CN112494121A - Multi-phase firm-adapting abdominal wall puncture outfit for endoscope - Google Patents
Multi-phase firm-adapting abdominal wall puncture outfit for endoscope Download PDFInfo
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- CN112494121A CN112494121A CN202011557029.1A CN202011557029A CN112494121A CN 112494121 A CN112494121 A CN 112494121A CN 202011557029 A CN202011557029 A CN 202011557029A CN 112494121 A CN112494121 A CN 112494121A
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- universal
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
Abstract
The invention discloses a multiphase stable adaptive abdominal wall puncture outfit for an endoscope, which is characterized by consisting of a universal adaptive base, a special adaptive sheath tube, a universal screwing cap, a switching cap, a universal adaptive needle core and a special conical tube cap. The universal adapting base is provided with a universal adapting interface, the special adapting sheath pipe is provided with a universal adapting socket, the universal adapting socket is connected with the universal adapting interface, and the special adapting sheath pipe of the special adapting sheath pipe can be narrowed into different types with different inner diameters of the sheath pipe; the universal screwing cap is screwed to fix the connection between the universal adapting base and the special adapting sheath tube; the universal adaptive needle core is connected with special-shaped taper pipe caps with different thickness models in a combined mode, and the requirements of abdominal wall puncture sheath pipes with different thickness models during abdominal wall puncture are met. The abdominal wall puncture outfit base can be respectively connected with a plurality of sheath tubes with different sizes in a combined mode, different clinical requirements are met, and resources are saved.
Description
Technical Field
The invention relates to an operation auxiliary device, which is applied to the establishment of an abdominal wall internal and external channel in laparoscopic surgery.
Background
The laparoscopic surgery is that a surgical channel is established by placing a sheath tube of an abdominal wall puncture outfit in an abdominal wall, high-pressure gas is injected into the abdominal cavity to expand the abdominal cavity, a space is generated, the abdominal cavity is placed into a columnar laparoscopic to observe the operation process in the abdominal cavity through a hollow tubular structure of the abdominal wall puncture outfit, and surgical instruments with long handles enter the abdominal cavity for operation through the hollow tubular structure of the abdominal wall puncture outfit. The puncture hole of the abdominal wall is tiny, which is called as a keyhole operation, so compared with the traditional open surgery, the abdominal wall operation of the patient has small injury and quick recovery. Obviously, the abdominal wall puncture outfit is an indispensable auxiliary device for laparoscopic surgery.
The abdominal wall puncture outfit mainly comprises a base and a sheath tube, wherein the base comprises a three-way tube air injection valve, an air blocking valve, a rear cover sealing seat and other complex structures and is the main structure of the abdominal wall puncture outfit, and the base is always kept outside the body during operation and does not enter the abdominal wall and the abdominal cavity; the sheath tube of the abdominal wall puncture outfit is a tubular structure with simple structure, enters the abdominal wall and the abdominal cavity in the operation, the abdominal wall puncture outfit can be divided into different types of standards of 3 mm, 5 mm, 10 mm, 12 mm, 15 mm and the like according to the thickness of the sheath, the thicker the sheath is, the larger the wound of the abdominal wall is, for the fat patients with fat abdominal walls, the types of the abdominal wall puncture outfits with lengthened sheath tubes are also needed, so the types of the abdominal wall puncture outfits are various, clinically, the abdominal wall puncture outfits with different types and standards are selected according to the fat and thin of the patients, the types of diseases and the random strain in the operation process, because the base and the sheath tube of the prior abdominal wall puncture outfit are of a one-to-one integrated structure, in order to meet the clinical requirements for different types of sheath tubes, the abdominal wall puncture outfit with a plurality of types is often required to be configured, and each type of abdominal wall puncture outfit is a base corresponding to one sheath tube. However, even so, due to the unpredictable situation during the operation, the abdominal wall puncture outfit which is already arranged on the operation table often lacks the actually needed model, causes difficult operation, increases the trauma of the patient, or is arranged in a redundant and useless way, and causes waste. In addition, the hard sheath tube on the isolation and protection bag for the laparoscope needs to be connected with the base of the abdominal wall puncture outfit for matching use, and the hard sheath tube on the bag also has various models with different thicknesses, so the same problem is also faced.
