CN112022060A - Snake bone structure and endoscope device - Google Patents
Snake bone structure and endoscope device Download PDFInfo
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- CN112022060A CN112022060A CN202010989527.7A CN202010989527A CN112022060A CN 112022060 A CN112022060 A CN 112022060A CN 202010989527 A CN202010989527 A CN 202010989527A CN 112022060 A CN112022060 A CN 112022060A
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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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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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
- A61B1/005—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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- 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
- A61B1/008—Articulations
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Abstract
The invention is suitable for the technical field of medical instruments, and provides a snake bone structure and an endoscope device, which comprise: a first unit body, a plurality of first serpentines arranged on the first unit body, a first connecting part arranged on the plurality of first serpentines, a plurality of second serpentines arranged on the first connecting part, a second connecting part arranged on the tail end of the plurality of second serpentines, a plurality of third serpentines arranged on the second connecting part, and a second unit body arranged on the plurality of third serpentines; the first unit body, the plurality of first snake bones, the first connecting part, the plurality of second snake bones, the second connecting part, the plurality of third snake bones and the second unit body are connected through a plurality of steel wires; the first snake bone, the second snake bone and the third snake bone are convenient to bend, so that the bending angle between each snake bone and the unit body can be conveniently adjusted, the first snake bone and the second snake bone can be pulled and placed through steel wire connection, the dynamic bending posture of the unit body is achieved, the adjustment is convenient, and the application range is wide.
Description
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a snake bone structure and an endoscope device.
Background
The endoscope is a commonly used detection instrument in modern medical diagnosis and treatment, can enter the stomach through a mouth or enter the body through other natural pore canals, and can also enter the body through a small incision made by an operation. The doctor can see the lesion which cannot be displayed by the X-ray by means of the endoscope, and is very useful for diagnosing the condition. In order to bend the tip of the endoscope, the tip of plastic needs to be connected with the metal snake bone, and the tip of the traditional endoscope is directly sleeved on the snake bone and then is adhered by using an adhesive. Although the length of the connecting part can be greatly shortened by the connecting process, the displacement can occur during sleeving, and the direction and the position of the tip part and the snake bone are difficult to determine, so that the endoscope is troublesome to bend during use, single in bending shape, poor in safety and small in application range.
Disclosure of Invention
The invention provides a snake bone structure and an endoscope device, and aims to solve the problems of small bending degree, single bending shape and small application range of the conventional snake bone.
The invention is realized in such a way that a snake bone structure comprises: a first unit body, a plurality of first serpentine bones provided on the first unit body, a first connection part provided on the plurality of first serpentine bones, a plurality of second serpentine bones provided on the first connection part, a second connection part provided on the distal ends of the plurality of second serpentine bones, a plurality of third serpentine bones provided on the second connection part, and a second unit body provided on the plurality of third serpentine bones;
the first unit body, the plurality of first snake bones, the first connecting part, the plurality of second snake bones, the second connecting part, the plurality of third snake bones and the second unit body are connected through a plurality of steel wires.
Furthermore, the bending angle between the first unit body and the first snake bones and the first connecting parts is greater than 90 °, the bending angle between the first connecting parts and the second snake bones and the second connecting parts is greater than 90 °, and the bending angle between the second connecting parts and the third snake bones and the second unit body is greater than 90 °.
Furthermore, a plurality of first through holes are formed in the first unit body, a plurality of second through holes are formed in the first snake bones, a plurality of third through holes are formed in the first connecting portion, a plurality of fourth through holes are formed in the second snake bones, a plurality of fifth through holes are formed in the second connecting portion, and a plurality of seventh through holes are formed in the third snake bones;
the plurality of steel wires includes: the first steel wire passes through a plurality of seventh through holes, a plurality of sixth through holes and a plurality of fifth through hole settings, the second steel wire passes through a plurality of seventh through holes, a plurality of sixth through holes, a plurality of fifth through holes, a plurality of fourth through holes and a plurality of third through hole settings, the third steel wire passes through a plurality of seventh through holes, a plurality of sixth through holes, a plurality of fifth through holes, a plurality of fourth through holes and a plurality of third through holes, a plurality of second through holes and a plurality of first through hole settings.
