CN112690859B - Medical instrument, working head and automatic control method of rotating head - Google Patents
Medical instrument, working head and automatic control method of rotating head Download PDFInfo
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- CN112690859B CN112690859B CN201911012235.1A CN201911012235A CN112690859B CN 112690859 B CN112690859 B CN 112690859B CN 201911012235 A CN201911012235 A CN 201911012235A CN 112690859 B CN112690859 B CN 112690859B
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- assembly
- rotary head
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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
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
- A61B17/1285—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/12—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord
- A61B17/128—Surgical instruments, devices or methods, e.g. tourniquets for ligaturing or otherwise compressing tubular parts of the body, e.g. blood vessels, umbilical cord for applying or removing clamps or clips
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00022—Sensing or detecting at the treatment site
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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
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
Abstract
The application relates to a medical instrument, a working head and a rotating head automatic control method, which belongs to the technical field of medical instruments and comprises the following steps: a working head; the working head includes: the rotary head driving assembly is used for driving the rotary head to rotate around the central shaft; the control circuit is used for controlling the movement of the rotating head driving assembly, the control assembly is in communication connection with the control circuit, and the position sensing assembly is in communication connection with the control assembly; the position sensing assembly acquires position data of the medical instrument and sends the position data to the control assembly; the control component controls the control circuit according to the position data, so that the control circuit controls the rotating head driving component to drive the rotating head to rotate and/or stop; the problem that the rotating operation efficiency is low when medical personnel manually operate the rotating head can be solved; because can determine according to position data and need rotate this rotating head to automatic control rotating head is rotatory, can improve the efficiency of rotatory operation.
Description
Technical Field
The application relates to a medical instrument, a working head and a rotating head automatic control method, and belongs to the technical field of medical instruments.
Background
To fully expose the surgical field during surgery, ligation of blood vessels around the target tissue is required to prevent bleeding. Hemostasis technology has become one of the cores of basic operation technology of surgical operation, and the surgical operation of any part of human body involves bleeding and hemostasis almost without exception, and generally the hemostasis is closed by using a clip applying and ligating clip.
In a typical clip applier, the clip applier includes a handle, a working head connected to the handle, and a shaft assembly connected to the working head. The working head comprises a rotating head which can rotate on the working head, and the rotating head can drive the rod body assembly to rotate together, so that the clamping angle can be adjusted.
However, the clip applier only supports the medical staff to manually rotate the rotating head, and at this time, the medical staff needs to operate the clip applier with both hands, which is inefficient.
Disclosure of Invention
The application provides a medical instrument, a working head and a rotating head automatic control method, and can solve the problem that medical personnel rotate the rotating head manually and the rotating operation efficiency is low. The application provides the following technical scheme:
in a first aspect, a medical device is provided, comprising: a working head; the working head includes: the rotary head driving assembly is used for driving the rotary head to rotate around a central shaft;
the medical device further comprises: the control circuit is used for controlling the rotary head driving assembly to move, the control assembly is in communication connection with the control circuit, and the position sensing assembly is in communication connection with the control assembly;
the position sensing assembly is used for acquiring position data of the medical instrument and sending the position data to the control assembly;
the control component is used for controlling the control circuit according to the position data, so that the control circuit controls the rotary head driving component to drive the rotary head to rotate and/or stop.
Optionally, the control assembly is configured to send a rotator head drive signal to the control circuitry when the position data indicates that the medical instrument is rotating about the central axis in a first direction;
the control circuit is configured to receive the rotary head drive signal; controlling the rotary head drive assembly to move based on the rotary head drive signal such that the rotary head drive assembly rotates the rotary head about the central axis in the first direction.
Optionally, the control component is configured to send a rotation stop signal to the control circuit if a rotation stop instruction is obtained after sending the rotary head driving signal to the control circuit;
the control circuit is used for receiving the rotation stopping signal; controlling the rotary head driving assembly to stop moving based on the stop rotation signal, so that the rotary head driving assembly stops driving the rotary head to rotate around the central shaft in the first direction.
Optionally, the stop rotation indication is position data of rotation of the medical instrument about the central axis in a second direction, the second direction being opposite to the first direction.
Optionally, the indication of stop rotation is generated when a rotation duration of the rotary head reaches a preset duration.
