CN110313980A - A kind of reducing delivery cannula and medical instrument suit - Google Patents
A kind of reducing delivery cannula and medical instrument suit Download PDFInfo
- Publication number
- CN110313980A CN110313980A CN201910698519.4A CN201910698519A CN110313980A CN 110313980 A CN110313980 A CN 110313980A CN 201910698519 A CN201910698519 A CN 201910698519A CN 110313980 A CN110313980 A CN 110313980A
- Authority
- CN
- China
- Prior art keywords
- wall
- delivery sheath
- item
- wall item
- connecting rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B17/3439—Cannulas with means for changing the inner diameter of the cannula, e.g. expandable
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
Abstract
The invention discloses a kind of reducing delivery cannulas and medical instrument to be set with.Wherein reducing delivery cannula, it include: the first delivery sheath, the wall item that can be supported and enclose lumen successively docked being arranged including flexible connector and along the circumferential direction, the flexible connector is connect respectively with the wall item so that elastic connection between adjacent wall item；Second delivery sheath is provided with expanding mechanism on outer wall；It can be inserted into first delivery sheath along conveying direction；The expanding mechanism is configured to make wall item mobile to the lateral direction of the first delivery sheath to the outer wall direction protrusion far from second delivery sheath, separate adjacent wall item partially or fully, at this point, the flexible connector provides the power for resetting isolated wall item；Second delivery sheath is configurable for passing through for medical instrument.
Description
Technical field
The invention belongs to the field of medical instrument technology, more particularly, to a kind of reducing delivery cannula and medical instrument
Suit.
Background technique
Laparoscopic surgery is the invasive methods that a new development is got up, and is that one of the following operation method development necessarily becomes
Gesture.With advancing by leaps and bounds for industrial manufacturing technology, be fused to carry out new technology, the new method of related discipline have established firm base
Plinth, in addition the operation that doctor is more and more consummate, so that many past open operations have been replaced by intracavity operation now,
Considerably increase surgical selection chance.Retroperitoneoscopictechnique conventional method is to make three 1 centimetre of small notch in patient's waist, respectively
Insertion one is called the pipe-like service aisle of " trocar ", and later every operation, which passes through these three pipelines, to carry out；Again with spy
The lengthening surgical instrument of system completes the step same as open surgery under television monitoring, reaches same surgical effect.Two holes
The advantages of method retroperitoneoscopictechnique is very it will be evident that being wound very little first, it is only necessary to 2 osculums, scar very little, this point pair
It is more worth noting for young man and the women to like to be beautiful.Second, it performs the operation as the entrance of single-broadsword event, the damage of surrounding tissue is dropped
Extremely minimum, the postoperative chance to stick together becomes smaller.Third, patient's postoperative wound pain are substantially reduced.4th, length of stay compared with
It is few, as long as 2-3 days had can leave hospital, complete recovery of health and can devote oneself to work within 7 days, to make burden of patients expense significantly
It reduces, while hospital bed turnover rate is accelerated.Under Two trocars Retroperitoneoscopicvaricocelectomy and laparoscope urological surgery can be used at present
In the treatment of column Urology Surgery, such as the testis of excision of cyst of kidney, cryptorchidism draws drop art, varicocele ligation.But existing
In some operative processes, the taking-up of the cutting tissue object of bulky grain calculus, major diameter is often encountered, due to delivery sheath
Diameter fix, cause the extract of major diameter not take out once, need in intracavitary carry out secondary treatment, influence operation effect
Rate easily causes secondary pollution；It either needs to carry out secondary flaring to notch, increases the pain of patient, so that minimally invasive not micro-
Wound.Therefore, it is necessary to provide a kind of technical solution of reducing delivery cannula.
Summary of the invention
It is an object of the present invention to provide a kind of new solutions of reducing delivery cannula.
