CN112237411A - Endoscope centre gripping quick detach mechanism - Google Patents
Endoscope centre gripping quick detach mechanism Download PDFInfo
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- CN112237411A CN112237411A CN202010452451.4A CN202010452451A CN112237411A CN 112237411 A CN112237411 A CN 112237411A CN 202010452451 A CN202010452451 A CN 202010452451A CN 112237411 A CN112237411 A CN 112237411A
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- clamping
- buckle
- endoscope
- upper cover
- locking
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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
- A61B1/00147—Holding or positioning arrangements
Abstract
The invention provides an endoscope clamping quick-release mechanism, which belongs to the technical field of medical instruments and comprises a clamping base; the clamping upper cover is rotatably connected with the clamping base, a first buckle is arranged on the clamping upper cover, and a clamping opening for fixing the endoscope is formed between the clamping upper cover and the clamping base; the locking buckle is rotatably connected with the clamping base, and a second buckle matched with the first buckle is arranged on the locking buckle; the linkage structure is respectively connected with the clamping upper cover and the locking buckle, so that when the locking buckle rotates, the clamping upper cover can be driven to rotate, and the clamping opening is opened. The endoscope clamping quick-release mechanism provided by the invention enables the clamping upper cover to be in linkage with the locking buckle by utilizing the linkage structure, when the clamping opening needs to be opened, the clamping upper cover can be clamped to rotate only by pressing the locking buckle, so that the clamping opening is opened, the structure is simple, the operation is convenient, the endoscope can be quickly disassembled and installed, and the endoscope can be stably clamped.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to an endoscope clamping quick-release mechanism.
Background
In the medical field, such as ear-nose-throat department, when performing minimally invasive surgery on the inside of a relevant part of a human body, not only surgical instruments need to enter the human body for relevant treatment, but also an endoscope needs to enter the human body simultaneously to be matched with the surgical instruments to complete corresponding surgery.
The existing device for installing the endoscope is complex in structure, and long time is wasted in installation and disassembly, so that the optimal time of the operation is delayed.
Therefore, there is a need for a quick endoscope clamping and detaching mechanism that allows for quick detachment and installation of an endoscope.
Disclosure of Invention
The invention provides an endoscope clamping quick-release mechanism which aims to solve the problems of complex structure and inconvenient disassembly and assembly of the existing installation device.
The embodiment of the invention is realized by the following steps:
in view of the above, an embodiment of the present invention provides an endoscope clamping quick release mechanism, including:
clamping the base;
the endoscope clamping device comprises a clamping upper cover, a clamping base and a clamping base, wherein one end of the clamping upper cover is rotatably connected with the clamping base, the other end of the clamping upper cover is provided with a first buckle, and a clamping opening for fixing the endoscope is formed between the clamping upper cover and the clamping base;
the locking buckle is rotatably connected with the clamping base, a second buckle matched with the first buckle is arranged on the locking buckle, and the locking buckle is rotated to separate or buckle the second buckle from or with the first buckle; and
the linkage structure is respectively connected with the clamping upper cover and the locking buckle, so that when the locking buckle rotates towards the direction in which the second buckle is separated from the first buckle, the clamping upper cover rotates relative to the clamping base towards the direction in which the clamping opening is opened.
In one implementation of this embodiment: the second buckle is arranged towards the direction of the clamping opening, and the first buckle is arranged towards the direction far away from the clamping opening, so that when the locking buckle rotates along the first direction, the clamping upper cover rotates relative to the clamping base along the second direction opposite to the first direction.
In one implementation of this embodiment: the linkage structure includes:
the connecting rod can move relative to the clamping base along the height direction of the clamping base, and one end of the connecting rod is hinged with the clamping upper cover; and
the connecting piece, the one end of connecting piece with the connecting rod is kept away from the one end of centre gripping upper cover is connected, the other end of connecting piece with the locking buckle is connected, works as the locking buckle is followed when the first direction rotates, the connecting piece pulling the connecting rod orientation the bottom of centre gripping base removes, so that the centre gripping upper cover is followed the second direction rotates.
