CN111150453B - Minimally invasive surgery clamp - Google Patents
Minimally invasive surgery clamp Download PDFInfo
- Publication number
- CN111150453B CN111150453B CN202010117370.9A CN202010117370A CN111150453B CN 111150453 B CN111150453 B CN 111150453B CN 202010117370 A CN202010117370 A CN 202010117370A CN 111150453 B CN111150453 B CN 111150453B
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- Prior art keywords
- piston
- rotating wheel
- driven
- rod
- clamp block
- 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.)
- Expired - Fee Related
Links
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 5
- 230000000694 effects Effects 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 210000001519 tissue Anatomy 0.000 description 9
- 239000002904 solvent Substances 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 3
- 230000001960 triggered effect Effects 0.000 description 2
- LFQSCWFLJHTTHZ-UHFFFAOYSA-N Ethanol Chemical compound CCO LFQSCWFLJHTTHZ-UHFFFAOYSA-N 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 239000006260 foam Substances 0.000 description 1
- 239000007788 liquid Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 206010033675 panniculitis Diseases 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 210000004872 soft tissue Anatomy 0.000 description 1
- 210000004304 subcutaneous tissue Anatomy 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000002792 vascular Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in 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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Ophthalmology & Optometry (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)
- Surgical Instruments (AREA)
Abstract
The invention discloses a minimally invasive surgery clamp operation part, which belongs to the field of medical treatment, wherein the operation part is connected with the connection part, the connection part is connected with a handle, the operation part comprises a first clamp block, a second clamp block and a hinge joint (320), the first clamp block and the second clamp block are hinged at the hinge joint, the hinge joint is connected with the tail end of the connection part, the operation part also comprises a first rotating wheel (330 a) and a second rotating wheel (330 b), the first rotating wheel and the second rotating wheel rotate to respectively drive the first clamp block and the second clamp block to rotate relative to the hinge joint so as to enable the first clamp block and the second clamp block to be closed and opened, the rotating shafts of the first rotating wheel and the second rotating wheel are in the same direction, the first rotating wheel and the second rotating wheel are driven to rotate by the operation part, and the axial rotation directions of the two rotating wheels are opposite.
Description
Technical Field
The invention relates to the field of surgery, in particular to a minimally invasive surgical clamp operating part and a clamp.
Background
The tissue forceps are also called mouse tooth forceps (Allis). The pressing to the tissue is lighter than the vascular forceps, so generally used for clamping soft tissue, difficult slippage, if the clamping draws the pathological change position that is excised, in order to facilitate the operation to go on, the clamp gauze pad and subcutaneous tissue of incision edge, avoid the tissue in the incision to be polluted.
The existing forceps heads are generally two hinged scissors heads, tissue forceps are directly held by hands, in the field of minimally invasive surgery, the forceps are provided with a long tube, one end of the long tube extending into tissue is provided with two mutually hinged forceps heads, the tail ends of the two forceps heads are respectively provided with two channels, a linkage rod is arranged in the long tube, the linkage rod is clamped into the two channels simultaneously, the forceps heads are opened and closed through pulling operation, and the connection relation of the existing forceps is conventional. However, the connection relationship can cause the clamp and the linkage rod to be a connection point, the linkage rod needs larger force to open and close the clamp, and especially when the clamp clamps some objects, larger equipment is needed for linkage application of larger force, and the length of the long pipe is limited.
Disclosure of Invention
Therefore, aiming at the problems in the prior art, the invention discloses a minimally invasive surgical clamp operating part, which is connected with a connecting part, wherein the connecting part is connected with a handle, the operating part comprises a first clamp block, a second clamp block and a hinged joint, the first clamp block and the second clamp block are hinged at the hinged joint, the hinged joint is connected with the tail end of the connecting part, the operating part further comprises a first rotating wheel and a second rotating wheel, the first rotating wheel and the second rotating wheel rotate to respectively drive the first clamp block and the second clamp block to rotate relative to the hinged joint so as to enable the first clamp block and the second clamp block to be closed and opened, the rotating shafts of the first rotating wheel and the second rotating wheel are in the same direction, the first rotating wheel and the second rotating wheel are driven to rotate by the operating part, and the axial rotation directions of the two rotating wheels are opposite.
