CN110384467A - A kind of drive mechanism, endoscope and drive method for endoscope - Google Patents
A kind of drive mechanism, endoscope and drive method for endoscope Download PDFInfo
- Publication number
- CN110384467A CN110384467A CN201910719526.8A CN201910719526A CN110384467A CN 110384467 A CN110384467 A CN 110384467A CN 201910719526 A CN201910719526 A CN 201910719526A CN 110384467 A CN110384467 A CN 110384467A
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- Prior art keywords
- endoscope
- ring body
- groups
- snake bone
- ring
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- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims abstract description 23
- 241000270295 Serpentes Species 0.000 claims abstract description 43
- 210000000988 bone and bone Anatomy 0.000 claims abstract description 43
- 230000008859 change Effects 0.000 claims abstract description 4
- 229910000831 Steel Inorganic materials 0.000 claims description 37
- 239000010959 steel Substances 0.000 claims description 37
- 230000005540 biological transmission Effects 0.000 claims description 2
- 238000005452 bending Methods 0.000 abstract description 13
- 230000008569 process Effects 0.000 abstract description 9
- 230000001105 regulatory effect Effects 0.000 abstract description 4
- 230000013011 mating Effects 0.000 abstract description 2
- 230000001276 controlling effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 244000144985 peep Species 0.000 description 2
- 230000003466 anti-cipated effect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000007306 turnover 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
- A61B1/005—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
- A61B1/005—Flexible 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
Abstract
The embodiment of the present invention belongs to endoscopic arts, it is related to a kind of drive mechanism for endoscope, including two groups of traction components, fixing piece and snake bone, the traction component is equipped with two groups, the front end of the traction component is connect in several connection positions with the snake bone fixation, traction component described in two groups is opposite with the connection position of snake bone, and cooperates and snake bone is driven to change curvature；The rear end of traction component is arranged in the fixing piece, and traction component described on predeterminated position locking two groups.The invention further relates to a kind of endoscopes and a kind of drive method.Technical solution provided by the invention can fix on multiple positions by the way that two groups of traction components of setting are opposite respectively with snake bone, so that preventing traction component from profiled section occur in bending process, precisely adjust the rotational angle of mating endoscope, and two groups of regulating parts are locked by fixing piece, it can prevent during usage, the rotational angle of endoscope changes.
Description
Technical field
The present invention relates to endoscopic arts, more particularly, to a kind of drive mechanism for endoscope, endoscope and one
Kind accurately controls the drive method of bending section for endoscope.
Background technique
Endoscope is combined with traditional optical, and the one kind in the fields such as modern electronics and mechanical structure software control is comprehensive
Clutch tool detects duct internal environment for going deep into duct.Medical instrument is particularly suitable for use as to detect human body, with
And need to detect the usage scenario of duct internal environment on other engineering industries.
It in view of duct is goed deep into the working end of endoscope, controls it there are certain difficulty, generallys use traction
Component is arranged in the control terminal on the outside of duct outer end or duct by endoscope and is controlled or complete by controlling traction component
The flexible control adjustment for carrying out position of complete utilization ducts of endoscope.
In the control program of a kind of pair of endoscope, it is connect by setting wirerope one end with endoscope working end, it is another
End is connect with the control terminal of endoscope, is tightened by wheel disc or is loosened reinforcing bar, is achieved the effect that control endoscope bending, be passed through
Program control endoscope bending, the bending part shape of endoscope is uncontrollable, is easy to cause because of unilateral steel bar stretching interior
There is profiled section in sight glass bending part in bending process, can not be it is anticipated that adjustment endoscope end direction, it is desirable to provide
A kind of endoscope that can accurately control bending shape.
Summary of the invention
The embodiment of the present invention, can be accurate the technical problem to be solved is that a kind of drive mechanism for endoscope is provided
Control bending shape.
