
Abstract
The invention discloses a kind of Alimentary tract disease scope positioning devices, and in particular to a kind of safe and reliable, the device that the lesion inspection of mechanical damage will not be caused to position to people digest road.Detection components for checking the check mark component of the lesions position in people digest road and being positioned outside alimentary canal, the check mark component include the terminal being in outside people digest road, protrude into the air bag that the inspection inside alimentary canal manages, is mounted on the camera and marked lesion position that check pipe front end display lesions position；Soft inspection pipe is installed in the terminal, checks that pipe front end is equipped with camera；Tracheae is provided in the inspection pipe, tracheae is pierced by inspection pipe at camera, and is used for the air bag of marked lesion position in the connection of the front end of tracheae, interior magnetic patch is placed in air bag, the tail end of tracheae is connected to injection-tube.
Description
Technical field
The present invention relates to a kind of medical apparatus, specifically a kind of Alimentary tract disease scope positioning device.
Background technique
Clinically widely used hysteroscope minimally-invasive treatment technology has replaced traditional hand of cutting open the belly in the treatment of many diseases
Art, has reached the dreamboat of good effect, fast, the minimally invasive healing of rehabilitation, but hysteroscope technology is especially that the endoscope-assistant surgery of non-hand assisted is deposited
In big defect atactilia one by one；Patient cannot be touched by hand as open surgery and be checked, to determine the portion of lesion
Position, range and the relationship with surrounding tissue.Preoperative position inaccurate may mislead patient, detect lesion repeatedly in art and not only can
Extend operating time, increase the chance of tumour diffusion, Implantation matastasis, bleeding, anastomotic leakage and infection, serious person even results in mistake
Cut lesion.Therefore, the accurate positionin of stomach and intestine lesion is extremely important for the selection of modus operandi, notch and position etc..Nowadays
Scientific research development trend from the point of view of hysteroscope minimal invasive techniques it is inevitable more and more important, and improved, improved by invention in clinic
Hysteroscope instrument attachment is one of the hot spot researched and developed at present.
Existing location technology often has deviation in actual clinical operation, clinical position needs is unable to satisfy, it is reported that not being inconsistent
Conjunction rate is up to nearly 30%.Lesion intestinal segment appearance Non Apparent Abnormality person under laparoscope generallys use preoperative barium agent both at home and abroad at present and fills
Intestines x-ray, CT and colonoscopy result judge lesion intestinal segment position, and there are also the injection methylenum careuleum colour developings of preoperative lesion locations
Agent, titanium folder label, intraoperative choIangiography inspection or endoscopy etc. reduce conversion into open surgery rate to improve success rate of operation.It is right
In smaller lesion, preoperative barium enema inspection tends not to provide accurate position in art；Preoperative enteroscopy is for large intestine
The positioning and qualitative of lesion is necessary, but drawing inflation when due to microscopy, displacement of small bowel loops, examiner experience or get sth into one's head
Deng, it may occur however that the inaccuracy of lesion locations judgement, checking process is time-consuming to also increase the probability of abdominal cavity infection simultaneously；Art
Preceding diseased region injects chromogenic label, the person that is generally used for delayed surgery, exist in colour it is unobvious or color range compared with
It is difficult to judge in wide art；Laparoscopy ultrasound is also difficult to make accurate judgement for the enteric cavity of pneumatosis.Endoscopic Titanium-clip Clipping label pair
In abdominal lesion in clinical application, but since state of an illness individual difference and patient's technical level are irregular, one-denier
There is error and cause operative incision wrong choice, very intractable postoperative complication will occurs, limit it and be widely popularized；For
For the laparoscope widely promoted at present, due to the technical restriction of its sense of touch missing, any effect can not be played, it is practical
Clinical application occurs solving current predicament there is an urgent need to novel product.