In one implementation of this embodiment: the clamping base is provided with a limiting part, the connecting piece is abutted or mounted on the limiting part, so that when the locking buckle rotates relative to the clamping base, two ends of the connecting piece respectively face towards the bottom and the top of the clamping base and move relative to the clamping base.
In one implementation of this embodiment: the connector includes:
a first connecting section, a first end of which is connected with the connecting rod; and
the first end of the second connecting section is connected with the locking buckle; the second end of the second connecting section is connected with the second end of the first connecting section, the joint of the second connecting section and the first connecting section is located below the locking buckle, and the joint of the first connecting section and the second connecting section can move relative to the limiting part to enable the lengths of the first connecting section and the second connecting section to be increased or reduced.
In one implementation of this embodiment: the connecting piece is a spring in a stretching state, so that the locking fastener has a tendency to rotate along the second direction relative to the clamping base.
In one implementation of this embodiment: the locking buckle includes:
the locking part is rotatably connected with the clamping base, and the second buckle is positioned at the top of the locking part; and
one end of the pulling part is connected with the bottom of the locking part, the other end of the pulling part is connected with the linkage structure, and the pulling part faces the interior of the clamping base.
In one implementation of this embodiment: the first buckle is provided with first inclined plane towards one side of second buckle, the second buckle is provided with the second inclined plane towards one side of first buckle, first inclined plane can for the second inclined plane slides.
In one implementation of this embodiment: the first buckle and the second buckle are both L-shaped.
In one implementation of this embodiment: the endoscope clamping quick-release mechanism further comprises a quick-release seat, and the quick-release seat is arranged below the clamping base.
Compared with the prior art, the invention has the following beneficial effects:
the endoscope clamping quick-release mechanism provided by the invention utilizes the linkage structure to ensure that the clamping upper cover can be linked with the locking buckle, when the clamping opening needs to be opened, only the locking buckle needs to be pressed, when the locking buckle rotates, one end of the locking buckle drives the second buckle to be separated from the first buckle, the other end of the locking buckle can pull the linkage structure, the clamping upper cover rotates relative to the clamping base through the transmission of the linkage structure, thereby the clamping opening is opened, the completely opened clamping opening can facilitate the installation and the disassembly of the endoscope, after the endoscope is installed or disassembled, the upper cover is clamped by reverse rotation, the endoscope can be fixed after the first buckle and the second buckle are clamped, the endoscope clamping quick-release mechanism is simple in structure, convenient to operate, capable of quickly disassembling and assembling the endoscope and capable of stably clamping the endoscope.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.
FIG. 1 is a schematic view of a first view of an endoscope clamping quick release mechanism according to an embodiment of the invention;
FIG. 2 is a schematic view of a second perspective of the endoscope clamping quick release mechanism of the embodiment of the present invention;
FIG. 3 is a side cross-sectional view of an endoscope clamping quick release mechanism of an embodiment of the present invention;
FIG. 4 is a front cross-sectional view of an embodiment of the present invention;
FIG. 5 is a side view of the endoscope clamp quick release mechanism with the clamp base removed in accordance with an embodiment of the present invention;
FIG. 6 is a schematic view of a clamping cover according to an embodiment of the invention;
FIG. 7 is a schematic view of a locking buckle of an embodiment of the present invention;
FIG. 8 is a schematic diagram of a linkage arrangement of an embodiment of the present invention;
fig. 9 is a schematic view of a connector according to an embodiment of the present invention.
In the figure: 10-a clamping base;
20-clamping the upper cover; 201-a first buckle; 2011-first bevel;
30-locking the buckle; 301-a pull; 302-a locking portion; 303-a second snap; 3031-a second bevel;
40-a clamping opening;
50-linkage structure; 501-connecting piece; 5011-first connecting section; 5012-a second connection section; 502-a connecting rod;
60-a quick-release seat; .
In the drawings, like parts are provided with like reference numerals. The figures are not drawn to scale.