According to the first aspect of the invention, a kind of reducing delivery cannula is provided, comprising:
First delivery sheath, be arranged including flexible connector and along the circumferential direction successively dock can support and enclose
Synthesize the wall item of lumen, the flexible connector is connect respectively with the wall item so that elastic connection between adjacent wall item；
Second delivery sheath is provided with expanding mechanism on outer wall；First delivery sheath can be inserted into along conveying direction
It is interior；The expanding mechanism is configured to make wall item to first to the outer wall direction protrusion far from second delivery sheath
The lateral direction of delivery sheath is mobile, separates adjacent wall item partially or fully, at this point, flexible connector offer makes point
From wall item reset power；
Second delivery sheath is configurable for passing through for medical instrument.
Optionally, the expanding mechanism includes first connecting rod, second connecting rod and pushing part；The pushing part is arranged described
The proximal end of second delivery sheath can simultaneously be slided along the axial direction of the second delivery sheath；The first connecting rod is close to described
The distal end of the proximal end of two delivery sheaths and one end of first connecting rod are rotatably connected on the outer wall of second delivery sheath；It is described
Second connecting rod is between first connecting rod and pushing part and its both ends is rotatablely connected with first connecting rod and pushing part respectively；Described
The quantity of one connecting rod and second connecting rod is corresponded with the quantity of the wall item respectively.
Optionally, the wall item of the adjacent two sides of any wall item is symmetrical arranged, the first connecting rod and second connecting rod with
The center line of the wall item is correspondingly arranged.
Optionally, the wall item includes the first wall item and the second wall item, and the first wall item and the second wall item are adjacent
Setting, is provided with the lug boss staggeredly cooperated at the docking of the first wall item and the second wall item, the first wall item and
The second wall item is symmetrical arranged.
Optionally, the flexible connector is arranged at the docking between the adjacent wall item.
Optionally, the flexible connector seals at the docking between the adjacent wall item.
Optionally, the flexible connector is elastic sealing layer, covers the inside of first delivery sheath or/and outer
Side.
Optionally, the material that the wall item or/and second delivery sheath is made includes medical plastic.
Optionally, the material that the flexible connector is made includes medical silica-gel, rubber.
According to another aspect of the present invention, the present invention also provides a kind of medical instrument suits, including above-mentioned reducing
Delivery cannula and the medical instrument that second delivery sheath can be passed through.
By referring to the drawings to the detailed description of exemplary embodiment of the present invention, other feature of the invention and its
Advantage will become apparent.
Detailed description of the invention
It is combined in the description and the attached drawing for constituting part of specification shows the embodiment of the present invention, and even
With its explanation together principle for explaining the present invention.
Fig. 1 is the original state structural schematic diagram of the first delivery sheath in some embodiments of the invention.
Fig. 2 is the schematic cross-sectional view of the second delivery sheath in some embodiments of the invention.
Fig. 3 is the surface structure schematic diagram of the second delivery sheath in some embodiments of the invention.
Fig. 4 is the raised position schematic diagram of expanding mechanism in some embodiments of the invention.
Fig. 5 is the expansion state structural schematic diagram of the first delivery sheath in some embodiments of the invention.
Fig. 6 is the wall structural schematic diagram of the first delivery sheath in other embodiments of the invention.
Fig. 7 is the structural pipe wall schematic diagram of the first delivery sheath in yet other embodiments of the invention.
Fig. 8 is the structural pipe wall schematic diagram of the first delivery sheath in still other embodiments of the present invention.
Fig. 9 is the surface structure schematic diagram of the first delivery sheath in some embodiments of the invention.
Figure 10 is the partial enlargement diagram of Fig. 9.
Figure 11 is the first state schematic diagram operated in some embodiments of the invention.
Figure 12 is the second status diagram operated in some embodiments of the invention.
Figure 13 is the third state schematic diagram operated in some embodiments of the invention.
Figure 14 is the 4th status diagram operated in some embodiments of the invention.
Figure 15 is the 5th status diagram operated in some embodiments of the invention.
Figure 16 is the 6th status diagram operated in some embodiments of the invention.