Still further, the plurality of fifth through holes are curvedly provided in the second connection portion.
Furthermore, a first inclined plane and a first salient point are oppositely arranged on the first unit body, a second inclined plane, a first concave point and a second salient point are oppositely arranged on the first snake bone, the first inclined plane and the second inclined plane are correspondingly arranged, the first salient point and the first concave point are arranged in a matched mode, and the two first snake bones are connected with each other in a matched mode through the first concave point and the second convex point.
Furthermore, a third convex point and a second concave point are oppositely arranged on two sides of the first connecting portion, a fourth convex point and a third concave point are oppositely arranged on two sides of the second snake bone, the third convex point is arranged in the first concave point in a matched mode, the fourth convex point is arranged in the second concave point in a matched mode, and the second snake bone is connected with the third concave point in a matched mode through the fourth convex point.
Furthermore, a fifth convex point and a fourth concave point are oppositely arranged on two sides of the second connecting portion, a sixth convex point and a fifth concave point are oppositely arranged on two sides of the third snake bone, the fifth convex point is arranged in the third concave point in a matched mode, the sixth convex point is arranged in the fourth concave point in a matched mode, and the two third snake bones are connected with the fifth concave point in a matched mode through the sixth convex point.
Furthermore, a seventh bump is oppositely arranged on the second unit body, and the seventh bump is arranged in the fifth pit.
Further, the second snake bone is identical in structure to the third snake bone.
The invention also provides an endoscope device, which comprises the snake bone structure and an endoscope detachably arranged on the snake bone structure.
Compared with the prior art, the invention has the following beneficial effects: through a plurality of steel wires in proper order with first cell cube, setting a plurality of first snake bones on the first cell cube, set up and be in first connecting portion on a plurality of first snake bones, setting are in a plurality of second snake bones on the first connecting portion, setting are in second connecting portion on the end of a plurality of second snake bones, setting are in a plurality of third snake bones on the second connecting portion and setting are in second cell cube on a plurality of third snake bones are connected for carry out bending between first snake bone, second snake bone, the third snake bone conveniently, thereby be convenient for adjust the bending angle between each snake bone and the cell cube, can do the action of drawing one and putting through the steel wire connection, in order to reach the crooked dynamic posture of cell cube, it is convenient to adjust, and application scope is wide.
Drawings
FIG. 1 is a schematic view of the overall structure of a snake bone structure provided by the present invention;
FIG. 2 is a schematic view of the direction of curvature of a snake bone structure according to the present invention;
FIG. 3 is a schematic view of the direction of curvature of a snake bone structure according to the present invention;
FIG. 4 is a schematic view of the direction of curvature of a snake bone structure according to the present invention;
FIG. 5 is a schematic view of a serpentine bone structure according to the present invention in a curved state;
FIG. 6 is a schematic view of a serpentine bone structure according to the present invention in a curved state;
FIG. 7 is a schematic view of the inner wire of a snake bone structure provided by the present invention;
FIG. 8 is a schematic view of the structure of the steel wire provided by the present invention;
FIG. 9 is a schematic view of the structure of the steel wire provided by the present invention;
FIG. 10 is a schematic view of a steel wire structure provided by the present invention;
FIG. 11 is a schematic structural view of a snake bone structure provided by the present invention;
FIG. 12 is a schematic structural view of a first snake bone provided by the present invention;
FIG. 13 is a schematic structural diagram of a first connecting portion provided in the present invention;
FIG. 14 is a schematic structural view of a second snake bone provided by the present invention;
FIG. 15 is a schematic structural view of a second connecting portion provided in the present invention;
FIG. 16 is a schematic structural view of a third snake bone provided by the present invention;
FIG. 17 is a schematic structural view of a second unit body provided in the present invention;
FIG. 18 is a view showing a U-shaped bent state of a snake bone structure according to the present invention;
FIG. 19 is a view showing a U-shaped bent state of a snake bone structure according to the present invention;
FIG. 20 is a view showing a zigzag bending state of a snake bone structure according to the present invention;
FIG. 21 is a view showing a zigzag bending state of a snake bone structure according to the present invention.