It is easy to understand that different requirements of the abdominal wall puncture outfit in clinic are different requirements of the abdominal wall puncture outfit due to the fact that a universal base is tried to be adopted according to different requirements of the matched connecting sheath tubes, the sheath tubes of different types needed in the laparoscopy can be connected at will, the cost can be reduced, and different requirements of a clinician on the abdominal wall puncture outfit in the operation can be met.
In view of the above, the base of the abdominal wall puncture outfit has a universal adapting interface function, and each type of sheath tube has a universal adapting socket function, i.e. one end of each type of sheath tube with different sizes has a universal adapting socket function, in other words, one type of base can be connected with various types of sheath tubes, so that doctors can randomly connect sheath tubes with required sizes according to clinical needs in the operation. In addition, because a plurality of hard sheath tubes with different thicknesses are connected on the soft bag for sealing, isolating and protecting the abdominal cavity in the laparoscopic surgery and a plurality of types of bases matched with the hard sheath tubes are also needed, the base of the abdominal wall puncture outfit is converted and arranged to have a function of a universal adapter interface, and the purpose that the sheath tubes with various types are connected with the base with one type can be realized.
The invention researches that in the early experiments, the threaded connection part of the sheath tube and the base is easy to rotate and loosen during the abdominal wall puncture, thereby influencing the operation.
At present, abdominal wall puncture outfits with different thickness models are all provided with corresponding puncture needle cores with different thickness models, in other words, one puncture needle core can only be matched with a sheath tube with one model, and due to the requirement of multiple models in clinical operation, a plurality of puncture needle cores are often required for one operation.
Because the abdominal wall puncture outfit is widely used in clinic, the using amount of the puncture needle core and the using amount of the base of the main structure are very large, and the problems of environmental protection and the like are involved in the medical waste treatment after the puncture outfit is used, the using amount of the puncture needle core and the using amount of the base can be reduced, so that the abdominal wall puncture outfit not only has important economic value, but also has important social value.
Disclosure of Invention
The invention aims to avoid the problems in the prior art, save resources, reduce pollution and meet the actual clinical needs with lower cost.
The invention adopts the following technical scheme for solving the technical problems:
1. the multi-phase firm adaptation abdominal wall puncture ware for endoscope, characterized by: the special-shaped adapting needle consists of a general adapting base (1), a special-shaped adapting sheath tube (2), a general screwing cap (3), a switching cap (4), a general adapting needle core (5) and a special-shaped conical tube cap (6), wherein the general adapting base (1) can be respectively connected with the special-shaped adapting sheath tube (2), the general screwing cap (3) and the switching cap (4); the universal adaptive stylet (5) can be connected with the special-shaped taper pipe cap (6) and penetrates through the universal adaptive base (1) and the special-shaped adaptive sheath pipe (2).
2. The multi-phase firm adaptation abdominal wall puncture ware for endoscope, characterized by: the universal adapting base (1) is of a hollow structure and consists of a rear cover sealing seat (11), an air injection valve (12), an air blocking valve (13) and a universal adapting interface (14). General adaptation interface (14) are connected with back lid seal receptacle (11) through buckle (15), and choke valve (13) and sealed buckle (15) are between general adaptation interface (14) and back lid seal receptacle (11), and the orificial inner wall of general adaptation interface (14) is general adaptation interface internal thread (16), and the orificial outer wall of general adaptation interface (14) is general adaptation interface external thread (17).
3. The multi-phase firm adaptation abdominal wall puncture ware for endoscope, characterized by: special type adaptation sheath pipe (2), for hollow cast structure, the top is general adaptation socket (21), can draw in slope (22) in its sheath intraductal, the constriction becomes special type sheath pipe (25) of the different models of sheath pipe internal diameter thickness, including different models such as large-size special type sheath pipe (25A) and small-size special type sheath pipe (25B), the sheath pipe outer wall of general adaptation socket (21) is provided with general sheath pipe external screw thread (23), special type sheath pipe (25) external screw thread (23) of general special type adaptation sheath pipe (2) are connected with internal thread (16) of general adaptation interface (14) of general adaptation base (1), the sheath pipe periphery that closes on special type sheath pipe (25) external screw thread (23) is annular general sheath external baffle (24), the surface of general sheath external baffle (24) is provided with annular packing ring (26).
