CN110840378A - Operating part for endoscope and endoscope - Google Patents
Operating part for endoscope and endoscope Download PDFInfo
- Publication number
- CN110840378A CN110840378A CN201911237531.1A CN201911237531A CN110840378A CN 110840378 A CN110840378 A CN 110840378A CN 201911237531 A CN201911237531 A CN 201911237531A CN 110840378 A CN110840378 A CN 110840378A
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- endoscope
- wheel
- direct current
- driving
- current motor
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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
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00066—Proximal part of endoscope body, 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
- A61B1/00064—Constructional details of the endoscope body
-
- 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
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biomedical Technology (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Biophysics (AREA)
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses an operating part for an endoscope and the endoscope, wherein the operating part comprises a head end driving structure for the endoscope, which is composed of a chain assembly, a chain wheel, a hand wheel and a traction steel wire; the head end driving structure further comprises a micro direct current motor, and the micro direct current motor is used for forming auxiliary power for driving the chain wheel. Preferably, the micro direct current motor is controlled by the control unit; the traction steel wire is connected with the chain assembly through a resistance strain type sensor, and the resistance strain type sensor is electrically connected with the control unit; the output shaft of the miniature direct current motor is fixedly connected with a driving wheel; a driven wheel is coaxially fixed on the chain wheel; the driving wheel and the driven wheel form a power transmission relationship. The endoscope includes the aforementioned operation section. The invention has the advantages that the operation part has simple structure, labor saving operation, uniform force in the rotation process and strong control comfortable sensation, and can avoid the ejection return phenomenon and improve the operation safety; the endoscope has the same advantageous effects as the aforementioned operation section.
Description
Technical Field
The present invention relates to a medical endoscope, and more particularly to an operating portion for an endoscope and an endoscope having the operating portion.
Background
The medical endoscope operation part is used for controlling the up-down and left-right bending movement of the head end, and a doctor holds the operation part to control the movement of the head end so as to complete the examination and operation of the related alimentary canal. Doctors all need to perform a large number of operations every day, the comfort of the operation part directly influences the use experience of the doctors, and meanwhile, the operation effect can be indirectly influenced. When a medical endoscope hand wheel in the prior art rotates, the required torque force can be gradually increased along with the increase of the bending angle of the head end, and fingers of a doctor operating for a long time are easy to fatigue; in addition, under the condition that the hand wheel is unlocked, when the hand wheel is released when the bending angle of the head end is large, the head end is easy to have the quick return phenomenon of ejection return, and the wall of the cavity of the patient is easy to be damaged under the condition. For this reason, improvements are required.
Disclosure of Invention
The first purpose of the invention is to provide the operating part for the endoscope with auxiliary power aiming at the defect that the handwheel of the operating part of the endoscope is driven only by manpower in the prior art, thereby greatly reducing the force required by a doctor to operate the handwheel of the operating part, ensuring the uniformity of the force in the rotating process and improving the comfortable feeling of the doctor to operate. In addition, the ejection phenomenon generated by releasing the hand wheel at a large angle is avoided, and the safety of the operation is improved. A second object of the present invention is to provide an endoscope having the above-described operation portion.
In order to achieve the first object, the invention adopts the following technical scheme.
An operating part for an endoscope comprises a head end driving structure for the endoscope, which is composed of a chain assembly, a chain wheel, a hand wheel and a traction steel wire; the head end driving structure further comprises a micro direct current motor, and the micro direct current motor is used for forming auxiliary power for driving the chain wheel.
According to the invention adopting the technical scheme, the head end driving structure is provided with the miniature direct current motor for providing auxiliary power for the chain wheel driving, so that the medical staff can drive power by means of the motor in the operation process. Therefore, the control force of a doctor for controlling the hand wheel of the operation part of the endoscope is greatly reduced, the uniformity of force in the rotation process is ensured, the controllability is improved, the labor intensity is reduced, the operation fatigue is avoided or eliminated, and the quality of related operations is ensured. And the quick return phenomenon of the ejection return generated by releasing the hand wheel at a large angle can be avoided by utilizing the forward and reverse rotation characteristics of the motor, so that the safety of the operation is improved.