Detailed Description
The invention will be further explained with reference to the drawings.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described above with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the above detailed description of the embodiments of the invention presented in the drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1 to 5, some embodiments of the present disclosure provide an endoscope clamping quick release mechanism, including a clamping base 10, a clamping upper cover 20, a locking buckle 30 and a linkage structure 50, wherein one end of the clamping upper cover 20 is rotatably connected to the clamping base 10, the other end of the clamping upper cover 20 is provided with a first buckle 201, and a clamping opening 40 for fixing an endoscope is formed between the clamping upper cover 20 and the clamping base 10; the locking buckle 30 is rotatably connected with the clamping base 10, a second buckle 303 used for being matched with the first buckle 201 is arranged on the locking buckle 30, and the locking buckle 30 is rotated to enable the second buckle 303 to be separated from or buckled with the first buckle 201; the interlocking structure 50 is connected to the grip upper cover 20 and the locking buckle 30, respectively, so that the grip upper cover 20 rotates relative to the grip base 10 toward a direction of opening the grip opening 40 when the locking buckle 30 rotates toward a direction of separating the second buckle 303 from the first buckle 201.
The endoscope clamping quick-release mechanism provided by the embodiment utilizes the linkage structure 50 to enable the clamping upper cover 20 to be linked with the locking buckle 30, when the clamping opening 40 needs to be opened, only the locking buckle 30 needs to be pressed, when the locking buckle 30 rotates, one end of the locking buckle 30 drives the second buckle 303 to be separated from the first buckle 201, the other end of the locking buckle 30 can pull the linkage structure 50, the clamping upper cover 20 also rotates relative to the clamping base 10 through the transmission of the linkage structure 50, so that the clamping opening 40 is opened, the completely opened clamping opening 40 can enable the endoscope to be more convenient to install and disassemble, after the endoscope is installed or disassembled, the clamping upper cover 20 is reversely rotated, the endoscope can be fixed in a well after the first buckle 201 is clamped with the second buckle 303, the endoscope clamping quick-release mechanism is simple in structure and convenient to operate, and can rapidly disassemble and install the endoscope, and can form stable clamping to the endoscope.
In some embodiments of the present embodiment, the second catch 303 is disposed toward the direction of the clamping opening 40, and the first catch 201 is disposed away from the clamping opening 40, such that the first catch 201 is located between the clamping opening 40 and the second catch 303, so that when the locking catch 30 rotates in the first direction, the clamping cover 20 rotates in a second direction opposite to the first direction relative to the clamping base 10. Of course, in other embodiments of this embodiment, the first buckle 201 may be disposed toward the clamping opening 40, and the second buckle 303 may be disposed toward a direction away from the clamping opening 40, so that the second buckle 303 is located between the clamping opening 40 and the first buckle 201, and at this time, when the locking buckle 30 rotates in the second direction, the clamping upper cover 20 also rotates in the second direction, so that the clamping opening 40 is opened, thereby facilitating the installation or detachment of the endoscope.
Wherein the first direction is clockwise with reference to fig. 5 and the second direction is counterclockwise with reference to fig. 2.
Referring to fig. 8, in some embodiments of the present embodiment, the linkage structure 50 includes a connecting rod 502 and a connecting member 501, the connecting rod 502 is capable of moving relative to the clamping base 10 along the height direction of the clamping base 10, and one end of the connecting rod 502 is hinged to the clamping cover 20, the rotation axis of the clamping cover 20 rotating relative to the clamping base 10 is located between the connecting rod 502 and the first buckle 201, so that when the connecting rod 502 moves towards the bottom of the clamping base 10, the clamping cover 20 can drive the first buckle 201 to move towards the direction away from the clamping base 10, so as to open the clamping opening 40; one end of the connecting member 501 is connected to one end of the connecting rod 502 far away from the clamping upper cover 20, the other end of the connecting member 501 is connected to the locking buckle 30, and when the locking buckle 30 rotates along the first direction, the connecting member 501 pulls the connecting rod 502 to move towards the bottom of the clamping base 10, so that the clamping upper cover 20 rotates along the second direction to open the clamping opening 40. In the present embodiment, in order to make the clamping of the upper cover 20 and the locking buckle 30 more stable, the number of the linkage structures 50 may be two or more, and the two or more linkage structures 50 are spaced apart from each other in the width direction of the clamping of the upper cover 20.