4. The multi-phase firm adaptation abdominal wall puncture ware for endoscope, characterized by: the universal screwing cap (3) is of a hollow tubular structure, the surface of the universal screwing cap is provided with an anti-skidding groove (35), one end of the universal screwing cap is a wide-mouth end (31), and the interior of the universal screwing cap is internally provided with a thread or a bayonet (32) which is connected with an external thread (17) of a universal adapter interface (14) of the universal adapter base (1); the other end is a small adaptive baffle opening (33), and the pipe diameter is reduced to form an in-pipe baffle plate (34); when the internal thread or bayonet (32) of the universal screwing cap (3) is connected with the external thread (17) of the universal adapting interface (14) of the universal adapting base (1), the internal baffle (34) of the universal screwing cap (3) is close to and extrudes the external sheath baffle (24) of the special adapting sheath tube (2).
5. The multi-phase firm adaptation abdominal wall puncture ware for endoscope, characterized by: the switching cap (4) is of a hollow tubular structure, one end of the switching cap (4) is a small adaptive interface (43) of the switching cap, and an internal thread (44) can be arranged in the switching cap and is connected with the external thread of the sheath pipe. The other end of the adapter cap (4) is an adapter cap wide-mouth end (41) which can be of an A-type structure and a B-type structure, wherein a switching internal thread (42a) can be arranged in the pipe of the 4A-type adapter cap wide-mouth end (41a) and connected with an external thread (17) of a universal adapter interface (14) of the universal adapter base (1) to form a switching combined base (6A); the outside of the pipe of the wide-mouth end (41B) of the 4B type adapter cap can be provided with external threads (42B) which are connected with the internal threads (16) of the universal adapter interface (14) of the universal adapter base (1) to form an adapter combined base (6B).
6. The multi-phase firm adaptation abdominal wall puncture ware for endoscope, characterized by: the universal adaptive needle comprises a universal adaptive needle core (5A) and a special-shaped taper pipe cap (6), wherein the universal adaptive needle core (5A) is of a rod-shaped structure and consists of a base part (51), a needle rod part (52) and a needle tip part (53), the needle rod part is provided with a thickening bearing area (54), and the periphery of the thickening bearing area is provided with an external thread (55); the special conical tube cap (6) is of a hollow tubular structure, one end of the special conical tube cap is a conical slope (62), and an internal thread (61) is arranged in the special conical tube cap and connected with an external thread (55) of a thickening bearing area (54) of the universal adaptive stylet (5A) to form a combined stylet (5B).
Compared with the prior art, the invention has the beneficial effects that:
1. adopt a general base, can be connected with single model sheath pipe, also can connect the sheath pipe of different models wantonly, including can connect the peritoneoscope and use the bag of keeping apart the protection bag and go up stereoplasm sheath pipe, can resources are saved, reduce cost satisfies the different demands to stomach wall puncture ware application in the clinician art, and the doctor can connect the sheath pipe of required model at will according to clinical needs in the art, consequently effectively ensures the smoothness and the safety of clinical operation.
2. The puncture needle core can be matched with sheath tubes of various types for use through simple combination; the abdominal wall puncture outfit can be matched with sheath tubes of various types by adopting a universal base, so that the abdominal wall puncture outfit can obviously reduce the dosage of the base of the abdominal wall puncture outfit and the dosage of the puncture needle core, not only effectively reduces the resource consumption, but also reduces the pollution of solid medical consumables from the source, thereby having important economic value and social value.
3. The junction of the sheath tube and the base is stabilized, the abdominal wall puncture is not loosened during rotation, and the operation is smoother.