Preferably, the micro direct current motor is controlled by a control unit; the traction steel wire is connected with the chain assembly through a resistance strain type sensor, and the resistance strain type sensor is electrically connected with the control unit. The change condition of the steel wire force is formed after the hand wheel is rotated by a doctor through the sensor, after the force reaches a certain degree, the direct current motor is started through the control unit to form power assistance, so that the hand wheel is rotated by a catcher, the labor intensity is reduced, and an automatic system which is started through the force size condition trigger motor is formed.
Further preferably, a signal processing unit is connected between the control unit and the resistance strain gauge sensor; the control unit comprises a comparator and a switch element, the positive phase end of the comparator is connected with the output end of the signal processing unit, and the input end of the signal processing unit is connected with the signal output end of the resistance strain type sensor; the negative phase end of the comparator is connected with a stress threshold signal; the output end of the comparator is connected to one end of the switching element, and the other end of the switching element is connected with the micro direct current motor; the output signal type of the signal processing unit is the same as the stress threshold signal type, the output signal type comprises a voltage signal and a current signal, and the strength of the output signal is in direct proportion to the strength of the resistance strain sensor. The signal processing unit comprises a single chip microcomputer or a microcontroller and a peripheral circuit, the signal processing unit can process a pulling or pressure signal transmitted by the pulling sensor, and when the strength of an output signal of the resistance strain sensor is in positive correlation with the pulling or pressure value, the magnitude of the output signal of the signal processing unit is in positive correlation with the pulling or pressure value; when the output signal of the resistance strain gauge sensor is in a negative correlation with the measured tension or force, the output signal of the signal processing unit is in a positive correlation with the tension or force, namely the output signal of the signal processing unit is in a positive correlation with the tension or pressure no matter whether the strength of the output signal of the resistance strain gauge sensor is in a positive correlation or a negative correlation with the magnitude of the strain force, and the signal processing unit is used for signal transmission, amplification or signal category conversion so as to be suitable for the tension sensor and the pressure-sensitive sensor; the characteristic that the direct current motor can realize speed regulation through the current or voltage is utilized, the structure of a control system is simplified, fault points are reduced, and the reliability is improved.
Preferably, the output shaft of the miniature direct current motor is fixedly connected with a driving wheel; a driven wheel is coaxially fixed on the chain wheel; the driving wheel and the driven wheel form a power transmission relationship. The power transmission is formed by the transmission structure of the driving wheel and the driven wheel, compared with a chain wheel directly driven by a motor, the driving torque can be improved by the speed reducing and torque increasing structure, and the motor can be arranged beside the chain wheel, so that the required thickness space is reduced, and the layout is convenient.
Further preferably, the driving wheel and the driven wheel are both gears, and the driving wheel and the driven wheel are meshed through gear teeth to form power transmission. The reliability of power transmission can be ensured by utilizing the gear transmission characteristics.
Further preferably, the driving wheel and the driven wheel are friction wheels, and the driving wheel and the driven wheel are connected through friction to form power transmission. The friction transmission characteristic can be utilized, the structure is simplified, and the manufacturing difficulty and the manufacturing cost are reduced.
Preferably, the head end driving structures are provided with two groups; the miniature direct current motor is provided with two corresponding miniature direct current motors, and the two miniature direct current motors are arranged on the same motor support. So as to form a compact structural layout and save space.
In order to achieve the second object, the invention adopts the following technical scheme.
An endoscope includes an operation portion that achieves the first object.
The endoscope of the present invention adopting the above-described configuration has the technical effects of reducing manipulation strength, alleviating fatigue, ensuring surgical quality, and the like, which are the same as those of the operation section, because the operation section for achieving the first object of the present invention is used.
The invention has the advantages that the operation part has simple structure, labor saving operation, uniform force in the rotation process and strong control comfortable sensation, and can avoid the ejection return phenomenon and improve the operation safety; the endoscope has the same advantageous effects as the aforementioned operation section.
Drawings
Fig. 1 is a schematic perspective view of the structure of an operation part of the present invention.
Fig. 2 is a partial structural schematic view of the operation portion of the present invention.
Fig. 3 is an enlarged view of the portion a of fig. 2 according to the present invention.
Fig. 4 is a schematic view of a transmission structure of auxiliary power in the operation part of the invention.
Fig. 5 is a circuit schematic diagram of embodiment 1 of the present invention.
Fig. 6 is a circuit schematic diagram of embodiment 2 of the present invention.