In the figure, 1, a first unit body, 2, a first snake bone, 3, a first connecting part, 4, a second snake bone, 5, a second connecting part, 6, a third snake bone, 7, a second unit body, 8, an endoscope, 9, a plurality of second through holes, 10, a plurality of third through holes, 11, a plurality of fourth through holes, 12, a plurality of fifth through holes, 13, a plurality of sixth through holes, 14, a plurality of seventh through holes, 15, a first steel wire, 16, a second steel wire, 17, a third steel wire, 18, a first inclined surface, 19, a first convex point, 20, a second inclined surface, 21, a second convex point, 22, a first concave point, 23, a second concave point, 24, a third convex point, 25, a third concave point, 26, a fourth concave point, 27, a fifth convex point, 28, a fourth concave point, 29, a sixth convex point, 30, a fifth concave point, 31, and a seventh convex point.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Example one
The present invention provides a snake bone structure, as shown in fig. 1-6, comprising: a first unit body 1, a plurality of first serpentine bones 2 provided on the first unit body 1, a first connection part 3 provided on the plurality of first serpentine bones 2, a plurality of second serpentine bones 4 provided on the first connection part 3, a second connection part 5 provided at the tip of the plurality of second serpentine bones 4, a plurality of third serpentine bones 6 provided on the second connection part 5, and a second unit body 7 provided on the plurality of third serpentine bones 6; the first unit body 1, the plurality of first snake bones 2, the first connecting part 3, the plurality of second snake bones 4, the second connecting part 5, the plurality of third snake bones 6, and the second unit body 7 are connected by a plurality of steel wires.
Specifically, a first unit body 1, a plurality of first snake bones 2 arranged on the first unit body 1, a first connecting part 3 arranged on the first snake bones 2, a plurality of second snake bones 4 arranged on the first connecting part 3, a second connecting part 5 arranged at the tail ends of the second snake bones 4, a plurality of third snake bones 6 arranged on the second connecting part 5 and a second unit body 7 arranged on the third snake bones 6 are connected in sequence through a plurality of steel wires, so that the first snake bones 2, the second snake bones 4 and the third snake bones 6 are convenient to bend, the bending angles between the snake bones and the unit bodies are convenient to adjust, and a pulling and releasing action can be performed through steel wire connection to achieve the bending dynamic posture of the unit bodies, so that the adjustment is convenient and the application range is wide.
Furthermore, the first snake bone 2, the second snake bone 4 and the third snake bone 6 can be effectively bent into a Z-shaped or U-shaped structure, so that the visual field of the endoscope can be conveniently achieved at multiple angles, the examination effect is better, and the safety and the convenience are realized.
Further, as shown in fig. 18-21, when the snake bone structure is bent to form a U-shaped structure, the lens at the front end can be swung left and right to allow the view to be observed in multiple angles. When the snake bone structure is bent in a Z shape, the lens at the most front end can swing left and right, so that the visual field can be observed at multiple angles, the observation effect is good, the inspection accuracy is high, and the use is safe.
Alternatively, the plurality of first snake bones 2 may be 3, 4, 5, etc., the plurality of second snake bones 4 may be 3, 4, 5, etc., and the plurality of third snake bones 6 may be 3, 4, 5, etc. The number of each snake bone can be assembled according to actual needs, and is not described one by one here.
In this embodiment, as shown in fig. 1 to 6, the bending angle between the first unit body 1 and the plurality of first serpentine bones 2 and the first connection portions 3 is greater than 90 °, the bending angle between the first connection portions 3 and the plurality of second serpentine bones 4 and the second connection portions 5 is greater than 90 °, and the bending angle between the second connection portions 5 and the plurality of third serpentine bones 6 and the second unit body 7 is greater than 90 °.