In order to solve the above-mentioned technical problem, the embodiment of the present invention provides a kind of drive mechanism for endoscope, uses
Technical solution as described below:
A kind of drive mechanism for endoscope, including two groups of traction components, fixing piece and snake bone, the traction component are set
Have two groups, the front end of the traction component is connect in several connection positions with the snake bone fixation, traction component described in two groups with
The connection position of snake bone is opposite, and cooperates and snake bone is driven to change curvature；After traction component is arranged in the fixing piece
End, and traction component described on predeterminated position locking two groups.
Further, the snake bone includes several first ring bodies and rivet, and two groups of adjacent first ring bodies are successively led to
Cross the rivet rotation connection on first direction and second direction, the first direction and second direction intersection setting.
Further, the snake bone further includes the second ring body, and second ring body and the first ring body are fixed by rivet.
It further, further include tail ring, the rear end of snake bone is arranged in the tail ring, and traction component described in two groups is through described
Tail ring, and abutted respectively with the tail ring in the diametrical direction of tail ring.
Further, the traction component includes steel wire and rack gear, and the front end of rack gear is arranged in the steel wire, and if
It is connect in dry connection position with the snake bone fixation, the fixing piece tooth position locking fixed rack opposite in two groups of teeth item.
Further, the fixing piece is set as gear, the gear teeth of the gear respectively with the tooth on rack gear described in two groups
Position is meshed.
In order to solve the above-mentioned technical problem, the embodiment of the present invention also provides a kind of endoscope, using skill as described below
Art scheme:
A kind of endoscope further includes camera lens including the above-mentioned drive mechanism for endoscope, and the camera lens is arranged in institute
State the front end of snake bone.
In order to solve the above-mentioned technical problem, the embodiment of the present invention also provides a kind of drive method, using as described below
Technical solution:
A kind of drive method, for the above-mentioned drive mechanism for endoscope, comprising the following steps:
It determines and the endoscope that endoscope is adjusted is adjusted the angle.It is adjusted the angle according to endoscope and determines two group of first ring
Rotational angle between body or the first ring body and the second ring body.According between two group of first ring body or the first ring body and the second ring body
Between rotational angle determine the moving distance of steel wire.Mobile steel wire is to adjust positional relationship and the locking between two groups of steel wires.
Further, the moving distance that steel wire is determined according to the rotational angle between two group of first ring body, specifically includes: root
Determine that steel wire pulls each connection position to produce according to the rotational angle between two group of first ring body or between the first ring body and the second ring body
Raw mobile moving distance；According to the moving distance that steel wire pulls each connection position to generate, and the first ring and the second ring of rotation
Group number, determine the overall movement distance of steel wire.
Further, steel is determined according to the rotational angle between two group of first ring body or between the first ring body and the second ring body
Silk pulls each connection position to generate mobile moving distance, and specifically include: connection position is with opposite the distance between connection position
The radius R of first ring body 31 rotation, the rotational angle between every group of first ring body 31 are α, and the moving distance S of steel wire passes through following
Formula determines: S=R × tan α.
Compared with prior art, the embodiment of the present invention mainly have it is following the utility model has the advantages that
It is fixed on multiple positions by the way that two groups of traction components of setting are opposite respectively with snake bone, is pulling traction component
Under state, the rotation that snake bone can be smooth, and pass through two groups of traction components in opposite each connection position in rotation process
On traction snake bone and limit the bending shape of traction component so that preventing traction component from heteromorphism part occur in bending process
Point, the rotational angle of mating endoscope is precisely adjusted, and two groups of regulating parts are locked by fixing piece, can prevent from using
In process, the rotational angle of endoscope changes.
Detailed description of the invention
In order to illustrate more clearly of the solution of the present invention, one will be made to attached drawing needed in embodiment description below
A simple introduction, it should be apparent that, drawings in the following description are some embodiments of the invention, for ordinary skill
For personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of schematic diagram of the drive mechanism for endoscope of the present invention；
Fig. 2 is a kind of side view of the drive mechanism for endoscope of the present invention；
Fig. 3 is the side view of a kind of drive mechanism for endoscope and Fig. 2 viewing angles-both vertical of the invention；
Fig. 4 is the portion a enlarged drawing of Fig. 1；
Fig. 5 is the solution schematic diagram of S of the present invention；
Fig. 6 is a kind of drive method flow chart of the present invention；
Fig. 7 is the flow chart of step S300.