Drawings
Fig. 1 combined abdominal wall puncture outfit
FIG. 2 is a combined abdominal wall puncture sheath
FIG. 3 Universal adapter base
Figure 4 special shape adapting sheath tube
Figure 5 universal screwing cap
Fig. 6 transfer cap (4A, 4B)
Fig. 7 switching combined base (6A, 6B)
FIG. 8 Combined type puncture needle core (5A, 5B)
FIG. 9 is a schematic view of the connection of the upper sheath tube of the bag and the combined base
FIG. 10 is a schematic view of the application of the assembled abdominal wall puncture outfit
Detailed Description
According to the needs of clinical operation, the base can match the sheath pipe of different thickness, realizes multiple combination mode, and wherein basic combination mode and flow are as follows:
the internal thread (16) of the universal adapter interface (14) of the universal adapter base (1) is connected with the external thread (23) of the universal adapter socket (21) of the large-size special-shaped sheath (25A) in the special-shaped adapter sheath (2). The special-shaped sheath catheter (25A) of the special-shaped adaptive sheath catheter (2) is sleeved with the universal screwing cap (3), the universal screwing cap (3) is rotated, the internal thread (32) of the wide-mouth end (31) of the universal screwing cap (3) is connected with the external thread (17) of the universal adaptive interface (14) of the universal adaptive base (1), when the internal thread (32) of the universal screwing cap (3) is connected with the external thread (17) of the universal adaptive interface (14) of the universal adaptive base (1), the tube internal baffle (34) of the universal screwing cap (3) extrudes the universal sheath external baffle (24) of the large-sized special-shaped sheath catheter (25A), the universal adaptive base (1) is ensured to be stably connected with the special-shaped adaptive sheath catheter (2), and the large-sized combined abdominal wall puncture sheath catheter (figure 2) is formed.
The special-shaped taper pipe cap (6) matched with the large-size special-shaped sheath pipe (25A) of the special-shaped adaptive sheath pipe (2) is selected, the special-shaped taper pipe cap (6) is sleeved in through the needle tip part (53) of the universal adaptive needle core (5A), the special-shaped taper pipe cap (6) is rotated, and the internal thread (61) of the special-shaped taper pipe cap (6) is connected with the external thread (55) of the thickening bearing area (54) of the universal adaptive needle core (5A), so that the combined needle core (5B) is formed.
The base part (51) of the combined needle core (5B) is held, and the needle tip part (53), the thickening bearing area (54) and the special-shaped taper pipe cap (6) and the needle rod part (52) which are connected with the thickening bearing area sequentially penetrate through the large-size combined abdominal wall puncture sheath pipe (figure 2), so that the combined abdominal wall puncture device (figure 1) is formed.
The base part (51) of the combined needle core (5B) of the combined abdominal wall puncture outfit (figure 10: 10a) is held, the needle tip part (53) of the combined abdominal wall puncture outfit (figure 10: 10a) is punctured by forceful rotation to enter the abdominal cavity through the abdominal wall (10), the combined needle core (5B) is withdrawn, and the large-size special-shaped sheath (25A) of the special-shaped adaptive sheath (2) on the combined abdominal wall puncture sheath (figure 10: 10a) is placed in the abdominal wall puncture hole (101), so that a large-size laparoscopic surgery access is established on the abdominal wall as shown in the figure (figure 10: 10B).
The base part (51) of the universal adaptive needle core (5A) of the combined abdominal wall puncture outfit (figure 10: 10c) is held, the needle tip part (53) of the combined abdominal wall puncture outfit (figure 10: 10c) is forcibly rotated to puncture through the abdominal wall (10) and enter the abdominal cavity, the universal adaptive needle core (5A) is withdrawn, and the small-size special-shaped sheath tube (25B) of the special-shaped adaptive sheath tube (2) on the combined abdominal wall puncture sheath tube (figure 10: 10c) is placed in the abdominal wall puncture hole (101), so that a small-size laparoscopic surgery access is established at the abdominal wall puncture part.
In addition, aiming at various combined connections of the upper sheath tubes of the object taking bag under the laparoscope, the basic combined process is that the upper sheath tubes (9: 9a, 9b and 9c) of the bags with different thicknesses in the abdominal cavity are respectively pulled out through an abdominal wall puncture hole (101) under the laparoscope, wherein the far end of the upper sheath tube (9: 9L) of the large-size bag is provided with an external thread (91L); the distal end of the small-size bag upper sheath (9: 9S in figure) is provided with an external thread (91S).
The general adaptive base (1) and the bag upper sheath pipes with different thicknesses are connected in the following mode:
the external thread (91L) at the far end of the large-size bag upper sheath tube (figure 9: 9L) is directly connected with the internal thread (16) of the universal adapter interface (14) of the universal adapter base (1) (figure 9: 9 b).