In figure: 1 first delivery sheath, 11 first wall items, 12 second wall items, 13 lug bosses, 14 flexible connectors, 15 limits
Portion, 2 second delivery sheaths, 21 expanding mechanisms, 22 first connecting rods, 23 second connecting rods, 24 pushing parts, 25 anti-skid chequers, 3 skins, 4 doctors
Treat instrument, 5 extracts.
Specific embodiment
Carry out the various exemplary embodiments of detailed description of the present invention now with reference to attached drawing.It should also be noted that unless in addition having
Body explanation, the unlimited system of component and the positioned opposite of step, numerical expression and the numerical value otherwise illustrated in these embodiments is originally
The range of invention.
Be to the description only actually of at least one exemplary embodiment below it is illustrative, never as to the present invention
And its application or any restrictions used.
Technology, method and apparatus known to person of ordinary skill in the relevant may be not discussed in detail, but suitable
In the case of, the technology, method and apparatus should be considered as part of specification.
It is shown here and discuss all examples in, any occurrence should be construed as merely illustratively, without
It is as limitation.Therefore, other examples of exemplary embodiment can have different values.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, then in subsequent attached drawing does not need that it is further discussed.
According to an aspect of the present invention, the present invention provides a kind of reducing delivery cannula, referring to figs. 1 to Fig. 5, including
One delivery sheath 1 and the second delivery sheath 2.First delivery sheath 1 and the second delivery sheath 2 are usually matched cylindrical shroud
Pipe.
First delivery sheath 1 includes flexible connector 14 and multiple wall items.Multiple wall items be arranged along the circumferential direction according to
Secondary docking simultaneously can support and enclose lumen.When multiple wall items successively dock, at this time in the minimum for the first delivery sheath 1
Diameter；In adjacent wall item separation and to when the movement of the lateral direction of the first delivery sheath 1, the first delivery sheath 1 is enabled to
Internal diameter becomes larger, and changes its internal diameter.
The flexible connector 14 is connect with the wall item respectively, so that elastic connection between adjacent wall item, first
When the internal diameter of delivery sheath 1 is changed by external force, flexible connector 14 is capable of providing the power for resetting isolated wall item, outside
After power disappears, the wall item is automatically reset.Flexible connector 14 can make the first delivery sheath 1 guarantor in no external force
Minimum diameter state is held, convenient for the holding of its original shape.
Second delivery sheath 2 can be inserted into described first from the proximal end of first delivery sheath 1 along conveying direction
In delivery sheath 1.Expanding mechanism 21 is provided on the outer wall of second delivery sheath 2.The expanding mechanism 21 can be to remote
Outer wall direction protrusion from second delivery sheath 2, resists the wall item and provides external force, make wall item to the first delivery sheath 1
Lateral direction it is mobile, separate adjacent wall item partially or fully, to change the internal diameter of first delivery sheath 1.
Second delivery sheath 2 enables medical instrument 4 to pass through described first defeated for passing through for medical instrument 4
Sheath 1 and the second delivery sheath 2 is sent to enter job position.It is shown with reference to figures 11 to mode of operation schematic diagram shown in Figure 16
Medical instrument 4 can be stone extraction basket, extract 5 can be calculus.When medical instrument 4 is extracted, entrained object is greater than
When the minimum diameter of the first delivery sheath 1, healthcare givers can be made by the outer diameter that expanding mechanism 21 changes the first delivery sheath 1
It is externally strutted, and provides a space bigger channel, close in the distal end of medical instrument 4 and the distal end of the second delivery sheath 2
When so that object being obstructed, the first delivery sheath 1 is fixed, outer is removed the second delivery sheath 2 is synchronous with medical instrument 4
The object that will be greater than the minimum diameter of the first delivery sheath 1 takes out, convenient for those skilled in the art in the course of surgery to diameter
The taking-up of larger object.Such as it applies in the Minimally Invasive Surgery of human abdominal cavity, the cutting tissue of the major diameter calculus of taking-up, bulk
In the operation such as object.The fixed form of manual helping can be used by fixing the first delivery sheath 1.With reference to Figure 14 or Figure 15, seeing
When observing extract 5 by 3 notch of skin, operator can also extract the first delivery sheath 1 together, the present invention to this simultaneously
It does not limit, various status diagrams when Figure 11 to Figure 16 is only operation of the present invention, does not constitute and operated when using the present invention
Necessary state limitation.