Referring to fig. 9, the connecting member 501 includes a first connecting section 5011 and a second connecting section 5012, one end of the first connecting section 5011 is connected to the connecting rod 502, the other end of the first connecting section 5011 is connected to the second connecting section 5012, the other end of the second connecting section 5012 is connected to the locking clip 30, optionally, a limiting portion (not shown) may be further disposed on the clamping base 10, the limiting portion is located at the connection position of the first connecting section 5011 and the second connecting section 5012, referring to fig. 2, in this embodiment, when the locking clip 30 is pressed to rotate along a first direction, the locking clip 30 will drive the connection position of the second connecting section 5012 and the locking clip 30 to move towards the top of the clamping base 10, the second connecting section 5012 will drive the first connecting section 5011 through the limiting portion, so that the connection position of the first connecting section 5011 and the connecting rod 502 moves towards the bottom of the clamping base 10, the first connecting section 5011 will pull the connecting rod 502 to move towards the bottom of the clamping base 10, so as to drive the clamping upper cover 20 to rotate along the second direction.
In this embodiment, the connecting member 501 may be a spring, a lever or a pull rope in a pull rope state.
When the connecting member 501 is a spring in a compressed state, when the locking clip 30 rotates in a first direction, the second connecting section 5012 moves towards the top of the clamping base 10, and the first connecting section 5011 moves towards the bottom of the clamping base 10 with the connecting rod 502, at this time, the length of the second connecting section 5012 becomes larger, and the length of the first connecting section 5011 becomes smaller; correspondingly, after the endoscope is mounted or dismounted, the end, provided with the first buckle 201, of the clamping upper cover 20 is pressed, so that the first buckle 201 moves towards the second buckle 303, at the moment, the clamping upper cover 20 drives the connecting rod 502 and the first connecting section 5011 to move towards the top of the clamping base 10, and after the first buckle 201 and the second buckle 303 are buckled, the first buckle 201 and the second buckle 303 can be clamped tightly under the action of the pulling force of the connecting piece 501, so that the endoscope is clamped more firmly;
when the connecting piece 501 is a lever, the first connecting section 5011 and the second connecting section 5012 can rotate along the limiting part, when the locking buckle 30 rotates along the first direction, the whole connecting piece 501 rotates along the second direction, at this time, one end of the connecting piece 501 close to the locking buckle 30 moves towards the top of the clamping base 10, one end of the connecting piece 501 close to the connecting rod 502 moves towards the bottom of the clamping base 10, and the connecting rod 502 is driven to move towards the bottom of the clamping base 10, so that the clamping upper cover 20 rotates along the second direction to open the clamping opening 40;
when the connecting member 501 is a pull rope, the position-limiting portion may be a fixed pulley, and the fixed pulley is located lower than the connecting rod 502 and the locking buckle 30.
Referring to fig. 7, in some embodiments of the present embodiment, the locking clip 30 includes a locking portion 302 and a pulling portion 301, the second clip 303 is located on top of the locking portion 302, one end of the pulling portion 301 is connected to the locking portion 302, the other end of the pulling portion 301 is connected to the connecting member 501, the connecting portion between the locking portion 302 and the pulling portion 301 can be hinged and connected to the clamping base 10, and the pulling portion 301 is located at a middle position of the locking portion 302.
When the locking buckle 30 rotates in the first direction to drive the clamping upper cover 20 to rotate in the second direction, the included angle between the pulling part 301 and the locking part 302 is smaller than 135 degrees, so that when the locking buckle 30 rotates in the first direction, the first connecting section 5011 moves towards the top of the clamping base 10, at this time, when the locking buckle 30 is operated, the bottom of the locking part 302 should be pressed, and at this time, the second buckle 303 moves towards the outer side of the clamping base 10 to be separated from the first buckle 201;
when the locking clip 30 rotates in the second direction to rotate the clamping clip in the second direction, the included angle between the pulling portion 301 and the locking portion 302 is greater than 135 degrees, so that when the locking clip 30 rotates in the second direction, the first connection segment 5011 moves towards the right side of the clamping base 10, at this time, when the locking clip 30 is operated, the top of the locking portion 302 should be pressed, and at this time, the second clip 303 moves towards the inner side of the clamping base 10 to be separated from the first clip 201.