Optionally, the medical instrument further comprises a handle connected to the working head;
the control circuit, the position sensing assembly and the control assembly are arranged in the working head and/or the handle.
Optionally, the medical instrument further comprises a shaft assembly connected with the working head, wherein the shaft assembly comprises a cartridge assembly;
the medical device further comprises: the clamp feeding driving assembly is connected with the control circuit, the transmission assembly is connected with the clamp feeding driving assembly, and the push rod is connected with the transmission assembly; the push rod is used for carrying out axial reciprocating motion under the driving of the clamp feeding driving assembly and the transmission assembly so as to push the clamp bin assembly to feed the clamp.
In a second aspect, there is provided a work head comprising: the rotary head driving assembly is used for driving the rotary head to rotate around a central shaft, the control circuit is used for controlling the rotary head driving assembly to move, the control assembly is in communication connection with the control circuit, and the position sensing assembly is in communication connection with the control assembly;
the position sensing assembly is used for acquiring position data of the medical instrument and sending the position data to the control assembly;
the control component is used for controlling the control circuit according to the position data, so that the control circuit controls the rotary head driving component to drive the rotary head to rotate and/or stop.
In a third aspect, there is provided a method for automatically controlling a rotating head, which is used in the medical apparatus of the first aspect; alternatively, for use in the work head of the second aspect, the method comprises:
acquiring position data acquired by the position sensing assembly;
controlling the control circuit according to the position data, so that the control circuit controls the rotary head driving assembly to rotate and/or stop the rotary head.
Optionally, the controlling the control circuit according to the position data to make the control circuit control the rotary head driving assembly to rotate and/or stop the rotary head includes:
when the position data indicates that the medical instrument rotates around the central shaft in a first direction, sending a rotary head driving signal to the control circuit, wherein the rotary head driving signal is used for triggering the control circuit to control the rotary head driving assembly to move, so that the rotary head driving assembly drives the rotary head to rotate around the central shaft in the first direction.
Optionally, after sending the rotary head driving signal to the control circuit, the method further includes:
when a rotation stopping instruction is acquired, a rotation stopping signal is sent to the control circuit; the rotation stopping signal is used for triggering the control circuit to control the rotary head driving assembly to stop moving, so that the rotary head driving assembly stops driving the rotary head to rotate around the central shaft in the first direction.
Optionally, the stop rotation indication is position data of rotation of the medical instrument about the central axis in a second direction, the second direction being opposite to the first direction; and/or the indication to stop rotating is generated when the rotating time length of the rotating head reaches a preset time length.
The beneficial effect of this application lies in: the medical device comprises: a working head; the working head includes: the rotary head driving assembly is used for driving the rotary head to rotate around the central shaft; the medical device further comprises: the control circuit is used for controlling the movement of the rotating head driving assembly, the control assembly is in communication connection with the control circuit, and the position sensing assembly is in communication connection with the control assembly; the position sensing assembly is used for acquiring position data of the medical instrument and sending the position data to the control assembly; the control assembly is used for controlling the control circuit according to the position data so that the control circuit controls the rotating head driving assembly to drive the rotating head to rotate and/or stop; the problem that medical personnel rotate the rotating head manually and the rotating operation efficiency is low can be solved; whether medical personnel need to rotate the rotating head can be determined according to the position data of the medical instrument, so that the rotating head is automatically controlled to rotate when the rotating head needs to be rotated, and the efficiency of rotating operation can be improved.
The foregoing description is only an overview of the technical solutions of the present application, and in order to make the technical solutions of the present application more clear and clear, and to implement the technical solutions according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present application and the accompanying drawings.
Drawings
FIG. 1 is a schematic structural view of a medical device provided in accordance with an embodiment of the present application;
FIG. 2 is a cross-sectional view of a work head provided in one embodiment of the present application;
FIG. 3 is an exploded view of a workhead provided in accordance with one embodiment of the present application;
FIG. 4 is a schematic structural view of a medical device provided in accordance with another embodiment of the present application;
fig. 5 is a flowchart of a method for automatically controlling a spin head according to an embodiment of the present application.
Detailed Description
The following detailed description of embodiments of the present application will be described in conjunction with the accompanying drawings and examples. The following examples are intended to illustrate the present application but are not intended to limit the scope of the present application.