Detailed Description
The present invention is further described with reference to the accompanying drawings, but the invention is not limited thereby within the scope of the described embodiments.
Example 1, referring to fig. 1, 2, 3, 4 and 5, an operating part for an endoscope includes two sets of head end driving structure for an endoscope composed of a chain assembly, a sprocket, a hand wheel and a traction wire 2; the chain forming the chain component is arranged in a U shape and is meshed with the chain wheel, the chain wheel is coaxially and fixedly connected with the hand wheel, and two ends of the chain component are respectively connected with a traction steel wire 2; each group of head end driving structures also comprises a micro direct current motor, and the micro direct current motor is used for forming auxiliary power for driving a chain wheel; the two miniature direct current motors are arranged on the same motor bracket 9; so that the first group of head end driving structures comprise a first chain component 3, a first hand wheel, a first chain wheel 10, a first miniature direct current motor 5 and two traction steel wires 2; the second group of head end driving structures comprise a second chain component 4, a second hand wheel, a second chain wheel 11, a second micro direct current motor 6 and the other two traction steel wires 2, wherein the first hand wheel and the second hand wheel are coaxially arranged and are positioned on the same side of the operating part.
Wherein, the first micro direct current motor 5 and the second micro direct current motor 6 are respectively controlled by a control unit; one of them traction wire 2 of arbitrary head end drive structure pass through resistance strain sensor 1 with the chain component is connected, resistance strain sensor 1 with correspond the control unit electricity is connected, and resistance strain sensor 1 comprises the strain sensor. Wherein, a signal processing unit is connected between the control unit and the corresponding resistance strain type sensor 1; the control unit comprises a comparator and a switch element, the positive phase end of the comparator is connected with the output end of the signal processing unit, and the input end of the signal processing unit is connected with the signal output end of the resistance strain sensor 1; the negative phase end of the comparator is connected with a stress threshold signal; the output end of the comparator is connected to one end of the switching element, and the other end of the switching element is connected with the micro direct current motor; the signal type output by the output end of the signal processing unit is the same as the stress threshold signal type, and can be a current signal or a voltage signal; the switching element is composed of a triode, the base of the triode is connected with the output end of the comparator, the collector of the triode is connected with the output end of the signal processing unit, and the emitter of the triode is connected with the input end of the miniature direct current motor.
The signal processing unit comprises a single chip microcomputer or a microcontroller, the signal processing unit can process tension signals transmitted by the tension sensor, and when the strength of an output signal of the resistance strain sensor 1 is in positive correlation with the measured tension, the strength of the output signal of the signal processing unit is in positive correlation with the tension; when the output signal of the resistance strain gauge sensor 1 is in a negative correlation with the measured tension, the output signal of the signal processing unit is in a positive correlation with the tension, that is, no matter the strength of the output signal of the resistance strain gauge sensor 1 is in a positive correlation or a negative correlation with the tension, the output signal of the signal processing unit is in a positive correlation with the tension or the tension, and the signal processing unit is used for signal transmission, amplification or signal category conversion.
Wherein, the output shaft of the first micro direct current motor 5 is fixedly connected with a first driving wheel 7, and the output shaft of the second micro direct current motor 6 is fixedly connected with a second driving wheel 8; a first driven wheel 10a is coaxially fixed on the first chain wheel 10, and a second driven wheel 11a is coaxially fixed on the second chain wheel 11; the first driving wheel 7 and the first driven wheel 10a form a power transmission relationship; the second driving wheel 8 and the second driven wheel 11a form a power transmission relation; the first driving wheel 7 and the first driven wheel 10a, and the second driving wheel 8 and the second driven wheel 11a are friction wheels, and form power transmission by friction connection.
In the scheme, when the stress threshold signal is a current signal and the output signal adopted by the resistance strain type sensor 1 is the current signal, the signal processing unit is only used for transmitting or amplifying the current signal; when the resistance strain sensor 1 adopts the output signal as the voltage signal, the signal processing unit can convert the received voltage signal into the current signal for output, and the signal processing unit is provided with a singlechip or a microcontroller and also comprises a peripheral circuit for converting the voltage signal into the current signal.
In this scheme, when the stress threshold signal is a voltage signal, and the resistance strain sensor 1 uses an output signal as the voltage signal, the signal processing unit is only used for amplifying and transmitting the current signal. When the resistance strain sensor 1 adopts the output signal as the current signal, the signal processing unit can convert the received current signal into the voltage signal for output, and the signal processing unit is provided with a single chip microcomputer or a microcontroller and also comprises a peripheral circuit for converting the current signal into the voltage signal.