Appended drawing reference:
1 --- traction component, 2 --- fixing piece, 3 --- snake bone, 31 --- the first ring body, 311 --- recess,
312 --- protrusion, 32 --- the second ring body, 321 --- recess, 33 --- rivet, 4 --- tail rings.
Specific embodiment
Unless otherwise defined, all technical and scientific terms used herein and the skill for belonging to technical field
The normally understood meaning of art personnel is identical；It is specific that description is intended merely in the term used in the description of application herein
The purpose of embodiment, it is not intended that in the limitation present invention；In description and claims of this specification and above-mentioned Detailed description of the invention
Term " includes " and " having " and their any deformation, it is intended that cover and non-exclusive include.Explanation of the invention
Book and claims or term " first " in above-mentioned attached drawing, " second " etc. rather than are used for for distinguishing different objects
Particular order is described.
Referenced herein " embodiment " is it is meant that a particular feature, structure, or characteristic described can wrap in conjunction with the embodiments
Containing at least one embodiment of the present invention.Each position in the description occur the phrase might not each mean it is identical
Embodiment, nor the independent or alternative embodiment with other embodiments mutual exclusion.Those skilled in the art explicitly and
Implicitly understand, embodiment described herein can be combined with other embodiments.
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction with attached drawing, to of the invention real
The technical solution applied in example is clearly and completely described.
A kind of embodiment one of the drive mechanism for endoscope of the present invention:
A kind of drive mechanism for endoscope, including two groups of traction components 1, fixing piece 2 and snake bone 3.
Traction component 1 is equipped with two groups, and the front end of traction component 1 is fixedly connected in several connection positions with snake bone 3, and two groups are led
Draw that component 1 is opposite with the connection position of snake bone 3, two groups of traction pieces are separately positioned on the two sides of snake bone 3, and in the inside of regulating part
It is fixedly connected with regulating part, in the process that traction piece traction snake bone 3 generates deformation, two groups of traction pieces are distinguished in snake bone 3
Deflection angle and the deformation that snake bone 3 is limited on two opposite positions, the driving snake bone 3 that cooperates change curvature；It is fixed
The rear end of traction component 1 is arranged in part 2, and two groups of traction components 1 are locked on predeterminated position.
By pulling one group of traction piece, controls and generate relative displacement between two groups of traction pieces, mutual corresponding connection position exists
Mutual offset is generated under the drive of traction piece, snake bone 3 generates turnover on the whole, and in two groups of opposite traction pieces
While traction under, connection position offset distance direction in correspondence with each other is fixed, and the whole stability of rotation of snake bone 3 can prevent
Occurs profiled section in rotation process.
Further, snake bone 3 includes several first ring bodies 31, and the front end face of the first ring body 31 is equipped with protrusion 312, the first ring
The rear end face of body 31 is equipped with recess 311；The end face of protrusion 312 is set as cambered surface, and is adapted with the shape of recess 311；Protrusion
312 and recess 311 be vertically arranged in the diametrical direction of the first ring body 31, several first ring bodies 31 pass through protrusion 312 and recess
311 are sequentially connected.
Two group of first ring body 31 is rotatablely connected by protrusion 312 and recess 311, under the driving of traction piece, with two groups
Mutual rotation can be generated in the plane of traction piece level, or on the direction vertical with two groups of traction pieces, generate mutual
Swing.Continuous three group of first ring body 31 is sequentially connected by orthogonal two groups of protrusions 312 and recess 311, works as traction piece
In the state of driving adjustment component rotation, three group of first ring body 31 adjusts adjustment component by way of rotating and swinging respectively
Rotational angle, the program advantageously ensure that the bonding strength in adjustment component circumferential direction, reinforce adjustment component in rotation precision
Control.