Fig. 1 to 4 are schematic structural views of a medical device provided in an embodiment of the present application. The medical device comprises at least: a working head 2. Optionally, the medical device further comprises a handle 1 and/or a shaft assembly 3.
Optionally, the handle 1 is detachably connected with the working head 2; the rod body component 3 is detachably connected with the working head 2. The medical instrument in the present application may comprise only the working head 2; or comprises a working head 2 and a handle 1; or comprises a working head 2 and a shaft component 3; or alternatively, comprises a working head 2, a handle 1 and a shaft assembly 3.
Wherein, when handle 1, working head 2 and pole body subassembly 3 can be dismantled and connect, modes such as solid, screw-thread fit, grafting of accessible card realize dismantling the connection, for example: the working head 2 is connected with the handle 1 in a clamping mode, and the working head 2 is connected with the rod body device 3 in a plugging mode.
The working head 2 includes a housing 21, and a rotary head 22 mounted on the housing 21. The rotation of the rotator head 22 may rotate the shaft member 3. Optionally, the housing 21 is provided with an opening for connecting the swivel head 22 with the shaft assembly 3, the opening being located within the swivel head 22.
The rotary head 22 is provided with a first rotary part which rotates relative to the working head 2, correspondingly, the part of the working head 2 butted with the rotary head 22 is provided with a second rotary part, and the first rotary part and the second rotary part are mutually matched to realize that the rotary head 22 rotates relative to the working head 2. In one example, the first rotating portion is a protrusion, and the second rotating portion is a groove matched with the protrusion.
Of course, the rotator head 22 may also include other components, such as: a connector connected to the shaft member 3, and the like.
In this application, in order to avoid the problem that the medical staff rotates the rotary head 22 manually, which results in the low operation efficiency of the medical instrument, the working head 2 further includes a rotary head driving assembly 23 for driving the rotary head 22 to rotate around the central axis. The medical device further comprises: a control circuit 4 for controlling the movement of the rotary head drive assembly, a control assembly 5 in communication with the control circuit, and a position sensing assembly 6 in communication with the control assembly.
Alternatively, the control component 5 and the position sensing component 6 may be integrated in the same circuit board; alternatively, the position sensing unit 6 and the control unit 5 may be separately provided, and the present embodiment is not limited to the arrangement manner of the position sensing unit 6 and the control unit.
The position sensing assembly 6 is used for acquiring position data of the medical instrument and sending the position data to the control assembly 5; accordingly, the control unit 5 is configured to control the control circuit 4 according to the position data, so that the control circuit 4 controls the rotary head driving unit 23 to rotate or stop the rotary head 22.
Alternatively, the position sensing component 6 may be an acceleration sensor, in which case the position data includes acceleration data of the medical instrument in a three-dimensional coordinate direction; of course, other types of sensors for acquiring position data of the medical instrument are possible, and the embodiment is not limited to the type of the position sensing assembly 6.
In one example, a control assembly 5 for sending a rotator head drive signal to the control circuit 4 when the position data indicates that the medical instrument is rotating about the central axis in a first direction; a control circuit 4 for receiving a rotary head driving signal; the rotor head driving assembly 23 is controlled to move based on the rotor head driving signal, so that the rotor head driving assembly 23 drives the rotor head 22 to rotate around the central axis in the first direction.
After transmitting the rotary head driving signal to the control circuit 4, if the control unit 5 acquires the rotation stop instruction, transmitting a rotation stop signal to the control circuit; a control circuit 4 for receiving a rotation stop signal; the rotor head driving assembly 23 is controlled to stop moving based on the stop rotation signal, so that the rotor head driving assembly 23 stops rotating the rotor head 22 around the central axis in the first direction.
Alternatively, the rotary head driving assembly 23 is a motor, and the output shaft of the motor is provided with a gear, and correspondingly, the rotary head 22 is provided with a groove, and the gear and the groove are matched with each other. When the control circuit 4 drives the rotating head driving assembly 23 to rotate, the gear rotates in the groove to drive the rotating head 22 to rotate, so that the rotating head 22 drives the rod body assembly 3 to rotate.
The first direction may be a clockwise direction; alternatively, the direction may be counterclockwise, which is not limited in this embodiment.