Specifically, the bending angle between the first unit body 1 and the plurality of first serpentine bones 2 and the first connection portion 3 is larger than 90 °, so that the first serpentine bones 2 can be bent by more than 90 ° in the front-back direction, and the bending effect is good. The bending angle between the first connecting part 3 and the plurality of second snake bones 4 and the second connecting part 5 is larger than 90 degrees, so that the plurality of second snake bones 4 can be bent by more than 90 degrees in the left-right direction, and the left-right bending effect of the plurality of second snake bones 4 is good, and the use is convenient. By making the bending angle between the second connection portion 5 and the third serpentine bones 6 and the second unit body 7 larger than 90 °, the third serpentine bones 6 can be bent by 90 ° or more in the left-right direction, and the left-right bending effect of the third serpentine bones 6 is improved. Therefore, the first snake bone 2, the second snake bone 4 and the third snake bone 6 can be bent by more than 90 degrees, the bending angles of the first unit body 1 can be conveniently adjusted by effectively controlling the bending angles of the first snake bone 2, the second snake bone 4 and the third snake bone 6 through the steel wire, and the whole bending angle of the snake bone structure is adjusted conveniently and is high in safety.
In this embodiment, as shown in fig. 7 and 12-17, a plurality of first through holes are provided in the first unit body 1, a plurality of second through holes 9 are provided in the plurality of first studs 2, a plurality of third through holes 10 are provided in the first connecting portion 3, a plurality of fourth through holes 11 are provided in the plurality of second studs 4, a plurality of fifth through holes 12 are provided in the second connecting portion 5, and a plurality of seventh through holes 14 are provided in the plurality of third studs 6; the plurality of steel wires includes: the first steel wire 15 passes through the seventh through holes 14, the sixth through holes 13, and the fifth through holes 12, the second steel wire 16 passes through the seventh through holes 14, the sixth through holes 13, the fourth through holes 11, and the third through holes 10, and the third steel wire 17 passes through the seventh through holes 14, the sixth through holes 13, the fifth through holes 12, the fourth through holes 11, and the third through holes 10, the second through holes 9, and the first through holes 10. The bending angles of the third snake bone 6, the second snake bone 4 and the first snake bone 2 are controlled by the first steel wire 15, the second steel wire 16 and the third steel wire 17 respectively, the adjusting effect is good, and the use is convenient.
The number of the first through holes is 2, the number of the second through holes 9 is 2, and the second through holes 9 are arranged corresponding to the first through holes.
The number of the third through holes 10 is 2, the number of the fourth through holes 11 is 6, the number of the fifth through holes 12 is 6, the number of the sixth through holes 13 is 6, and the number of the seventh through holes 14 is 6.
In the present embodiment, as shown in fig. 7 and 15, the fifth through holes 12 are curved and arranged in the second connecting portion 5. The bending of the second snake bone 4 and the third snake bone 6 can be adjusted by the second steel wire 16 through the 2 oppositely arranged fifth through holes 12 passing through the second steel wire 16.
Furthermore, the fifth through holes 12 can be obliquely arranged in the second connecting part 5, so that the bending effect is good.
In this embodiment, as shown in fig. 11 to 12, a first inclined surface 18 and a first protruding point 19 are relatively disposed on the first unit body 1, a second inclined surface 20, a first concave point 22 and a second protruding point 21 are relatively disposed on the first snake bone 2, the first inclined surface 18 and the second inclined surface 20 are correspondingly disposed, the first protruding point 19 and the first concave point 22 are disposed in a matching manner, and the two first snake bones 2 are connected to each other in a matching manner through the first concave point 22 and the second protruding point 21.
Specifically, the first inclined plane 18 and the second inclined plane 20 are correspondingly arranged, the first convex point 19 and the first concave point 22 are arranged in a matching manner, the two first serpentines 2 are connected with the second convex point 21 through the first concave point 22 in a matching manner, and the third steel wire 17 penetrates through the first convex point and the second concave point for connection. The first salient point 19 of the first unit body 1 and the first concave point 22 on the first snake bone 2 can be effectively utilized, the bending dynamic performance can be limited by the first inclined plane 18 and the second inclined plane 20 beside the concave-convex point, and the limiting effect is good.
In this embodiment, as shown in fig. 13 to 14, a third convex point 24 and a second concave point 23 are oppositely disposed on two sides of the first connecting portion 3, a fourth convex point 26 and a third concave point 25 are oppositely disposed on two sides of the second snake bone 4, the third convex point 24 is disposed in the first concave point 22 in a matching manner, the fourth convex point 26 is disposed in the second concave point 23 in a matching manner, and the two second snake bones 4 are connected to the third concave point 25 in a matching manner through the fourth convex point 26.