As an improvement, the first rotating wheel is connected with the first clamp block through a first driving lever, the second rotating wheel is connected with the second clamp block through a second driving rod, two ends of the first driving rod are respectively hinged with the first clamp block and the first rotating wheel, and two ends of the second driving rod are respectively hinged with the second clamp block and the second rotating wheel.
As a modification, the peripheral portions of the first and second pulleys are provided with racks.
As an improvement, a movable plate is arranged at the tail end of the connecting part, a rack is arranged on the movable plate, two sides of the movable plate are respectively meshed with the first rotating wheel and the second rotating wheel, and the movable plate moves back and forth to drive the first gear and the second gear to rotate reversely at the same time.
The invention also discloses a minimally invasive surgical clamp, which comprises the operating part, a handle and a connecting part, wherein the connecting part is connected with the handle and the operating part, the connecting part comprises a connecting rod for connecting the operating part and the handle, the connecting rod comprises a driven rod, a driving rod and a buffer tube, the driven rod is connected with the operating part, the driving rod is connected with the handle, the buffer tube is connected with the driving rod and the driven rod, the driving rod comprises a driving rod body and a driving piston positioned at the tail end of the driving rod body, the driven rod comprises a driven rod body and a driven piston positioned at the tail end of the driven rod body, the driving rod body is in ball joint with the driving piston, the driven rod body is in ball joint with the driven piston, the driving piston and the driven piston are respectively clamped into the buffer tube in two directions of the buffer tube, a sealed cavity is enclosed by the driving piston, the driven piston and the tube wall, the piston connecting rod limits the back-to-back movement of the driving piston and the driven piston, and the air pressure in the sealed cavity is greater than the atmospheric pressure and can be fixed.
As an improvement, the driven piston in be equipped with first movable cavity, the initiative piston in be equipped with second movable cavity, the both ends of piston connecting rod are equipped with first slider and second slider respectively, first slider and second slider block are respectively gone into in order to restrict the motion of taking the initiative piston and driven piston's back to the first movable cavity of activity and second movable cavity.
Drawings
FIG. 1 is a schematic structural view of the present invention
FIG. 2 is a schematic view of a connecting rod;
FIG. 3 is a schematic view of a connecting rod;
FIG. 4 is a schematic view of a movable chamber;
FIG. 5 is a schematic view of an operating portion;
FIG. 6 is a schematic view of an operating portion;
FIG. 7 is a schematic view of a pressure adjustment device;
FIG. 8 is a schematic view of a sensing assembly;
FIG. 9 is a schematic view of another embodiment of another pressure regulator;
FIG. 10 is a cross-sectional view of a buffer tube;
the labels in the figure are: 100-handle, 110-button, 120-handle body, 200-connecting part, 210-connecting pipe, 211-gas filling channel, 220-connecting rod, 221-driven rod, 2211-driven piston, 2212-first movable cavity, 222-driving rod, 2221-driving piston, 2222-second movable cavity, 223-buffer pipe, 2231-baffle, 224-piston connecting rod, 2241-first slide block, 2242-second slide block, 2243-connecting rod, 300-operating part, 310 a-first clamp block, 310 b-second clamp block, 320-hinge joint, 330 a-first rotating wheel, 330 b-second rotating wheel, 340 a-first driving rod, 340 b-second driving rod, 350-movable plate, 400-pressure adjusting device, 410-air supply chamber, 411-connecting air pipe, 412-air inlet pipe, 420-adjusting chamber, 430-connecting pipe, 440-solvent, 450-sensing component, 451-floating component, 452-magnet, 453-positioning component, 454-spring, 455-sensing component, 460-controller, 470-air pump, 480-pressure sensor, 490-controller.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the present embodiment discloses a minimally invasive surgical forceps operating portion, the operating portion is connected to the connecting portion, the connecting portion is connected to a handle, as shown in fig. 5 and 6, the operating portion includes a first forceps block 310a, a second forceps block 310b, a hinge joint 320, the first forceps block and the second forceps block are hinged at the hinge joint, the hinge joint is connected to a distal end of the connecting portion 200, the operating portion further includes a first rotating wheel 330a and a second rotating wheel 330b, the first rotating wheel 330a and the second rotating wheel 330b rotate to respectively drive the first forceps block and the second forceps block to rotate relative to the hinge joint so as to close and open the first forceps block and the second forceps block, the rotating shafts of the first rotating wheel and the second rotating wheel are in the same direction, the first rotating wheel and the second rotating wheel are driven to rotate by the operating portion, and the axial rotation directions of the two rotating wheels are opposite. The first rotating wheel is connected with the first clamp block through the first driving rod 340a, the second rotating wheel is connected with the second clamp block through the second driving rod 340b, two ends of the first driving rod are respectively hinged with the first clamp block and the first rotating wheel, and two ends of the second driving rod are respectively hinged with the second clamp block and the second rotating wheel. The peripheral parts of the first rotating wheel and the second rotating wheel are provided with racks. The end of the connecting part is provided with a movable plate 350, the movable plate is provided with a rack, two sides of the movable plate are respectively meshed with the first rotating wheel and the second rotating wheel, and the movable plate moves back and forth to drive the first gear and the second gear to rotate reversely at the same time.