What the present invention can be organized the incision of skin 3 using human skin 3 by the first delivery sheath 1 of reducing
Elasticity carries out the expansion of short time, completes operating procedure.The case where being compared to without using casing can prevent extract 5 straight
Diameter is excessive, and hardness, which pulls, causes secondary tearing to injure the incision of skin 3.It is compared to the casing for using fixed diameter
Situation, under the premise of the incision not to skin 3 causes tearing to injure, the present invention can once take out the object of larger diameter
Body, to improve procedure efficiency.
In some embodiments, referring to figs. 2 to Fig. 5, the expanding mechanism 21 includes first connecting rod 22,23 and of second connecting rod
Pushing part 24.The pushing part 24 is arranged in the proximal end of second delivery sheath 2 and can be along the axis of the second delivery sheath 2
It is slided to direction, convenient for manual operation.The present invention can preferably experience skin 3 by the manual perception of pushing part 24
Incision the expansion limit, consequently facilitating healthcare givers judges the magnitude range for the object that can be taken out.Described first connects
Bar 22 is close to the distal end of the proximal end of second delivery sheath 2 and one end of first connecting rod 22 is rotatably connected on second conveying
On the outer wall of sheath 2.The second connecting rod 23 is between first connecting rod 22 and pushing part 24, the both ends of the second connecting rod 23
Be rotatablely connected respectively with first connecting rod 22 and pushing part 24 so that by the pushing part 24 to the distal end of the second delivery sheath 2
When direction pushes, outwardly convex at the rotation connection of first connecting rod 22 and second connecting rod 23, expansion the first conveying sheath are enabled to
The diameter of pipe 1；Then when pushing part 24 is retreated to the proximal direction of the second delivery sheath 2, under the action of flexible connector 14,
The diameter of first delivery sheath 1 is resetted.
When the distal end of the first delivery sheath 1 shown in Figure 12 is distensible maximum gauge state, those skilled in the art
If member is it is appreciated that 5 diameter of extract is greater than the maximum gauge, extract 5 can not take out through the invention, and operator can
To be taken out by other existing modes of operation.
The quantity of the first connecting rod 22 and second connecting rod 23 is corresponded with the quantity of the wall item respectively, so that this hair
Bright be that external force can be acted on simultaneously on each wall item when in use.Further, multiple first connecting rods 22 and multiple
Two connecting rods 23 are also circumferentially to be corresponding in turn to setting.
In some embodiments, the wall item of the adjacent two sides of any wall item is symmetrical arranged, 22 He of first connecting rod
Second connecting rod 23 and the center line of the wall item are correspondingly arranged.So that external force is more uniform.
In some embodiments, with reference to Fig. 1 and Fig. 5, the wall item of the first delivery sheath 1 can be uniformly arranged 4 with
On wall item act on the active force of the incision of skin 3 so that the expanded in diameter of the first delivery sheath 1 is uniformly to expand
It is dispersion, can adequately utilizes the elasticity of skin 3, prevent or reduce and the incision of skin 3 is caused to tear.
In some embodiments, with reference to Fig. 3, it is provided with anti-skid chequer on the outside of the pushing part 24, when increasing promotion
Frictional force, keep its stability.
In some embodiments, on the outer wall of second delivery sheath 2, in position corresponding with the pushing part 24
Place, can be set the non-return structure of pawl shape, so that operator does not need to keep expanding using force during removing outside
The state for opening mechanism 21, reduces the manipulation strength of operator.