Specifically, the third convex point 24 is arranged in the first concave point 22 in a matching manner, and the fourth convex point 26 is arranged in the second concave point 23 in a matching manner, wherein the two second snake bones 4 are connected with the third concave point 25 in a matching manner through the fourth convex point 26. The dynamic bending energy is limited by the inclined plane beside the concave-convex point, the limiting effect is good, and the use is convenient.
In this embodiment, as shown in fig. 15 to 16, fifth convex points 27 and fourth concave points 28 are oppositely disposed on two sides of the second connecting portion 5, sixth convex points 29 and fifth concave points 30 are oppositely disposed on two sides of the third snake bone 6, the fifth convex points 27 are cooperatively disposed in the third concave points 25, the sixth convex points 29 are cooperatively disposed in the fourth concave points 28, and two third snake bones 6 are cooperatively connected with the fifth concave points 30 through the sixth convex points 29.
Specifically, the fifth convex point 27 is arranged in the third concave point 25 in a matching manner, the sixth convex point 29 is arranged in the fourth concave point 28 in a matching manner, and the two third snake bones 6 are connected with the fifth concave point 30 in a matching manner through the sixth convex point 29. The dynamic bending energy is limited by the inclined plane beside the concave-convex point, the limiting effect is good, and the use is convenient.
In this embodiment, as shown in fig. 17, a seventh bump 31 is oppositely disposed on the second unit body 7, and the seventh bump 31 is disposed in the fifth pit 30. The first salient point 19 on the second unit body 7 is arranged in the fifth concave point 30, so that the third snake bone 6 and the second unit body 7 are well limited, the bending angle between the second unit body and the third snake bone 6 can be conveniently adjusted, and the second unit body is widely applicable.
In this embodiment, as shown in fig. 14 to 16, the second snake bone 4 and the third snake bone 6 have the same structure. Because the second snake bone 4 is the same as the third snake bone 6 in structure, the second connecting part 5 arranged between the second snake bone 4 and the third snake bone 6 can achieve the effect of connection, and the bending angle is conveniently adjusted by connecting steel wires.
Example two
The invention also provides an endoscope device, as shown in fig. 1, comprising the snake bone structure of any one of the above items, and further comprising an endoscope 8 detachably arranged on the snake bone structure. The bending angle of the endoscope 8 is convenient to adjust, the endoscopy effect is good, the safety is high, and the use is convenient.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A snake bone structure, comprising: a first unit body, a plurality of first serpentine bones provided on the first unit body, a first connection part provided on the plurality of first serpentine bones, a plurality of second serpentine bones provided on the first connection part, a second connection part provided on the distal ends of the plurality of second serpentine bones, a plurality of third serpentine bones provided on the second connection part, and a second unit body provided on the plurality of third serpentine bones;
the first unit body, the plurality of first snake bones, the first connecting part, the plurality of second snake bones, the second connecting part, the plurality of third snake bones and the second unit body are connected through a plurality of steel wires.
2. A snake bone structure according to claim 1, wherein a bending angle between said first unit body and said plurality of first snake bones and said first connection portion is greater than 90 °, a bending angle between said first connection portion and said plurality of second snake bones and said second connection portion is greater than 90 °, and a bending angle between said second connection portion and said plurality of third snake bones and said second unit body is greater than 90 °.
3. A snake bone structure according to claim 1, wherein a plurality of first through holes are provided on the first unit body, a plurality of second through holes are provided on the first snake bone, a plurality of third through holes are provided on the first connection portion, a plurality of fourth through holes are provided on the second snake bone, a plurality of fifth through holes are provided on the second connection portion, and a plurality of seventh through holes are provided on the third snake bone;
the plurality of steel wires includes: the first steel wire passes through a plurality of seventh through holes, a plurality of sixth through holes and a plurality of fifth through hole settings, the second steel wire passes through a plurality of seventh through holes, a plurality of sixth through holes, a plurality of fifth through holes, a plurality of fourth through holes and a plurality of third through hole settings, the third steel wire passes through a plurality of seventh through holes, a plurality of sixth through holes, a plurality of fifth through holes, a plurality of fourth through holes and a plurality of third through holes, a plurality of second through holes and a plurality of first through hole settings.