Referring to fig. 6 and 7, in some embodiments of the present embodiment, the first buckle 201 and the second buckle 303 are both L-shaped, a groove is formed between the first buckle 201 and the clamping upper cover 20, a groove is also formed between the second buckle 303 and the locking buckle 30, when the first buckle 201 is buckled with the second buckle 303, the first buckle 201 is clamped into the groove formed between the second buckle 303 and the locking buckle 30, and the second buckle 303 is clamped into the groove formed between the first buckle 201 and the clamping upper cover 20.
Because the locking buckle 30 is pulled by the connecting member 501, the second buckle 303 on the locking buckle 30 tends to approach the first buckle 201, a first inclined surface 2011 may be disposed on a side of the first buckle 201 facing the second buckle 303, the first inclined surface 2011 is inclined inward along a protruding direction of the first buckle 201, after the endoscope is mounted or dismounted, and when the clamping opening 40 needs to be closed, the clamping upper cover 20 is pressed to move the first buckle 201 toward the second buckle 303, and after the first inclined surface 2011 contacts the second buckle 303, the second buckle 303 is pushed open, so that the first buckle 201 continuously descends to be buckled with the second buckle 303.
In addition, a second inclined surface 3031 can be arranged on one side of the second buckle 303 facing the first buckle 201, the second inclined surface 3031 is inclined inwards along the protruding direction of the second buckle 303, and the second inclined surface 3031 is matched with the first inclined surface 2011, so that the clamping of the upper cover 20 is more labor-saving and convenient when the upper cover is closed.
Referring to fig. 1 to 3, in some embodiments of the present embodiment, the endoscope clamping quick release mechanism further includes a quick release base 60, the clamping base 10 is perpendicular to the quick release base 60, two clamping bases 10 are disposed and located on two opposite sides of the quick release base 60, respectively, the clamping upper cover 20 is disposed opposite to the quick release base 60, a notch is disposed at one end of the clamping base 10 facing the clamping upper cover 20, and the notch cooperates with the notch on the clamping upper cover 20 to form a clamping opening 40, in the present embodiment, a rotation axis of the clamping upper cover 20, a rotation axis of the locking buckle 30, and a limiting portion are all mounted on the clamping base 10.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the embodiments can be combined in any way as long as there is no structural conflict. It is intended that the invention not be limited to the particular embodiments disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. An endoscope centre gripping quick detach mechanism which characterized in that includes:
clamping the base;
the endoscope clamping device comprises a clamping upper cover, a clamping base and a clamping base, wherein one end of the clamping upper cover is rotatably connected with the clamping base, the other end of the clamping upper cover is provided with a first buckle, and a clamping opening for fixing the endoscope is formed between the clamping upper cover and the clamping base;
the locking buckle is rotatably connected with the clamping base, a second buckle matched with the first buckle is arranged on the locking buckle, and the locking buckle is rotated to separate or buckle the second buckle from or with the first buckle; and
the linkage structure is respectively connected with the clamping upper cover and the locking buckle, so that when the locking buckle rotates towards the direction in which the second buckle is separated from the first buckle, the clamping upper cover rotates relative to the clamping base towards the direction in which the clamping opening is opened.
2. The endoscope clamp quick release mechanism of claim 1 wherein the second catch is disposed toward the clamp port and the first catch is disposed away from the clamp port such that when the lock catch is rotated in a first direction, the clamp cap is rotated relative to the clamp base in a second direction opposite the first direction.