In this embodiment, action wheel and follow driving wheel also can all be gear structure, and the two forms power transmission through the tooth engagement of the teeth of a cogwheel for replace the scheme of friction pulley.
The rest of the structure of this embodiment is the same as embodiment 1, and is not described herein again.
The resistance strain sensor 1 in the foregoing embodiments 1 and 2 can also adopt a pressure-sensitive sensor instead of a tension-sensitive sensor, but it needs to design related auxiliary structures for installation so as to meet the requirements of the use environment, and achieve the purpose of pulling a steel wire by rotating a hand wheel and forming a pressure signal on the pressure-sensitive sensor.
The following description will discuss the operation of the operation section of the endoscope during bending or releasing of the head, taking as an example a configuration in which the resistance strain gauge sensor 1 is a strain gauge sensor and the switching element is constituted by a relay.
Referring to fig. 1 and fig. 6, when the head end is gradually bent to the maximum angle from the natural state, the pulling force on the pulling steel wire 2 is gradually increased, and the pulling force value is smaller than the pulling force set threshold in the comparator, the comparator outputs a low level, the relay coil is powered off, the normally open contact of the relay is opened, the pulling force signal output by the signal processing unit cannot be input to the input end of the micro direct current motor, and the motor does not work; when the pulling force value is larger than the pulling force setting threshold value in the comparator, the comparator outputs high level, the relay coil is electrified, the normally open contact of the relay is closed, the pulling force signal output by the signal processing unit is input into the miniature direct current motor, and therefore the motor rotates, and power assistance is formed on the chain wheel. Under the condition that the hand wheel is unlocked, and the head end loosens the hand wheel after bending to great or maximum angle, receives the resilience force effect of head end, and the hand wheel is along with the sprocket gyration, and the pulling force that receives on this in-process traction wire 2 can reduce gradually, still is greater than in the comparator pulling force and sets for the threshold value still, therefore the motor still output with preceding syntropy moment, nevertheless reduce gradually to opposite with hand wheel gyration direction, the motor plays the braking action to the motion of hand wheel this moment, can avoid producing the quick return phenomenon of catapulting. The torque of the motor and the torque applied by the human hand and the action of the torque should be equal to the torque generated by the pull-up force of the traction wire on the rotating shaft of the hand wheel, without considering the energy loss caused by friction force and the like. Therefore, when the pulling force on the traction steel wire 2 is smaller than the set threshold of the pulling force in the comparator, the motor does not work, when the pulling force on the traction steel wire 2 is larger than the set threshold of the pulling force in the comparator, the motor starts to work, and the auxiliary effect is gradually enhanced. Therefore, the torque applied to the hand wheel rotating shaft by the hand can be nearly unchanged, the uniformity of force in the rotating process is effectively ensured, and the comfort of doctor operation is improved.
Referring to fig. 5, when the switching element is a triode, the output terminal of the comparator is connected to the base of the triode, the collector of the triode is connected to the pull signal input output by the signal processing unit, and the emitter of the triode is connected to the micro dc motor. The scheme is realized by utilizing the switching function of the triode in the saturated state. When the pulling force of surveying is higher than the pulling force and sets for the threshold value, the comparator output high level, the triode reaches the saturation state, and the collecting electrode switches on with the projecting pole, and the pulling force signal of signal processing unit output inputs miniature direct current motor input to make the motor rotatory, and then form power assistance or braking to the sprocket promptly: when the head end is bent to a large or maximum angle, the hand wheel is released, and the motor plays a braking role. When the measured pulling force is smaller than the pulling force setting threshold value, the comparator outputs low level, the collector electrode and the emitter electrode of the triode are not conducted, and the motor stops working. Similarly, under the condition that the hand wheel is unlocked, the hand wheel is loosened after the head end is bent to a larger or maximum angle, the hand wheel is rebounded under the action of the head end resilience force, the hand wheel can rotate, the tension force borne by the traction steel wire 2 can be gradually reduced, but the tension force is still greater than the threshold value set by the tension force in the comparator, so that the motor still outputs the torque in the same direction as before, but the torque is gradually reduced, the direction is opposite to the rotation direction of the hand wheel, the motor plays a braking role in the motion of the hand wheel at the moment, the braking role is gradually weakened, the uniform speed return can be formed, when the tension force borne by the traction steel wire 2 is less than.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. An operating part for an endoscope comprises a head end driving structure for the endoscope, which is composed of a chain assembly, a chain wheel, a hand wheel and a traction steel wire (2); the head end driving structure is characterized by further comprising a micro direct current motor, and the micro direct current motor is used for forming auxiliary power for driving the chain wheel.