The connection between the small bag upper sheath tube (figure 9: 9S) and the universal adaptive base (1) adopts a transfer cap (4) for connection, which is divided into two connection modes of A type and B type:
an internal thread (42a) in the pipe of the wide-mouth end (41a) of the adapter cap A type (4A) is connected with an external thread (17) of a universal adapter interface (14) of the universal adapter base (1) to form an adapter combined base (6A); the external thread (91S) at the far end of the small-size bag upper sheath tube (figure 9: 9S) is connected with the internal thread (44) of the small adapter interface (43) of the adapter cap (4) (figure 9: 9 a);
the external thread (42B) outside the pipe of the wide-mouth end (41B) of the adapter cap B type (4B) is connected with the internal thread (16) of the universal adapter interface (14) of the universal adapter base (1) to form an adapter combined base (6B); the external thread (91S) at the far end of the small-size bag upper sheath tube (figure 9: 9S) is connected with the internal thread (44) of the small adapter interface (43) of the adapter cap (4) (figure 9: 9 c).
The above examples are only for describing the preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and all equivalent changes or modifications made to the present invention should be covered within the protection scope of the present invention without departing from the spirit of the design of the present invention.
Claims (6)
1. The multi-phase firm adaptation abdominal wall puncture ware for endoscope, characterized by: by general adaptation base (1), special type adaptation sheath pipe (2), general tight cap (3), change over cap (4), general adaptation noose (5) and special type awl tube cap (6) are constituteed, general adaptation base (1) can be connected with special type adaptation sheath pipe (2), general tight cap (3), change over cap (4) respectively, general adaptation noose (5) can be connected and can pass general adaptation base (1) and special type adaptation sheath pipe (2) with special type awl tube cap (6).
2. The multi-phase steady adaptive abdominal wall puncture outfit for endoscope of claim 1, which is characterized in that: general adaptation base (1) is hollow structure, by back lid seal receptacle (11), gas injection valve (12), choke valve (13) and general adaptation interface (14) are constituteed, general adaptation interface (14) are connected with back lid seal receptacle (11) through buckle (15), choke valve (13) and sealed buckle (15) are between general adaptation interface (14) and back lid seal receptacle (11), the orificial inner wall of general adaptation interface (14) is general adaptation interface internal thread (16), orificial outer wall of general adaptation interface (14) is general adaptation interface external screw thread (17).
3. The multiphase firm adaptive abdominal wall puncture outfit for the endoscope as recited in claims 1 and 2, which is characterized in that: special type adaptation sheath pipe (2), for hollow cast structure, the top is general adaptation socket (21), can draw in slope (22) in its sheath intraductal, the constriction becomes special type sheath pipe (25) of the different models of sheath pipe internal diameter thickness, including different models such as large-size special type sheath pipe (25A) and small-size special type sheath pipe (25B), the sheath pipe outer wall of general adaptation socket (21) is provided with general sheath pipe external screw thread (23), special type sheath pipe (25) external screw thread (23) of general special type adaptation sheath pipe (2) are connected with internal thread (16) of general adaptation interface (14) of general adaptation base (1), the sheath pipe periphery that closes on special type sheath pipe (25) external screw thread (23) is annular general sheath external baffle (24), the surface of general sheath external baffle (24) is provided with annular packing ring (26).
4. The multi-phase steady adaptation abdominal wall puncture outfit for the endoscope of claims 1, 2 and 3, which is characterized in that: the universal screwing cap (3) is of a hollow tubular structure, the surface of the universal screwing cap is provided with an anti-skidding groove (35), one end of the universal screwing cap is a wide-mouth end (31), and a thread or a bayonet (32) arranged in the universal screwing cap is connected with an external thread (17) of a universal adapting interface (14) of the universal adapting base (1); the other end is a small adaptive baffle opening (33), and the pipe diameter is reduced to form an in-pipe baffle plate (34); when the internal thread or bayonet (32) of the universal screwing cap (3) is connected with the external thread (17) of the universal adapting interface (14) of the universal adapting base (1), the internal baffle (34) of the universal screwing cap (3) is close to and extrudes the universal external sheath baffle (24) of the special adapting sheath pipe (2).