3. The endoscope clamp quick release mechanism of claim 2, wherein the linkage structure comprises:
the connecting rod can move relative to the clamping base along the height direction of the clamping base, and one end of the connecting rod is hinged with the clamping upper cover; and
the connecting piece, the one end of connecting piece with the connecting rod is kept away from the one end of centre gripping upper cover is connected, the other end of connecting piece with the locking buckle is connected, works as the locking buckle is followed when the first direction rotates, the connecting piece pulling the connecting rod orientation the bottom of centre gripping base removes, so that the centre gripping upper cover is followed the second direction rotates.
4. The endoscope clamping quick release mechanism according to claim 3, wherein a limiting portion is disposed on the clamping base, and the connecting member abuts against or is mounted on the limiting portion, so that when the locking buckle rotates relative to the clamping base, two ends of the connecting member move relative to the clamping base towards the bottom and the top of the clamping base respectively.
5. The endoscope clamp quick release mechanism of claim 4, wherein the connector comprises:
a first connecting section, a first end of which is connected with the connecting rod; and
the first end of the second connecting section is connected with the locking buckle; the second end of the second connecting section is connected with the second end of the first connecting section, the joint of the second connecting section and the first connecting section is located below the locking buckle, and the joint of the first connecting section and the second connecting section can move relative to the limiting part to enable the lengths of the first connecting section and the second connecting section to be increased or reduced.
6. The endoscope clamp quick release mechanism of claim 5 wherein the connector is a spring in tension to provide the locking fastener with a tendency to rotate in the second direction relative to the clamp base.
7. The endoscope clamp quick release mechanism of claim 2, wherein the locking catch comprises:
the locking part is rotatably connected with the clamping base, and the second buckle is positioned at the top of the locking part; and
one end of the pulling part is connected with the bottom of the locking part, the other end of the pulling part is connected with the linkage structure, and the pulling part faces the interior of the clamping base.
8. The endoscope grip quick release mechanism of claim 7 wherein the first clip is provided with a first ramp on a side facing the second clip, the second clip is provided with a second ramp on a side facing the first clip, the first ramp being slidable relative to the second ramp.
9. The endoscope grip quick release mechanism of claim 8 wherein the first and second catches are each "L" shaped.
10. The endoscope clamp quick release mechanism of any one of claims 1 to 9, further comprising a quick release seat disposed below the clamp base.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010452451.4A CN112237411B (en) | 2020-05-26 | 2020-05-26 | Endoscope centre gripping quick detach mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010452451.4A CN112237411B (en) | 2020-05-26 | 2020-05-26 | Endoscope centre gripping quick detach mechanism |
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| CN112237411B CN112237411B (en) | 2022-11-18 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113520595A (en) * | 2021-07-13 | 2021-10-22 | 瑞龙诺赋(上海)医疗科技有限公司 | Endoscope switching structure, mounting jig, adapter, switching device, mounting method and surgical robot |
| CN115670367A (en) * | 2022-11-01 | 2023-02-03 | 杭州微新医疗科技有限公司 | Microscope supporting structure of expander |
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| CN108498170A (en) * | 2018-04-17 | 2018-09-07 | 成都博恩思医学机器人有限公司 | A kind of endoscope connection structure of laparoscopic surgery Chi Jing robots |
| CN108941027A (en) * | 2018-05-21 | 2018-12-07 | 老肯医疗科技股份有限公司 | A kind of cleaning and sterilizing slot and washing and disinfecting machine for scope |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113520595A (en) * | 2021-07-13 | 2021-10-22 | 瑞龙诺赋(上海)医疗科技有限公司 | Endoscope switching structure, mounting jig, adapter, switching device, mounting method and surgical robot |
| CN113520595B (en) * | 2021-07-13 | 2022-05-27 | 瑞龙诺赋(上海)医疗科技有限公司 | Endoscope switching structure, mounting jig, adapter, switching device, mounting method and surgical robot |
| CN115670367A (en) * | 2022-11-01 | 2023-02-03 | 杭州微新医疗科技有限公司 | Microscope supporting structure of expander |
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| CN112237411B (en) | 2022-11-18 |
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