Further, snake bone 3 further includes the second ring body and rivet 33, and rivet 33 is arranged in the front end of the second ring body, and second
The rear end face of ring body offers the recess 321 adaptable with protrusion 312, and recess 321 is arranged on the axis direction of rivet 33, the
Two ring bodies are arranged between two group of first ring body 31, and respectively by recess 321 and protrusion 312, rivet 33 and recess 311 with
The connection of first ring body 31.
Second ring body is connect by rivet 33 with the first ring body 31, does not generate rotation between each other, traction piece is in rivet 33
Upper to be fixedly connected with adjustment component, fitting adjustment component guarantees that traction component 1 is exchanged in the process of adjustment component rotation
The limitation of whole group part rotation direction and rotational angle.The program is conducive to the intensity of enhancing adjustment component, and enhances draw groups
Part 1 exchanges the limitation of whole group part angular turn, and adjustment component is effectively prevent profiled section occur in adjustment process.
It further, further include tail ring 4, the rear end of snake bone 3 is arranged in tail ring 4, and two groups of traction components 1 run through tail ring 4, and
It is abutted in the diametrical direction of tail ring 4 respectively at tail ring 4.Tail ring 4 is abutted with traction piece, is provided in the state that traction piece pulls
Fulcrum.The program is conducive to mitigate the pulling force being arranged on adjustment the first annulus of component rear end, and the structure of snake bone 3 is more stable.
Further, traction component 1 includes steel wire and rack gear, and the front end of rack gear is arranged in steel wire, and in several connections
It is fixedly connected on position with snake bone 3, the tooth position locking fixed rack opposite in two groups of teeth item of institute's fixing piece 2.By pulling rack gear adjustment
Relative position between two groups of traction pieces, and by locking two groups of teeth position mutually opposite on two groups of teeth item, it realizes internal
The accurate lock of sight glass rotational angle prevents the rotational angle of endoscope from changing, and occurs in endoscope rotational angle
In the state of variation, by opposite tooth position, the variable quantity of endoscope angle is determined, the program is conducive to determine peeps in locking
Mirror, and the capital of a country variation that can monitor endoscope is proposed,
Further, fixing piece 2 is set as gear, and the gear teeth of gear are meshed with the tooth position on two groups of teeth item respectively.Two
Rack gear is engaged with gear in an opposite direction, reaches quickly accurate by the relative position that rotate gear adjusts two groups of teeth item
Adjust the effect of traction piece.
In order to solve the above-mentioned technical problem, the embodiment of the present invention also provides a kind of endoscope, using following technical side
Case:
A kind of endoscope further includes camera lens including the above-mentioned drive mechanism for endoscope, and camera lens is arranged in snake bone 3
Front end.By adjusting the adjustment structure of endoscope, the ambition of camera lens is adjusted, to adapt to peep scene in different.
A kind of embodiment of drive method of the present invention
A kind of drive method of the present invention, method include:
Step S100: it determines and the endoscope that endoscope is adjusted is adjusted the angle.
Step S200: it is adjusted the angle and is determined between two group of first ring body or the first ring body and the second ring body according to endoscope
Rotational angle.
Bending section is made of the first ring body of multiple groups with the second ring body, the certain angle of every group of bending, and whole needs are curved
Angle, is made of the product of the angle and group number of the first ring body and the second ring body, determines required group number according to calculating.Pass through
Endoscope adjusts the angle the adjustment angle for determining and adjusting component entirety, angle the leading by traction piece between every group of first ring body 31
Draw while controlling, under the premise of the shape and protrusion 312 between every group of first ring body 31 are identical with 311 specification of recess, passes through
The adjustment angle of adjustment component entirety averagely can determine the rotational angle between every group of first ring body 31.
Step S300: steel is determined according to the rotational angle between two group of first ring body or between the first ring body and the second ring body
The moving distance of silk.