Optionally, the stop rotation indication is position data of rotation of the medical instrument about the central axis in a second direction, the second direction being opposite to the first direction; and/or the indication to stop rotating is generated when the rotation time length of the rotary head reaches a preset time length.
Optionally, the control circuit 4, position sensing assembly 6 and control assembly 5 are mounted in the working head 2 and/or handle 1. For example, the control assembly 5 and the position sensing assembly 6 are mounted in the working head 2, and the control circuit 4 is mounted in the handle 1.
Of course, the control circuit 4, the position sensing member 6 and the control member 5 may be mounted in the shaft member 3, and the mounting positions of the control circuit 4, the position sensing member 6 and the control member 5 are not limited in this embodiment.
Optionally, the shaft assembly 3 includes a cartridge assembly 31; the medical device further comprises: the clamp feeding driving assembly is connected with the control circuit, the transmission assembly is connected with the clamp feeding driving assembly, and the push rod is connected with the transmission assembly; the push rod is used for carrying out axial reciprocating motion under the driving of the clamp feeding driving assembly and the transmission assembly so as to push the clamp bin assembly to feed the clamps.
The push rod and the transmission component can be arranged in the working head 2, the clamp feeding driving component is arranged in the handle 1, of course, the push rod, the transmission component and the clamp feeding driving component can also be arranged in the rod body component 3, and the installation positions of the push rod, the transmission component and the clamp feeding driving component are not limited in the application.
In summary, the present application provides a medical device, comprising: a working head; the working head includes: the rotary head driving assembly is used for driving the rotary head to rotate around the central shaft; the medical device further comprises: the control circuit is used for controlling the movement of the rotating head driving assembly, the control assembly is in communication connection with the control circuit, and the position sensing assembly is in communication connection with the control assembly; the position sensing assembly is used for acquiring position data of the medical instrument and sending the position data to the control assembly; the control assembly is used for controlling the control circuit according to the position data so that the control circuit controls the rotating head driving assembly to drive the rotating head to rotate and/or stop; the problem that medical personnel rotate the rotating head manually and the rotating operation efficiency is low can be solved; whether medical personnel need to rotate the rotating head can be determined according to the position data of the medical instrument, so that the rotating head is automatically controlled to rotate when the rotating head needs to be rotated, and the efficiency of rotating operation can be improved.
In addition, through receiving the position data of reverse rotation and/or when the length of time of rotation reaches preset duration, control the rotating head and stop rotatory, can confirm whether medical personnel need stop rotatory this rotating head to when determining to stop rotatory this rotating head of needs automatic control rotating head stop rotatory, can improve the operating efficiency who stops the rotating head rotatory.
Optionally, the present application also provides a working head comprising: the rotary head driving assembly is used for driving the rotary head to rotate around the central shaft;
the position sensing assembly is used for acquiring position data of the medical instrument and sending the position data to the control assembly;
and the control assembly is used for controlling the control circuit according to the position data so that the control circuit controls the rotating head driving assembly to drive the rotating head to rotate and/or stop.
The related contents refer to the related contents of the medical instrument.
FIG. 5 is a flow chart of a method of occlusion detection provided by an embodiment of the present application, as applied to the medical device of FIG. 1; alternatively, in the working head used in the above embodiment, the execution main body of each step is taken as an example of the control component in the embodiment. The method at least comprises the following steps:
Optionally, the position sensing component is acceleration sensor data, and accordingly, the position data comprises acceleration data of the medical instrument in a three-dimensional coordinate direction.
Optionally, the position sensing component collects position data every preset time.
In one example, controlling the control circuit according to the position data to cause the control circuit to control the rotary head driving assembly to rotate and/or stop the rotary head includes:
when the position data indicate that the medical instrument rotates around the first direction of the central axis, the rotating head driving signal is sent to the control circuit and used for triggering the control circuit to control the rotating head driving assembly to move, so that the rotating head driving assembly drives the rotating head to rotate around the first direction of the central axis.
After transmitting the rotary head driving signal to the control circuit, the method further includes: when a rotation stopping instruction is acquired, a rotation stopping signal is sent to a control circuit; the stop rotation signal is used for triggering the control circuit to control the rotary head driving assembly to stop moving, so that the rotary head driving assembly stops driving the rotary head to rotate around the central shaft in the first direction.