In some embodiments, with reference to Fig. 6 to Fig. 8, the wall item may include the first wall item 11 and the second wall item 12.Institute
It states the first wall item 11 and the second wall item 12 is disposed adjacent, set at the docking of the first wall item 11 and the second wall item 12
It is equipped with the lug boss 13 staggeredly cooperated, the docking area being capable of increasing between the first wall item 11 and the second wall item 12,
Improve its structural soundness.Further, the first wall item 11 and the second wall item 12 are symmetrical arranged.Certainly, one
In a little others embodiments, as shown in figure 1 and figure 5, it is also possible to be not provided with lug boss 13, by matching interface angle
Close the stability to realize its structure.
In some embodiments, with reference to Fig. 9 and Figure 10, can be arranged on the outside of wall item limiting section 15 for cooperate guarantor
Hold the original state of the first delivery sheath 1.Limiting section 15 can be strip, and both ends extend to the outside of adjacent wall item, use
To prevent in extreme circumstances, wall item is collapsed to the interior direction of the first delivery sheath 1 so that the first delivery sheath 1 cannot keep
Shape.The structure of the first delivery sheath 1 can be preferably consolidated by limiting section 15.Further, when in use, limiting section 15
It can be set at the position for not protruding into abdominal cavity.
In some embodiments, with reference to Fig. 5, the flexible connector 14 be can be set between the adjacent wall item
At docking, only it is attached at docking.
In some embodiments, the flexible connector 14 seals at the docking between the adjacent wall item, realizes the
The relative closure of one delivery sheath 1, prevents foreign matter from entering in human body by gap.
In some embodiments, with reference to Fig. 7 and Fig. 8, the flexible connector 14 is elastic sealing layer, covering described first
The inside or/and outside of delivery sheath 1 form a complete pipe sleeve layer, guarantee globality of the invention.
In some embodiments, be made the wall item or/and second delivery sheath 2 material include medical plastic or
Metal etc. has enough rigid materials, meets the function of its structural support.Further, selected material can also be permitted
Perhaps certain Bending Deformation occurs in it, so that local deformation can only occur when in use for the present invention.
In some embodiments, the separation of adjacent wall item can be local detachment, in the part for changing the first delivery sheath 1
Diameter, such as make the proximally and distally internal diameter of the first delivery sheath 1 different, trapezoidal or tubaeform structure is formed, convenient for practical
Operation.In other examples, it is also possible to synchronous equidistant separation, the present invention is not intended to limit this.
In some embodiments, the material that the flexible connector 14 is made includes medical silica-gel, rubber, be can be applied to
Surgical environments and it is capable of providing enough elastic force, the present invention is not intended to limit this.
According to another aspect of the present invention, the present invention also provides a kind of medical instrument suits, in some embodiments, packet
It includes above-mentioned reducing delivery cannula and the medical instrument 4 of second delivery sheath 2 can be passed through.
In some embodiments, the medical instrument 4, which can be medical stone dislodger, abdominal cavity elastic separating plier etc., can pass through sheath
The medical instrument 4 of conveying.
Although some specific embodiments of the invention are described in detail by example, the skill of this field
Art personnel it should be understood that example above merely to being illustrated, the range being not intended to be limiting of the invention.The skill of this field
Art personnel are it should be understood that can without departing from the scope and spirit of the present invention modify to above embodiments.This hair
Bright range is defined by the following claims.
Claims (10)
1. a kind of reducing delivery cannula characterized by comprising
First delivery sheath, be arranged including flexible connector and along the circumferential direction successively dock can support and enclose
The wall item of lumen, the flexible connector is connect respectively with the wall item so that elastic connection between adjacent wall item；
Second delivery sheath is provided with expanding mechanism on outer wall；It can be inserted into first delivery sheath along conveying direction；Institute
Expanding mechanism is stated to be configured to make wall item to the first conveying to the outer wall direction protrusion far from second delivery sheath
The lateral direction of sheath is mobile, separates adjacent wall item partially or fully, at this point, the flexible connector, which provides, makes separation
The power that wall item resets；
Second delivery sheath is configurable for passing through for medical instrument.