Chinese patent authorizes a kind of novel enteron lesion scope positioning device, public application No. is 2015104141431
Cloth number is the patent of CN104939794, is pressed from both sides using titanium and marker is placed in alimentary canal, it is clear that there are drawback, titanium is clipped in
Protrude into it is gastral during inevitably alimentary canal is caused to damage, and be placed on the titanium in alimentary canal be clipped in turn-over bed for patient or
When other movements, also easy damaged internal organ.
Summary of the invention
The purpose of the present invention is to provide a kind of Alimentary tract disease scope positioning devices, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the invention provides the following technical scheme:
A kind of Alimentary tract disease scope positioning device, including for checking the inspection mark of the lesions position in people digest road
Note component and the detection components positioned outside alimentary canal, the check mark component include outside people digest road
Terminal, the inspection protruded into inside alimentary canal manage, are mounted on the camera and marked lesion for checking that pipe front end shows lesions position
The air bag of position；Soft inspection pipe is installed in the terminal, checks that pipe front end is equipped with camera；It is set in the inspection pipe
It is equipped with tracheae, tracheae is pierced by inspection pipe at camera, and is used for the air bag of marked lesion position, gas in the connection of the front end of tracheae
Interior magnetic patch is placed in capsule, the tail end of tracheae is connected to injection-tube.
As a further solution of the present invention: the host connecting with camera signals is installed in the terminal, host with
The connection of display screen electric signal, display screen are installed at the terminal.
As the present invention further scheme: the display screen rear portion be provided be equipped with for place be camera and
The battery case of the battery of host supplying power, battery case are also mounted in terminal.
As further scheme of the invention: sealing the piston that is slidably connected in the injection-tube, the connection of piston outer end pushes away
Bar, push rod outer end are fixedly connected with handle.
As further scheme of the invention: the air bag and tracheae junction are provided with buffer area, air bag entrance
Check valve is installed, tracheae front is fixed on the front for checking pipe by fixed strip, and air bag is wrapped in tracheae by buffer area
Front end.
As further scheme of the invention: the detection components include locator shell, outer magnetic patch, spring and buzzing
Device, wherein outer magnetic patch is placed in locator shell, outer magnetic patch is fixed on flexible tube end, and telescoping tube the other end connects bullet
Spring, spring are mounted in sleeve, and sleeve and telescoping tube are socketed.
As further scheme of the invention: being equipped with travel switch in the locator shell, travel switch is electrical
Buzzer is connected, buzzer is fixed on locator shell exterior.
As further scheme of the invention: on the shelf, shelf is fixed in locator shell for the sleeve installation,
The battery for powering to buzzer is also equipped in locator shell.
As further scheme of the invention: the handle that the outside of the locator shell is fixedly connected convenient for holding.
Compared with prior art, the beneficial effects of the present invention are: the device is after checking lesions position, by by starting
Grip strip moves push rod and piston is pushed, to which the gas in injection-tube to be pushed into air bag, air bag to be filled greatly in injection in-pipe,
Volume become larger after air bag by, to fixed, and then interior magnetic patch being fixed with wall friction in alimentary canal, air bag is elastic sphere,
People digest road will not be caused to damage, compared to the prior art in metal clip for, it is safer, big mistake is filled in air bag
Cheng Zhong may be implemented to be automatically separated.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of Alimentary tract disease scope positioning device.
Fig. 2 is the enlarged drawing of air bag and check valve in Alimentary tract disease scope positioning device.
Fig. 3 is the structural schematic diagram of telescopic rod and spring in Alimentary tract disease scope positioning device.
In figure: 1- terminal；2- checks pipe；3- alimentary canal；4- camera；5- display screen；6- host；7- battery case；8- gas
Pipe；9- injection-tube；10- piston；11- push rod；12- handle；13- air bag；Magnetic patch in 14-；15- locator shell；16- stroke is opened
It closes；The outer magnetic patch of 17-；18- telescoping tube；19- sleeve；20- spring；21- buzzer；22- shelf；23- battery；24- handle；
25- fixed strip；26 check valves；The buffer area 27-.
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.