According to the invention, through the rotation mode of the two rotating wheels, the position of one end of the driving rod on the rotating wheels is changed to drive the two clamp blocks to rotate relative to the hinge shaft, so that the two clamp blocks are further opened and closed, the end parts of the two driving rods are not overlapped and are respectively positioned at different points and are driven by the rotating wheels.
The movable plate of the invention is positioned at the tail end of the operation part and is driven by the operation part to move forwards, and in some cases, when the forceps head clamps tissues, the excessive movement of the operation part can cause the loss of the forceps blocks to the tissues, so in some improved embodiments, the connection part comprises a connection pipe 210 and a connection rod 220 positioned in the connection pipe, the connection pipe is respectively and fixedly connected with the handle and the operation part, the connection rod can be driven by the handle to move so as to drive the operation part to open and close the tissue forceps, the operation part extends into a human body to be operated, and the operation part can be surgical instruments such as application forceps, electric coagulation forceps, surgical forceps and the like.
As shown in fig. 2 to 4, the connecting rod includes a driven rod 221, a driving rod 222, and a buffer tube 223, the driven rod is connected to the operation portion 300, the driving rod is connected to the handle 100, the buffer tube is connected to the driving rod and the driven rod, a driving piston 2221 is disposed at the end of the driving rod, a driven piston 2211 is disposed at the end of the driven rod, the driving piston and the driven piston are respectively clamped into the buffer tube in two directions of the buffer tube, a sealed cavity is defined by the driving piston, the driven piston and the wall of the buffer tube, the driving piston and the driven piston are tightly attached to the buffer tube to form a sealed cavity, the driving piston and the driven piston are preferably made of rubber or the like, and the contact surface between the piston and the buffer tube is sealed by rubber or the. The initiative body of rod and initiative piston ball joint, the driven body of rod and driven piston ball joint, it can make the mutual free rotation of the body of rod and piston, and the position of piston and buffer tube can be fixed, and the swing of the position of the body of rod can not influence the piston, and then makes the piston can make the buffer tube motion relatively of piston when making piston and buffer tube have good leakproofness. If the rod and the piston are rigidly connected, this will cause the rod to shift in position so that the piston follows the offset, the piston and the buffer tube will not be able to properly engage, and the piston will not be able to move relative to the buffer tube. The connecting rod further includes a piston connecting rod 224 connecting the driving piston and the driven piston, the piston connecting rod limiting the back-to-back movement of the driving piston and the driven piston, the pressure in the sealed cavity is greater than atmospheric pressure and can be fixed. Be equipped with first activity cavity 2212 in the slave piston, initiative piston 2221 in be equipped with second activity cavity 2222, the both ends of piston connecting rod are equipped with first slider 2241 and second slider 2242 respectively, be connecting rod 2243 between two sliders, first slider and second slider are blocked respectively in first activity cavity and the second activity cavity in order to restrict the motion of moving back of initiative piston and slave piston.
As shown in fig. 10, in the present invention, the seal chamber is pressurized to a pressure greater than atmospheric pressure, and the two pistons do not move back due to the pulling action of the connecting rod, so the driving rod and the driven rod of the present invention can be used as the connecting rod 220 and can provide a certain rigidity action by being pressed by the seal chamber. Further, when the connecting rod 220 is subjected to a large pressing force, as shown in fig. 4, the driven piston moves relative to the driving piston, so as to provide a buffering force and prevent the operating portion of the clip from excessively damaging human tissues.
In one embodiment, both pistons may be movable relative to the buffer tube so that both pistons may be simultaneously squeezed. In another embodiment, the driving rod is rigidly connected (or integrally formed) with respect to the buffer tube, and the driven rod moves with respect to the driving rod when the connecting rod is subjected to a large squeezing force, thereby providing a certain buffering effect.