2. reducing delivery cannula according to claim 1, which is characterized in that the expanding mechanism include first connecting rod,
Second connecting rod and pushing part；The pushing part is arranged in the proximal end of second delivery sheath and can be along the second delivery sheath
Axial direction sliding；The first connecting rod is close to the distal end of the proximal end of second delivery sheath and one end of first connecting rod turns
It is dynamic to be connected on the outer wall of second delivery sheath；The second connecting rod is between first connecting rod and pushing part and its both ends
It is rotatablely connected respectively with first connecting rod and pushing part；The quantity of the first connecting rod and second connecting rod number with the wall item respectively
Amount corresponds.
3. reducing delivery cannula according to claim 2, which is characterized in that the wall of the adjacent two sides of any wall item
Item is symmetrical arranged, and the center line of the first connecting rod and second connecting rod and the wall item is correspondingly arranged.
4. reducing delivery cannula according to claim 1, which is characterized in that the wall item includes the first wall item and second
Wall item, the first wall item and the second wall item are disposed adjacent, and are set at the docking of the first wall item and the second wall item
It is equipped with the lug boss staggeredly cooperated, the first wall item and the second wall item are symmetrical arranged.
5. reducing delivery cannula according to claim 1, which is characterized in that the flexible connector is arranged in the phase
At docking between adjacent wall item.
6. reducing delivery cannula according to claim 1, which is characterized in that the flexible connector sealing is described adjacent
Wall item between docking at.
7. reducing delivery cannula according to claim 6, which is characterized in that the flexible connector is elastic packing
Layer covers the inside or/and outside of first delivery sheath.
8. reducing delivery cannula according to claim 1, which is characterized in that the wall item or/and described second is made
The material of delivery sheath includes medical plastic.
9. reducing delivery cannula according to claim 1, which is characterized in that the material packet of the flexible connector is made
Include medical silica-gel, rubber.
10. a kind of medical instrument suit, which is characterized in that including any reducing delivery cannula of claim 1-9 with
And the medical instrument of second delivery sheath can be passed through.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698519.4A CN110313980B (en) | 2019-07-31 | 2019-07-31 | Variable-diameter conveying sleeve and medical instrument set |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910698519.4A CN110313980B (en) | 2019-07-31 | 2019-07-31 | Variable-diameter conveying sleeve and medical instrument set |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110313980A true CN110313980A (en) | 2019-10-11 |
| CN110313980B CN110313980B (en) | 2023-04-18 |
Family
ID=68125090
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910698519.4A Active CN110313980B (en) | 2019-07-31 | 2019-07-31 | Variable-diameter conveying sleeve and medical instrument set |
Country Status (1)
| Country | Link |
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| CN (1) | CN110313980B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113413200A (en) * | 2021-07-30 | 2021-09-21 | 上海微创医疗机器人（集团）股份有限公司 | Puncture outfit and endoscope robot |
| CN113729798A (en) * | 2021-08-31 | 2021-12-03 | 重庆西山科技股份有限公司 | Operation device, composite operation channel and multi-degree-of-freedom positioning structure |
| WO2023006049A1 (en) * | 2021-07-30 | 2023-02-02 | 上海微创医疗机器人（集团）股份有限公司 | Puncture outfit and endoscope robot |
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| CN113413200A (en) * | 2021-07-30 | 2021-09-21 | 上海微创医疗机器人（集团）股份有限公司 | Puncture outfit and endoscope robot |
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| CN113729798A (en) * | 2021-08-31 | 2021-12-03 | 重庆西山科技股份有限公司 | Operation device, composite operation channel and multi-degree-of-freedom positioning structure |
| CN113729798B (en) * | 2021-08-31 | 2023-01-10 | 重庆西山科技股份有限公司 | Operation device, composite operation channel and multi-degree-of-freedom positioning structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110313980B (en) | 2023-04-18 |
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