4. A snake bone structure according to claim 3, wherein said fifth plurality of through-holes are arranged in a curve in said second connection portion.
5. A snake bone structure as claimed in claim 1, wherein said first unit body is relatively provided with a first inclined surface and a first convex point, said first snake bone is relatively provided with a second inclined surface, a first concave point and a second convex point, said first inclined surface and said second inclined surface are correspondingly provided, said first convex point and said first concave point are cooperatively provided, and wherein two of said first snake bones are cooperatively connected with each other through said first concave point and said second convex point.
6. A snake bone structure as claimed in claim 5, wherein said first connecting portion has opposite third convex points and second concave points on both sides thereof, said second snake bone has opposite fourth convex points and third concave points on both sides thereof, said third convex points are disposed in said first concave points in a matching manner, said fourth convex points are disposed in said second concave points in a matching manner, and wherein two of said second snake bones are connected with said third concave points in a matching manner through said fourth convex points.
7. A snake bone structure as claimed in claim 6, wherein said second connecting portion is oppositely provided with a fifth convex point and a fourth concave point on both sides, said third snake bone is oppositely provided with a sixth convex point and a fifth concave point on both sides, said fifth convex point is fittingly arranged in said third concave point, said sixth convex point is fittingly arranged in said fourth concave point, and wherein two of said third snake bones are fittingly connected with said fifth concave point through said sixth convex point.
8. A snake bone structure according to claim 7, wherein a seventh convex point is oppositely arranged on the second unit body, and the seventh convex point is arranged in the fifth concave point.
9. A snake bone structure according to claim 1, wherein said second snake bone is identical to said third snake bone structure.
10. An endoscopic apparatus comprising a snake bone structure according to any of claims 1-9, and further comprising an endoscope removably mounted on said snake bone structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989527.7A CN112022060A (en) | 2020-09-18 | 2020-09-18 | Snake bone structure and endoscope device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010989527.7A CN112022060A (en) | 2020-09-18 | 2020-09-18 | Snake bone structure and endoscope device |
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| Publication Number | Publication Date |
|---|---|
| CN112022060A true CN112022060A (en) | 2020-12-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010989527.7A Pending CN112022060A (en) | 2020-09-18 | 2020-09-18 | Snake bone structure and endoscope device |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112890739A (en) * | 2021-02-26 | 2021-06-04 | 天津大学 | Medical endoscope insertion unit |
| CN113545728A (en) * | 2021-07-20 | 2021-10-26 | 苏州朗开医疗技术有限公司 | Sheath pipe capable of being bent for multiple times |
| WO2022161266A1 (en) * | 2021-01-26 | 2022-08-04 | The University Of Hong Kong | A steerable arm for use in endoscopic surgical procedures |
| WO2023130872A1 (en) * | 2022-01-06 | 2023-07-13 | 极限人工智能(北京)有限公司 | Universal bending section assembly, surgical instrument, and split-type surgical device |
-
2020
- 2020-09-18 CN CN202010989527.7A patent/CN112022060A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022161266A1 (en) * | 2021-01-26 | 2022-08-04 | The University Of Hong Kong | A steerable arm for use in endoscopic surgical procedures |
| GB2616180A (en) * | 2021-01-26 | 2023-08-30 | Versitech Ltd | A steerable arm for use in endoscopic surgical procedures |
| CN112890739A (en) * | 2021-02-26 | 2021-06-04 | 天津大学 | Medical endoscope insertion unit |
| CN113545728A (en) * | 2021-07-20 | 2021-10-26 | 苏州朗开医疗技术有限公司 | Sheath pipe capable of being bent for multiple times |
| WO2023130872A1 (en) * | 2022-01-06 | 2023-07-13 | 极限人工智能(北京)有限公司 | Universal bending section assembly, surgical instrument, and split-type surgical device |
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