Wherein the stop rotation indication is position data of the medical instrument rotating around the central axis in a second direction, the second direction being opposite to the first direction; and/or the indication to stop rotating is generated when the rotation time length of the rotary head reaches a preset time length.
For related contents, refer to the related contents of the above medical devices, and the detailed description of the implementation is omitted here.
In summary, in the congestion detection method provided in this embodiment, a congestion detection request is sent to a service processing component, and when a response message sent by the service processing component is not received within a preset time period, it is determined that the service processing component is congested; the problem that the service request processing progress is slow due to the fact that whether the service processing assembly is blocked cannot be determined can be solved; whether the business processing assembly is blocked or not can be determined in time by sending the blocking detection request, so that the abnormity of the business processing assembly can be found in time, the business processing assembly is adjusted, and the processing progress of the business request can be improved.
Optionally, the present application further provides a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the congestion detection method of the above method embodiment.
Optionally, the present application further provides a computer product, which includes a computer-readable storage medium, in which a program is stored, and the program is loaded and executed by a processor to implement the congestion detection method of the above-mentioned method embodiment.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (11)
1. A medical device, comprising: a working head; the working head includes: the rotary head driving assembly is used for driving the rotary head to rotate around a central shaft;
the medical device further comprises: the control circuit is used for controlling the rotary head driving assembly to move, the control assembly is in communication connection with the control circuit, and the position sensing assembly is in communication connection with the control assembly; the rod body component is connected with the working head and comprises a clamping bin component; the clamp feeding driving assembly is connected with the control circuit, the transmission assembly is connected with the clamp feeding driving assembly, and the push rod is connected with the transmission assembly;
the push rod is used for performing axial reciprocating motion under the driving of the clamp feeding driving assembly and the transmission assembly so as to push the clamp feeding of the clamp bin assembly;
the position sensing assembly is used for acquiring position data of the medical instrument and sending the position data to the control assembly;
the control component is used for controlling the control circuit according to the position data, so that the control circuit controls the rotary head driving component to drive the rotary head to rotate and/or stop.
2. The medical device of claim 1,
the control assembly to send a rotary head drive signal to the control circuit when the position data indicates rotation of the medical instrument about the central axis in a first direction;
the control circuit is configured to receive the rotary head drive signal; controlling the rotary head drive assembly to move based on the rotary head drive signal such that the rotary head drive assembly rotates the rotary head about the central axis in the first direction.
3. The medical device of claim 2,
the control component is used for sending a rotation stopping signal to the control circuit if a rotation stopping instruction is obtained after the rotating head driving signal is sent to the control circuit;
the control circuit is used for receiving the rotation stopping signal; controlling the rotary head driving assembly to stop moving based on the stop rotation signal, so that the rotary head driving assembly stops driving the rotary head to rotate around the central shaft in the first direction.
4. The medical instrument of claim 3, wherein the stop rotation indication is position data of rotation of the medical instrument about the central axis in a second direction, the second direction being opposite the first direction.
5. The medical instrument of claim 3, wherein the indication to stop rotation is generated when a length of rotation of the rotator head reaches a preset length.
6. The medical device of any one of claims 1 to 5, further comprising a handle connected to the working head;
the control circuit, the position sensing assembly and the control assembly are arranged in the working head and/or the handle.
7. A work head, comprising: the rotary head driving assembly is used for driving the rotary head to rotate around a central shaft, the control circuit is used for controlling the rotary head driving assembly to move, the control assembly is in communication connection with the control circuit, and the position sensing assembly is in communication connection with the control assembly;
the working head is also connected with a rod body component, and the rod body component comprises a clamping bin component;
the control circuit is also connected with the clamp feeding driving assembly; the clamp feeding driving assembly is connected with the transmission assembly; the transmission assembly is connected with the push rod; the push rod is used for performing axial reciprocating motion under the driving of the clamp feeding driving assembly and the transmission assembly so as to push the clamp feeding of the clamp bin assembly;
the position sensing assembly is used for acquiring position data of the medical instrument and sending the position data to the control assembly;
the control component is used for controlling the control circuit according to the position data, so that the control circuit controls the rotary head driving component to drive the rotary head to rotate and/or stop.