In the present invention, the buffer tube is provided with a gas filling port to enable gas to be filled into the sealed chamber, so that the sealed chamber can be filled with gas when necessary, and the gas filling device is conventional. However, when the sealed cavity of the present invention is squeezed by two pistons, the air pressure in the sealed cavity will increase rapidly, which results in that the squeezing force of the sealed cavity to the two pistons is increased, and the buffering effect of the sealed cavity to the clamp will be affected. Therefore, in a more preferable scheme, the pressure of the seal cavity is constant when the piston is pressed. Specifically, the sealed cavity is communicated with a pressure adjusting device 400. The end of the buffer pipe is provided with a baffle (2231) to fix the driving piston and the driven piston and prevent the driving piston and the driven piston from being separated from the buffer pipe.
In one embodiment, as shown in fig. 7, the pressure adjusting apparatus includes: the air supply cavity 410 is communicated with the sealed cavity through a connecting air pipe 411, the air supply cavity 410 is also connected with an air inlet pipe 412 for air inlet and outlet, and an air pump is arranged on the air inlet pipe; the pressure in the adjustment chamber 420 is set, which is sealed, and specifically, a gas filling device and a pressure display device may be provided. The two ends of the connecting pipe 430 are respectively communicated with the adjusting cavity and the air supply cavity, a solvent 440 is arranged in the connecting pipe to block the adjusting cavity and the air supply cavity, a sensing assembly 450 is arranged in the connecting pipe, the pressure in the air supply cavity changes, the sensing assembly 450 can be triggered when the liquid level of the solvent in the connecting pipe rises, the sensing assembly is connected with a controller 460, the controller is connected with an air pump 470 located on the air inlet pipe 412, the sensing assembly is triggered to control the air pump through the controller to deflate or convey the air to the air supply cavity so as to adjust the pressure of the air supply cavity, and therefore the pressure in the sealed cavity.
In the present invention, the pressure adjusting device may be disposed in the handle, which is communicated with the sealed cavity through the connecting air tube, and the handle may rotate freely when moving, resulting in the solvent flowing, so in a more preferred embodiment, as shown in fig. 8, the sensing assembly 450 includes a floating member 451, a magnet 452, a positioning member 453 and a spring 454, the floating member floats on the surface of the solvent, the floating member is connected with the magnet 452, the connecting air tube is provided with the positioning member 453, and the spring 454 is disposed between the positioning member and the magnet to fix the magnet, wherein the floating member not only enables the magnet to float, but also seals the solvent, the floating member is made of foam plastic, and the solvent may be selected from water, alcohol lamp, or solution with high viscosity.
In another embodiment, the pressure regulator includes a pressure sensor 480 located in the air supply chamber, the pressure sensor is connected to a controller 490, the controller is connected to the air pump 470, and the controller controls the air pump according to the pressure detected by the pressure sensor, so as to maintain the pressure in the air supply chamber stable.
Claims (4)
1. A minimally invasive surgery clamp is characterized by comprising an operation part, a handle and a connecting part, wherein the connecting part is connected with the handle and the operation part and comprises a connecting rod for connecting the operation part and the handle, and a movable plate (350) is arranged at the tail end of the connecting part;
the operating part comprises a first clamp block (310 a), a second clamp block (310 b) and a hinge joint (320), the first clamp block and the second clamp block are hinged at the hinge joint, the hinge joint is connected with the tail end of the connecting part (200), the operating part further comprises a first rotating wheel (330 a) and a second rotating wheel (330 b), the first rotating wheel and the second rotating wheel respectively drive the first clamp block and the second clamp block to rotate relative to the hinge joint so as to enable the first clamp block and the second clamp block to be closed and opened, the rotating shafts of the first rotating wheel and the second rotating wheel are in the same direction, the first rotating wheel and the second rotating wheel are driven to rotate by the movable plate, and the axial rotation directions of the two rotating wheels are opposite;
the connecting rod comprises a driven rod (221), a driving rod (222) and a buffer tube (223), the driven rod is connected with the operation part, the driving rod is connected with the handle, the buffer tube is connected with the driving rod and the driven rod, the driving rod comprises a driving rod body and a driving piston (2221) positioned at the tail end of the driving rod body, the driven rod comprises a driven rod body and a driven piston (2211) positioned at the tail end of the driven rod body, the driving rod body is in ball joint with the driving piston, the driven rod body is in ball joint with the driven piston, the driving piston and the driven piston are respectively clamped into the buffer tube in two directions of the buffer tube, the driving piston, the driven piston and the tube wall of the buffer tube form a sealed cavity in an enclosing manner, the connecting rod further comprises a piston connecting rod (224) for connecting the driving piston and the driven piston, the piston connecting rod limits the driving piston and the driven piston to move back to back, and the air pressure in the sealed cavity is greater than the atmospheric pressure and can be fixed;
driven piston in be equipped with first activity cavity (2212), initiative piston (2221) in be equipped with second activity cavity (2222), the both ends of piston connecting rod are equipped with first slider (2241) and second slider (2242) respectively, first slider and second slider are blocked respectively in first activity cavity and the second activity cavity with the motion dorsad of restriction initiative piston and driven piston.