5. The multi-phase steady adaptation abdominal wall puncture outfit for the endoscope of claims 1, 2 and 3, which is characterized in that: the adapter cap (4) is of a hollow tubular structure, one end of the adapter cap (4) is a small adapter interface (43) of the adapter cap, and an internal thread (44) can be arranged in the adapter cap and is connected with the external thread of the sheath tube; the other end of the adapter cap (4) is an adapter cap wide-mouth end (41) which can be of an A-type structure and a B-type structure, wherein a switching internal thread (42a) can be arranged in the pipe of the 4A-type adapter cap wide-mouth end (41a) and connected with an external thread (17) of a universal adapter interface (14) of the universal adapter base (1) to form a switching combined base (6A); the outside of the pipe of the wide-mouth end (41B) of the 4B type adapter cap can be provided with external threads (42B) which are connected with the internal threads (16) of the universal adapter interface (14) of the universal adapter base (1) to form an adapter combined base (6B).
6. The multi-phase steady adaptive abdominal wall puncture outfit for endoscope of claim 1, which is characterized in that: the universal adaptive needle comprises a universal adaptive needle core (5A) and a special-shaped taper pipe cap (6), wherein the universal adaptive needle core (5A) is of a rod-shaped structure and consists of a base part (51), a needle rod part (52) and a needle tip part (53), the needle rod part is provided with a thickening bearing area (54), and the periphery of the thickening bearing area is provided with an external thread (55); the special conical tube cap (6) is of a hollow tubular structure, one end of the special conical tube cap is a conical slope (62), and an internal thread (61) is arranged in the special conical tube cap and connected with an external thread (55) of a thickening bearing area (54) of the universal adaptive stylet (5A) to form a combined stylet (5B).
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CN202011557029.1A CN112494121A (en) | 2020-12-25 | 2020-12-25 | Multi-phase firm-adapting abdominal wall puncture outfit for endoscope |
PCT/CN2021/128306 WO2022134874A1 (en) | 2020-12-25 | 2021-11-03 | Multi-phase stable adaptive abdominal wall puncture outfit for endoscope |
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CN202011557029.1A CN112494121A (en) | 2020-12-25 | 2020-12-25 | Multi-phase firm-adapting abdominal wall puncture outfit for endoscope |
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CN202011557029.1A Pending CN112494121A (en) | 2020-12-25 | 2020-12-25 | Multi-phase firm-adapting abdominal wall puncture outfit for endoscope |
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Cited By (1)
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WO2022134874A1 (en) * | 2020-12-25 | 2022-06-30 | 凌斌 | Multi-phase stable adaptive abdominal wall puncture outfit for endoscope |
Family Cites Families (8)
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US5820606A (en) * | 1996-06-11 | 1998-10-13 | Origin Medsystems, Inc. | Reusable cannula with disposable seal |
US5989224A (en) * | 1998-02-23 | 1999-11-23 | Dexide Corporation | Universal seal for use with endoscopic cannula |
GB201120736D0 (en) * | 2011-12-02 | 2012-01-11 | Surgical Innovations Ltd | Cannula top and system |
US9888942B1 (en) * | 2014-12-19 | 2018-02-13 | Ethicon Llc | Adaptor for robotics cannula and seal assembly |
CN207755346U (en) * | 2017-06-03 | 2018-08-24 | 成都五义医疗科技有限公司 | One kind including single seal assembly and polysleeve puncture product packet |
US10828065B2 (en) * | 2017-08-28 | 2020-11-10 | Covidien Lp | Surgical access system |
CN110680514A (en) * | 2019-10-21 | 2020-01-14 | 凌斌 | Pelvic cavity and abdominal cavity isolation protection diaphragm for laparoscope |
CN112494121A (en) * | 2020-12-25 | 2021-03-16 | 凌斌 | Multi-phase firm-adapting abdominal wall puncture outfit for endoscope |
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2020
- 2020-12-25 CN CN202011557029.1A patent/CN112494121A/en active Pending
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WO2022134874A1 (en) * | 2020-12-25 | 2022-06-30 | 凌斌 | Multi-phase stable adaptive abdominal wall puncture outfit for endoscope |
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