Please refer to Fig. 1~3, in the embodiment of the present invention, a kind of Alimentary tract disease scope positioning device, including suffer from for checking
The check mark component of person's lesions position in the digestive tract and the detection components positioned outside alimentary canal；Wherein, it checks
Before label component includes the terminal 1 being in outside people digest road 3, protrudes into the inspection pipe 2 inside alimentary canal 3, is mounted on inspection pipe 2
The camera 4 of end display lesions position and the air bag 13 of marked lesion position, specifically:
Soft inspection pipe 2 is installed in the terminal 1, for protruding into people digest road 3, checks the installation of 2 front end of pipe
There is camera 4, is further equipped in terminal 1 and is connect with 4 signal of camera convenient for the lesion situation in observation alimentary canal 3
Host 6, host 6 connect with 5 electric signal of display screen, and display screen 5 is installed on the terminal 1, and 5 rear portion of display screen is provided with installation
There is the battery case 7 for placing the battery powered for camera 4 and host 6, battery case 7 is also mounted in terminal 1, by that will examine
It checks 2 to protrude into protrude into wherein camera 4 in people digest road 3, the image information of acquisition is passed through host 6 by camera 4
Treated, and image is shown in display screen 5.
Still further, being provided with tracheae 8 in the inspection pipe 2, tracheae 8 is pierced by camera 4 checks pipe 2, and
The front end connection of tracheae 8 is used for the air bag 13 of marked lesion position, is placed with interior magnetic patch 14 in air bag 13, it should be noted that
The tail end of tracheae 8 is connected to injection-tube 9, and the piston 10 that is slidably connected is sealed in injection-tube 9, and 10 outer end of piston connects push rod 11, push rod
11 outer ends are fixedly connected with handle 12, after checking lesions position, by driving push rod 11 that piston 10 is pushed to exist by fixed handle 12
It is mobile to which the gas in injection-tube 9 to be pushed into air bag 13 in injection-tube 9, air bag 13 is filled greatly, and be fixed on alimentary canal 3
In, volume become larger after air bag 13 by with wall friction in alimentary canal 3 to fixed, and then interior magnetic patch 14 is fixed, air bag 13
For elastic sphere, people digest road 3 will not be caused to damage, compared to the prior art in metal clip for, it is safer.
Still further, the air bag 13 is provided with buffer area 27 with 8 junction of tracheae, 13 entrance of air bag is equipped with list
To valve 26,8 front of tracheae is fixed on the front for checking pipe 2 by fixed strip 25, and air bag 13 is wrapped in tracheae 8 by buffer area 27
Front end, during air bag 13 fills big, buffer area 27 is also filled greatly, and the gas in air bag 13 is without going past check valve 26
Reverse flow, during buffer area 27 fills big, air bag 13 and 8 front end of tracheae are relaxed, until separation, can will check after separation
Pipe 2, which fills in alimentary canal 3, to be taken out, and air bag 13 and interior magnetic patch 14 stay in affected area, fill it is big after air bag 13 can preferably will in
Magnetic patch 14 is fixed on affected area, and not will cause mechanical damage.
Embodiment 2
In another embodiment of the present invention, a kind of Alimentary tract disease scope positioning device, the detection components include locator
Shell 15, outer magnetic patch 17, spring 20 and buzzer 21, wherein outer magnetic patch 17 is placed in locator shell 15, outer magnetic patch 17 is solid
It is scheduled on 18 end of telescoping tube, 18 the other end connecting spring 20 of telescoping tube, spring 20 is mounted in sleeve 19, sleeve 19 and flexible
Pipe 18 is socketed, when medical staff's hand-held locater shell 15 is close to interior magnetic patch 14, make under magneticaction outer magnetic patch 17 with
Absorption, so that spring 20 be elongated；Travel switch 16 is installed, travel switch 16 is electrically connected in the locator shell 15
Buzzer 21, buzzer 21 are fixed on outside locator shell 15, and sleeve 19 is mounted on shelf 22, and shelf 22 is fixed on positioning
In device shell 15, the battery 23 for powering to buzzer 21 is also equipped in locator shell 15, locator shell 15
The handle 24 that outside is fixedly connected convenient for holding, after outer magnetic patch 17 is in interior magnetic patch 14 to small-scale orientation of operation, magnetic
Power increases so that 17 contacting travel switch 16 of outer magnetic patch, buzzer 21 and battery 23 is connected, warning note medical staff, position
In the lesions position in alimentary canal 3 herein near, be convenient for marked lesion position, to perform the operation, air bag 13 taken out in operation
With interior magnetic patch 14.