Step S400: mobile steel wire is to adjust positional relationship and the locking between two groups of steel wires.
The gear teeth of gear rotation are determined by the width and module of the gear teeth in the moving distance and gear of steel wire
The angle of several and gear rotation.
Further, with reference to Fig. 7, wherein step S300 includes:
Step S301: determine that steel wire pulls each connection position to generate shifting according to the rotational angle between two group of first ring body 31
Dynamic moving distance.
Step S302: the moving distance for pulling each connection position to generate according to steel wire, and the first ring and the second ring of rotation
Group number, determine the overall movement distance of steel wire.
The distance between connection position and opposite connection position are the radius R of the first ring body 31 rotation, every group of first ring body 31
Between rotational angle be α, steel wire relative to tie point moving distance S by following formula determination: S=R × tan α.It
Afterwards, by the total n of the first ring body and the second ring body, the entirety of steel wire is determined relative to the moving distance S of tie point with steel wire
Moving distance is L=S*n.Respective angles are rotated for driving endoscope transmission mechanism, the overall movement distance of steel wire is L.
Further, the indexing of the rack gear is corresponding with steel wire moving distance needed for the unit quantity for generating rotational angle.
The program is conducive to gear and rack gear controlling the stepping provided, is converted into the stepping of adjustment component rotation, it is real to be conducive to cooperation
Border demand, easily adjustment adjustment adjusts the rotational angle of component.
Obviously, embodiments described above is only a part of the embodiment of the present invention, instead of all the embodiments, attached
Presently preferred embodiments of the present invention is given in figure, but is not intended to limit the scope of the patents of the invention.The present invention can be with many differences
Form realize, on the contrary, purpose of providing these embodiments is keeps the understanding to the disclosure more thorough
Comprehensively.Although the present invention is described in detail referring to the foregoing embodiments, for coming for those skilled in the art,
Can still modify to technical solution documented by aforementioned each specific embodiment, or to part of technical characteristic into
Row equivalence replacement.All equivalent structures done using description of the invention and accompanying drawing content, are directly or indirectly used in other
Relevant technical field, similarly within the invention patent protection scope.
Claims (10)
1. a kind of drive mechanism for endoscope, it is characterised in that: described including two groups of traction components, fixing piece and snake bone
Traction component is equipped with two groups, and the front end of the traction component is connect in several connection positions with the snake bone fixation, described in two groups
Traction component is opposite with the connection position of snake bone, and cooperates and snake bone is driven to change curvature；The fixing piece setting is being led
Draw the rear end of component, and traction component described on predeterminated position locking two groups.
2. a kind of drive mechanism for endoscope according to claim 1, it is characterised in that: the snake bone includes several
First ring body and rivet, two groups of adjacent first ring bodies pass sequentially through the rotation of the rivet on first direction and second direction and connect
It connects, the first direction and second direction intersection setting.
3. a kind of drive mechanism for endoscope according to claim 2, it is characterised in that: the snake bone further includes
Two ring bodies and rivet, second ring body and the first ring body are fixed by rivet.
4. a kind of drive mechanism for endoscope according to claim 3, it is characterised in that: it further include tail ring, it is described
Tail ring is arranged in the rear end of snake bone, and traction component described in two groups runs through the tail ring, and in the diametrical direction of tail ring respectively with
The tail ring abuts.
5. a kind of drive mechanism for endoscope according to any one of claims 1 to 4, it is characterised in that: traction
Component includes steel wire and rack gear, and the front end of rack gear is arranged in the steel wire, and in several connection positions with the snake bone fixation
Connection, the fixing piece tooth position locking fixed rack opposite in two groups of teeth item.
6. a kind of drive mechanism for endoscope according to claim 5, it is characterised in that: the fixing piece is set as
Gear, the gear teeth of the gear are meshed with the tooth position on rack gear described in two groups respectively.
7. a kind of endoscope, it is characterised in that: the transmission including being used for endoscope described in any one of claims 1 to 6
Structure further includes camera lens, and the front end of the snake bone is arranged in the camera lens.