2. The operating portion for an endoscope according to claim 1, wherein the micro dc motor is controlled by a control unit; the traction steel wire (2) is connected with the chain assembly through a resistance strain type sensor (1), and the resistance strain type sensor (1) is electrically connected with the control unit.
3. The endoscope operating portion according to claim 2, wherein a signal processing unit is connected between the control unit and the resistance strain gauge sensor (1); the control unit comprises a comparator and a switch element, the positive phase end of the comparator is connected with the output end of the signal processing unit, and the input end of the signal processing unit is connected with the signal output end of the resistance strain type sensor (1); the negative phase end of the comparator is connected with a stress threshold signal; the output end of the comparator is connected to one end of the switching element, and the other end of the switching element is connected with the micro direct current motor.
4. The operating section for an endoscope according to any one of claims 1 to 3, wherein a drive wheel is fixedly connected to an output shaft of the micro DC motor; a driven wheel is coaxially fixed on the chain wheel; the driving wheel and the driven wheel form a power transmission relationship.
5. The operating portion for an endoscope according to claim 4, wherein said driving pulley and said driven pulley are each a gear, and they are engaged with each other through gear teeth to transmit power.
6. The endoscope operating section according to claim 4, wherein the driving pulley and the driven pulley are friction wheels, and are frictionally coupled to each other to transmit power.
7. The operating portion for an endoscope according to any one of claims 1 to 3, wherein two sets of the head end driving structure are provided; the miniature direct current motors are provided with two corresponding miniature direct current motors which are arranged on the same motor support (9).
8. An endoscope comprising the operating portion according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911237531.1A CN110840378A (en) | 2019-12-05 | 2019-12-05 | Operating part for endoscope and endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911237531.1A CN110840378A (en) | 2019-12-05 | 2019-12-05 | Operating part for endoscope and endoscope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110840378A true CN110840378A (en) | 2020-02-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911237531.1A Pending CN110840378A (en) | 2019-12-05 | 2019-12-05 | Operating part for endoscope and endoscope |
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| Country | Link |
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| CN (1) | CN110840378A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114748167A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible endoscope minimally invasive surgery instrument arm |
| WO2022151641A1 (en) * | 2021-01-12 | 2022-07-21 | 常州朗合医疗器械有限公司 | Endoscope handle and driving device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005028018A (en) * | 2003-07-11 | 2005-02-03 | Pentax Corp | Bending operation apparatus of endoscope |
| US20090076330A1 (en) * | 2007-09-19 | 2009-03-19 | Fujifilm Corporation | Endoscope |
| US20110009698A1 (en) * | 2009-07-13 | 2011-01-13 | Tsuyoshi Ashida | Endoscope apparatus, endoscope system and method for controlling endoscope apparatus |
| CN103458758A (en) * | 2011-09-26 | 2013-12-18 | 奥林巴斯医疗株式会社 | Endoscope |
-
2019
- 2019-12-05 CN CN201911237531.1A patent/CN110840378A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005028018A (en) * | 2003-07-11 | 2005-02-03 | Pentax Corp | Bending operation apparatus of endoscope |
| US20090076330A1 (en) * | 2007-09-19 | 2009-03-19 | Fujifilm Corporation | Endoscope |
| US20110009698A1 (en) * | 2009-07-13 | 2011-01-13 | Tsuyoshi Ashida | Endoscope apparatus, endoscope system and method for controlling endoscope apparatus |
| CN103458758A (en) * | 2011-09-26 | 2013-12-18 | 奥林巴斯医疗株式会社 | Endoscope |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022151641A1 (en) * | 2021-01-12 | 2022-07-21 | 常州朗合医疗器械有限公司 | Endoscope handle and driving device |
| CN114748167A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible endoscope minimally invasive surgery instrument arm |
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Application publication date: 20200228 |