The working principle of the invention is: soft inspection pipe 2 is installed in terminal 1, for protruding into people digest road 3,
It checks that 2 front end of pipe is equipped with camera 4, convenient for the lesion situation in observation alimentary canal 3, is disappeared by that will check that pipe 2 protrudes into patient
Change in road 3 to protruding into wherein camera 4, by host 6, treated that image is shown by the image information of acquisition for camera 4
In display screen 5, after checking lesions position, by driving push rod 11 to push piston 10 in injection-tube 9 by fixed handle 12
Mobile to fill air bag 13 greatly, and be fixed in alimentary canal 3 to which the gas in injection-tube 9 to be pushed into air bag 13, volume becomes
Air bag 13 after big is by the way that, thus fixed and then interior magnetic patch 14 is fixed, air bag 13 is elastic ball with wall friction in alimentary canal 3
Body will not cause to damage to people digest road 3, compared to the prior art in metal clip for, it is safer, filled in air bag 13
In big process, buffer area 27 is also filled greatly, and the gas in air bag 13 is without going past 26 reverse flow of check valve, in buffer area
During 27 fill greatly, air bag 13 and 8 front end of tracheae are relaxed, until separation, inspection pipe 2 can be filled in alimentary canal 3 take after separation
Out, and air bag 13 and interior magnetic patch 14 stay in affected area, fill it is big after air bag 13 interior magnetic patch 14 preferably can be fixed on lesion
Place, and not will cause mechanical damage, when medical staff's hand-held locater shell 15 is close to interior magnetic patch 14, make under magneticaction
It obtains outer magnetic patch 17 to adsorb therewith, to spring 20 be elongated, in outer magnetic patch 17 close to interior magnetic patch 14 to small-scale orientation of operation
After interior, magnetic force increases so that 17 contacting travel switch 16 of outer magnetic patch, buzzer 21 and battery 23 is connected, warning note medical care
Personnel, lesions position in alimentary canal 3 herein near, taken out in operation convenient for marked lesion position to perform the operation
Air bag 13 and interior magnetic patch 14.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (9)
1. a kind of Alimentary tract disease scope positioning device, including for checking the check mark of the lesions position in people digest road
Component and the detection components positioned outside alimentary canal, which is characterized in that the check mark component includes being in patient
The outer terminal (1) of alimentary canal (3) protrudes into the internal inspection pipe (2) of alimentary canal (3), is mounted on inspection pipe (2) front end and shows lesion
The camera (4) of position and the air bag (13) of marked lesion position；Soft inspection pipe (2) is installed on the terminal (1),
Check that pipe (2) front end is equipped with camera (4)；It is provided with tracheae (8) in the inspection pipe (2), tracheae (8) is in camera (4)
Place is pierced by inspection pipe (2), and is used for the air bag (13) of marked lesion position in the connection of the front end of tracheae (8), and air bag is put in (13)
It is equipped with interior magnetic patch (14), the tail end of tracheae (8) is connected to injection-tube (9).
2. a kind of Alimentary tract disease scope positioning device according to claim 1, which is characterized in that on the terminal (1)
The host (6) connecting with camera (4) signal is installed, host (6) is connect with display screen (5) electric signal, display screen (5) installation
On terminal (1).