8. a kind of drive method, for being used for the drive mechanism of endoscope, feature described in any one of claim 1 to 6
It is: the following steps are included:
It determines and the endoscope that endoscope is adjusted is adjusted the angle；
The rotational angle determined between two group of first ring body or the first ring body and the second ring body is adjusted the angle according to endoscope；
The moving distance of steel wire is determined according to the rotational angle between two group of first ring body or between the first ring body and the second ring body；
Mobile steel wire is to adjust positional relationship and the locking between two groups of steel wires.
9. a kind of drive method according to claim 8, it is characterised in that: according to the angle of rotation between two group of first ring body
The moving distance for determining steel wire is spent, is specifically included: according between two group of first ring body or between the first ring body and the second ring body
Rotational angle determines that steel wire pulls each connection position to generate mobile moving distance；Each connection position is pulled to generate according to steel wire
Moving distance, and rotation the first ring and the second ring group number, determine the overall movement distance of steel wire.
10. a kind of drive method according to claim 9, it is characterised in that: according between two group of first ring body or first
Rotational angle between ring body and the second ring body determines that steel wire pulls each connection position to generate mobile moving distance, specific to wrap
Include: the distance between connection position and opposite connection position are the radius R of the first ring body 31 rotation, between every group of first ring body 31
Rotational angle is α, and the moving distance S of steel wire is determined by following formula: S=R × tan α.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910719526.8A CN110384467A (en) | 2019-08-06 | 2019-08-06 | A kind of drive mechanism, endoscope and drive method for endoscope |
| CN202010784327.8A CN112274089B (en) | 2019-08-06 | 2020-08-06 | Transmission structure for endoscope, transmission method and transmission system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910719526.8A CN110384467A (en) | 2019-08-06 | 2019-08-06 | A kind of drive mechanism, endoscope and drive method for endoscope |
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| Publication Number | Publication Date |
|---|---|
| CN110384467A true CN110384467A (en) | 2019-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910719526.8A Pending CN110384467A (en) | 2019-08-06 | 2019-08-06 | A kind of drive mechanism, endoscope and drive method for endoscope |
| CN202010784327.8A Active CN112274089B (en) | 2019-08-06 | 2020-08-06 | Transmission structure for endoscope, transmission method and transmission system |
Family Applications After (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010784327.8A Active CN112274089B (en) | 2019-08-06 | 2020-08-06 | Transmission structure for endoscope, transmission method and transmission system |
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| CN (2) | CN110384467A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021175091A1 (en) * | 2020-03-02 | 2021-09-10 | 南微医学科技股份有限公司 | Steering fixing head, catheter steering traction mechanism, steering device, and endoscope |
| CN115349810A (en) * | 2022-08-23 | 2022-11-18 | 湖南英术生命科技有限公司 | Connecting structure of endoscope first end head and snake bone and endoscope |
| CN116672585A (en) * | 2023-07-31 | 2023-09-01 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
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| CN114869201B (en) * | 2022-05-25 | 2023-04-18 | 湖南省华芯医疗器械有限公司 | Reuse section of endoscope handle, endoscope handle and endoscope |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021175091A1 (en) * | 2020-03-02 | 2021-09-10 | 南微医学科技股份有限公司 | Steering fixing head, catheter steering traction mechanism, steering device, and endoscope |
| CN115349810A (en) * | 2022-08-23 | 2022-11-18 | 湖南英术生命科技有限公司 | Connecting structure of endoscope first end head and snake bone and endoscope |
| CN115349810B (en) * | 2022-08-23 | 2023-05-23 | 湖南英术生命科技有限公司 | Connection structure and endoscope of endoscope tip and snake bone |
| CN116672585A (en) * | 2023-07-31 | 2023-09-01 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
| CN116672585B (en) * | 2023-07-31 | 2023-11-10 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112274089B (en) | 2023-12-05 |
| CN112274089A (en) | 2021-01-29 |
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