2. The minimally invasive surgical clamp according to claim 1, wherein the first rotating wheel is connected with the first clamp block through a first driving lever (340 a), the second rotating wheel is connected with the second clamp block through a second driving rod (340 b), two ends of the first driving rod are respectively hinged with the first clamp block and the first rotating wheel, and two ends of the second driving rod are respectively hinged with the second clamp block and the second rotating wheel.
3. The minimally invasive surgical clamp according to claim 2, wherein the first and second wheels are provided with racks at peripheral portions thereof.
4. The forceps of claim 3, wherein the movable plate is provided with a rack, two sides of the movable plate are respectively engaged with the first and second rotating wheels, and the movable plate moves back and forth to drive the first and second gears to rotate reversely at the same time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010117370.9A CN111150453B (en) | 2020-02-25 | 2020-02-25 | Minimally invasive surgery clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010117370.9A CN111150453B (en) | 2020-02-25 | 2020-02-25 | Minimally invasive surgery clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111150453A CN111150453A (en) | 2020-05-15 |
| CN111150453B true CN111150453B (en) | 2020-10-13 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010117370.9A Expired - Fee Related CN111150453B (en) | 2020-02-25 | 2020-02-25 | Minimally invasive surgery clamp |
Country Status (1)
| Country | Link |
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| CN (1) | CN111150453B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113827315B (en) * | 2021-09-23 | 2022-11-01 | 中南大学湘雅医院 | Laparoscopic forceps assembly with an operable mechanism |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5275615A (en) * | 1992-09-11 | 1994-01-04 | Anthony Rose | Medical instrument having gripping jaws |
| DE102006003548B4 (en) * | 2006-01-24 | 2007-11-15 | Olympus Winter & Ibe Gmbh | Pliers or scissors instrument with gearbox connection |
| CN103610488B (en) * | 2013-10-24 | 2015-10-28 | 上海交通大学 | Laparoscope pincers binding clip |
| CN204600543U (en) * | 2015-04-20 | 2015-09-02 | 江苏安特尔医疗科技有限公司 | New disposable biopsy forceps of endoscope |
| CN204971460U (en) * | 2015-07-28 | 2016-01-20 | 戎世捧 | Special nipper of peritoneoscope carcinoma of rectum operation |
| CN206252522U (en) * | 2016-08-24 | 2017-06-16 | 中国人民解放军第三军医大学第三附属医院 | The microscopic needle holder used under laparoscope |
| CN106419972B (en) * | 2016-09-29 | 2020-01-03 | 青岛大学附属医院 | Bendable minimally invasive instrument capable of adjusting clamping force |
| JP6577936B2 (en) * | 2016-12-27 | 2019-09-18 | 川崎重工業株式会社 | Hydraulic forceps system |
-
2020
- 2020-02-25 CN CN202010117370.9A patent/CN111150453B/en not_active Expired - Fee Related
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| CN111150453A (en) | 2020-05-15 |
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| CB03 | Change of inventor or designer information | ||
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Inventor after: Shi Jian Inventor after: Li Xiaohua Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
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Effective date of registration: 20200907 Address after: No.661, Huanghe 2nd Road, Bincheng, Binzhou City, Shandong Province Applicant after: Shi Jian Applicant after: Li Xiaohua Address before: 610000 unit 1, building 7, Tianfu New Valley, No. 399, west section of Fucheng Avenue, hi tech Zone, Chengdu, Sichuan Province Applicant before: Yang Rui |
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Granted publication date: 20201013 |