3. a kind of Alimentary tract disease scope positioning device according to claim 2, which is characterized in that the display screen (5)
Rear portion is provided with the battery case (7) being equipped with for placing the battery for camera (4) and host (6) power supply, battery case (7)
It is mounted on terminal (1).
4. a kind of Alimentary tract disease scope positioning device according to claim 1, which is characterized in that the injection-tube (9)
Interior sealing is slidably connected piston (10), and piston (10) outer end connects push rod (11), and push rod (11) outer end is fixedly connected with handle (12).
5. a kind of Alimentary tract disease scope positioning device according to claim 1, which is characterized in that the air bag (13) with
Tracheae (8) junction is provided with buffer area (27), and air bag (13) entrance is equipped with check valve (26), and tracheae (8) front passes through
Fixed strip (25) is fixed on the front for checking pipe (2), and air bag (13) is wrapped in the front end of tracheae (8) by buffer area (27).
6. a kind of Alimentary tract disease scope positioning device according to claim 1, which is characterized in that the detection components packet
Include locator shell (15), outer magnetic patch (17), spring (20) and buzzer (21), wherein be placed in locator shell (15)
Outer magnetic patch (17), outer magnetic patch (17) are fixed on telescoping tube (18) end, telescoping tube (18) the other end connecting spring (20), spring
(20) it is mounted in sleeve (19), sleeve (19) and telescoping tube (18) are socketed.
7. a kind of Alimentary tract disease scope positioning device according to claim 6, which is characterized in that the locator shell
(15) it is equipped with travel switch (16) in, travel switch (16) is electrically connected buzzer (21), and buzzer (21) is fixed on positioning
Device shell (15) is external.
8. a kind of Alimentary tract disease scope positioning device according to claim 7, which is characterized in that sleeve (19) peace
On shelf (22), shelf (22) is fixed in locator shell (15), be also equipped in locator shell (15) for
The battery (23) of buzzer (21) power supply.
9. a kind of Alimentary tract disease scope positioning device according to claim 6, which is characterized in that the locator shell
(15) handle (24) that outside is fixedly connected convenient for holding.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910473675.0A CN110123253A (en) | 2019-06-01 | 2019-06-01 | A kind of Alimentary tract disease scope positioning device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910473675.0A CN110123253A (en) | 2019-06-01 | 2019-06-01 | A kind of Alimentary tract disease scope positioning device |
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| CN110123253A true CN110123253A (en) | 2019-08-16 |
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| CN201910473675.0A Pending CN110123253A (en) | 2019-06-01 | 2019-06-01 | A kind of Alimentary tract disease scope positioning device |
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| CN111772558A (en) * | 2020-06-23 | 2020-10-16 | 李大欢 | Positioning device for digestive tract pathologic change endoscope |
| CN113171185A (en) * | 2021-04-26 | 2021-07-27 | 吉林大学 | Magnetic force guided minimally invasive detection tracking and position locking device for intestinal lesion markers |
| CN116763412A (en) * | 2023-07-07 | 2023-09-19 | 曲梅 | Digestive tract foreign body extraction device |
| CN117224068A (en) * | 2023-11-14 | 2023-12-15 | 苏州大学附属第二医院 | Sensing method of endoscope positioning signal and endoscope positioning system |
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| CN116763412A (en) * | 2023-07-07 | 2023-09-19 | 曲梅 | Digestive tract foreign body extraction device |
| CN116763412B (en) * | 2023-07-07 | 2024-02-27 | 青岛市妇女儿童医院（青岛市妇幼保健院、青岛市残疾儿童医疗康复中心、青岛市新生儿疾病筛查中心） | Digestive tract foreign body extraction device |
| CN117224068A (en) * | 2023-11-14 | 2023-12-15 | 苏州大学附属第二医院 | Sensing method of endoscope positioning signal and endoscope positioning system |
| CN117224068B (en) * | 2023-11-14 | 2024-01-26 | 苏州大学附属第二医院 | Sensing method of endoscope positioning signal and endoscope positioning system |
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