8. A method for automatically controlling a rotating head, which is used in the medical device according to any one of claims 1 to 6; or, in the working head of claim 7; the method comprises the following steps:
acquiring position data acquired by the position sensing assembly;
controlling the control circuit according to the position data, so that the control circuit controls the rotary head driving assembly to rotate and/or stop the rotary head.
9. The method of claim 8, wherein the controlling the control circuit according to the position data to control the rotary head driving assembly to rotate and/or stop the rotary head comprises:
when the position data indicates that the medical instrument rotates around the central shaft in a first direction, sending a rotary head driving signal to the control circuit, wherein the rotary head driving signal is used for triggering the control circuit to control the rotary head driving assembly to move, so that the rotary head driving assembly drives the rotary head to rotate around the central shaft in the first direction.
10. The method of claim 9, further comprising, after said sending the rotary head drive signal to the control circuitry:
when a rotation stopping instruction is acquired, a rotation stopping signal is sent to the control circuit; the rotation stopping signal is used for triggering the control circuit to control the rotary head driving assembly to stop moving, so that the rotary head driving assembly stops driving the rotary head to rotate around the central shaft in the first direction.
11. The method of claim 10, wherein the stop rotation indication is position data of rotation of the medical instrument about the central axis in a second direction, the second direction being opposite the first direction; and/or the indication to stop rotating is generated when the rotating time length of the rotating head reaches a preset time length.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911012235.1A CN112690859B (en) | 2019-10-23 | 2019-10-23 | Medical instrument, working head and automatic control method of rotating head |
| PCT/CN2020/122671 WO2021078181A1 (en) | 2019-10-23 | 2020-10-22 | Surgical operation device, working part, and rotating head control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911012235.1A CN112690859B (en) | 2019-10-23 | 2019-10-23 | Medical instrument, working head and automatic control method of rotating head |
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| Publication Number | Publication Date |
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| CN112690859A CN112690859A (en) | 2021-04-23 |
| CN112690859B true CN112690859B (en) | 2022-03-18 |
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| CN201911012235.1A Active CN112690859B (en) | 2019-10-23 | 2019-10-23 | Medical instrument, working head and automatic control method of rotating head |
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| CN (1) | CN112690859B (en) |
| WO (1) | WO2021078181A1 (en) |
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| CN114515207A (en) * | 2022-01-19 | 2022-05-20 | 江苏岱洛医疗科技有限公司 | Periodontal probe device with attitude sensing function and state switching method thereof |
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| CN102188269A (en) * | 2010-03-08 | 2011-09-21 | Tyco医疗健康集团 | System and method for determining and adjusting positioning and orientation of a surgical device |
| CN104519852A (en) * | 2012-08-06 | 2015-04-15 | 皇家飞利浦有限公司 | Skin treatment apparatus and method for the same |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6193709B1 (en) * | 1998-05-13 | 2001-02-27 | Olympus Optical Co., Ltd. | Ultrasonic treatment apparatus |
| US8684253B2 (en) * | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
| US8931682B2 (en) * | 2007-06-04 | 2015-01-13 | Ethicon Endo-Surgery, Inc. | Robotically-controlled shaft based rotary drive systems for surgical instruments |
| CN106073853B (en) * | 2016-06-20 | 2019-03-08 | 江苏海泽医疗科技发展有限公司 | Semi-automatic medical continuously-applied Clip Applier with biology folder casket |
| CN108066008B (en) * | 2017-03-23 | 2020-05-29 | 深圳市罗伯医疗科技有限公司 | Medical instrument control method and system for assisting operation |
| CN108013906A (en) * | 2017-12-01 | 2018-05-11 | 微创（上海）医疗机器人有限公司 | Snakelike operating theater instruments |
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2019
- 2019-10-23 CN CN201911012235.1A patent/CN112690859B/en active Active
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2020
- 2020-10-22 WO PCT/CN2020/122671 patent/WO2021078181A1/en active Application Filing
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102188269A (en) * | 2010-03-08 | 2011-09-21 | Tyco医疗健康集团 | System and method for determining and adjusting positioning and orientation of a surgical device |
| CN104519852A (en) * | 2012-08-06 | 2015-04-15 | 皇家飞利浦有限公司 | Skin treatment apparatus and method for the same |
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| Publication number | Publication date |
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| CN112690859A (en) | 2021-04-23 |
| WO2021078181A1 (en) | 2021-04-29 |
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