CN113331872A - Miniature suction type alimentary canal multi-position liquid biopsy sampling device - Google Patents
Miniature suction type alimentary canal multi-position liquid biopsy sampling device Download PDFInfo
- Publication number
- CN113331872A CN113331872A CN202110573069.3A CN202110573069A CN113331872A CN 113331872 A CN113331872 A CN 113331872A CN 202110573069 A CN202110573069 A CN 202110573069A CN 113331872 A CN113331872 A CN 113331872A
- Authority
- CN
- China
- Prior art keywords
- biopsy sampling
- memory alloy
- shape memory
- sampling device
- liquid biopsy
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/0045—Devices for taking samples of body liquids
-
- 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
- A61B1/04—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 combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- 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
- A61B1/273—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 for the upper alimentary canal, e.g. oesophagoscopes, gastroscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/0045—Devices for taking samples of body liquids
- A61B2010/0061—Alimentary tract secretions, e.g. biliary, gastric, intestinal, pancreatic secretions
Abstract
A micro-aspiration alimentary tract multi-position liquid biopsy sampling device comprising: the shell with set gradually in its inside, along the superimposed distal end of shell axial inhale accumulator, well end inhale accumulator, near-end inhale accumulator, heating wire and shape memory alloy support pipe, wherein: when the three liquid absorption and storage devices are pre-installed, the three liquid absorption and storage devices are in a negative pressure state, a solid paraffin layer is arranged at the position, right opposite to the electric heating wire, of the inner wall of the far-end liquid absorption and storage device, an SMA holder is arranged on the shape memory alloy support guide pipe, the SMA holder is applied with voltage and then returns to the original shape and extends out of the device, the port of the shape memory alloy support guide pipe is attached to the inner wall of the alimentary canal, and suction is generated through the negative pressure of the liquid absorption and storage devices; the electric heating wire heats and melts paraffin to plug the shape memory alloy bracket conduit, so as to prevent sampling pollution.
Description
Technical Field
The invention relates to a technology in the field of medical equipment, in particular to a miniature suction type multi-position liquid biopsy sampling device for a digestive tract.
Background
The existing collection of the liquid in the digestive tract needs to be realized by means of gastroscope, enteroscope or other catheter type equipment, the damage to the intestinal tract is easy to cause, even serious complications are caused, the application range is limited due to the huge length of the digestive tract, only part of the liquid in the digestive tract can be collected, the problems that the accurate positioning is difficult, the collected sample is easy to be polluted and the like exist. The capsule endoscope robot has been widely used as an important means for detecting, sampling and treating the whole digestive tract, and has the advantages of small volume, no wound, convenient sampling, no cross infection and the like, but the existing capsule endoscope robot focuses on detecting the gastrointestinal tract in an image mode, and has no effective equipment for liquid biopsy of the digestive tract.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a miniature suction type alimentary canal multi-position liquid biopsy sampling device which is arranged in a capsule endoscope robot to realize multi-position liquid biopsy sampling in the alimentary canal, effectively prevents a sample from being polluted and ensures the effectiveness of multi-position biopsy sampling samples in the alimentary canal.
The invention is realized by the following technical scheme:
the invention relates to a micro suction type alimentary canal multi-position liquid biopsy sampling device, comprising: the shell with set gradually in its inside, along the superimposed distal end of shell axial inhale accumulator, well end inhale accumulator, near-end inhale accumulator, heating wire and shape memory alloy support pipe, wherein: when the three liquid absorption and storage devices are pre-installed, the three liquid absorption and storage devices are in a negative pressure state, a solid paraffin layer is arranged at the position, right opposite to the electric heating wire, of the inner wall of the far-end liquid absorption and storage device, a Shape Memory Alloy (SMA) holder is arranged on the shape memory alloy support conduit, the SMA holder is restored to the original state after voltage is applied to the SMA holder and extends out of the device, the port of the shape memory alloy support conduit is attached to the inner wall of the alimentary canal, and suction force is generated through the negative pressure of the liquid absorption and storage devices; the electric heating wire heats and melts paraffin to plug the shape memory alloy bracket conduit, so as to prevent sampling pollution.
Technical effects
The invention integrally solves the defects that the capsule endoscope robot in the prior art focuses on detecting the gastrointestinal tract in an image mode and has no effective equipment for realizing the liquid biopsy of the gastrointestinal tract; compared with the prior art, when the capsule endoscope robot runs in the alimentary canal, the device can extend the shape memory alloy bracket catheter out of the device by utilizing the telescopic characteristic of the shape memory alloy, controls the suction and storage device to be opened by changing the state of the shape memory alloy holder, and realizes multi-position liquid biopsy sampling in the alimentary canal by utilizing the internal and external pressure difference. After sampling is finished, paraffin coated on the inner surface of the conduit can be melted by heating through the spiral electric heating wire, the conduit is blocked and isolated from the outside, a sample is effectively prevented from being polluted, and the effectiveness of a multi-position biopsy sampling sample in the alimentary canal is ensured.
Drawings
FIG. 1 is a schematic view of a capsule endoscopic robotic system with a digestive tract multi-position liquid biopsy sampling device;
FIG. 2 is a cross-sectional view of a micro-aspiration alimentary tract multi-position fluid biopsy sampling device;
FIG. 3 is an external view of the micro aspiration type multi-position fluid biopsy sampling device for the alimentary tract;
FIG. 4 is a combined structure diagram of a liquid sucking and storing device of the capsule endoscope robot;
FIG. 5 is a structural diagram of a liquid sucking and storing device of the capsule endoscope robot;
in the figure: the system comprises a capsule endoscope robot shell, an antenna 2, a radio frequency transceiver 3, a wireless energy receiving coil 4, a rectification and control circuit 5, a light emitting diode 6, an image acquisition device 7, a miniature suction type digestive tract multi-position liquid biopsy sampling device 8, a transparent cover 9, a semicircular protective cover 10, a fixed wireless energy transmitting end 11, a shell 12, a far-end suction liquid storage device 13, a middle-end suction liquid storage device 14, a near-end suction liquid storage device 15, an SMA clamper 16, a shell front cover 17, a spiral electric heating wire 18, a shape memory alloy bracket catheter 19 and solid paraffin 20.
Detailed Description
As shown in fig. 2, the present embodiment relates to a micro-aspiration multi-position biopsy sampling device 8 for digestive tract fluid, which comprises a housing 12, and a distal aspiration liquid reservoir 13, a middle aspiration liquid reservoir 14, a proximal aspiration liquid reservoir 15, a spiral heating wire 18 and a shape memory alloy support catheter 19 disposed inside the housing and stacked along the axial direction of the housing 12, wherein: the shape memory alloy bracket conduit 19 is provided with an SMA clamper 16.
As shown in fig. 3, the housing 12 is provided at one end with a front cover 17 for fixing and protecting a plurality of liquid suction containers.
The shape memory alloy bracket conduit 19 is in an extension state when the temperature is raised and in a contraction state when the temperature is low, so that the flexible contact with the surface of the alimentary canal to be sucked is realized through the active extension and contraction of the conduit.
As shown in FIGS. 4 and 5, the distal aspirate reservoir 13 has a distal aspirate reservoir 14 and a proximal aspirate reservoir 15 disposed in the housing 12 in a stacked arrangement and extending from a front cover 17 of the housing; under normal conditions, the far-end liquid absorption and storage device 13 is in a negative pressure state, the opening state of the far-end liquid absorption and storage device 13 is controlled by clamping the catheter by the SMA holder 16, and a layer of solid paraffin 20 is coated on the position, opposite to the spiral electric heating wire 18, of the inner wall of the far-end liquid absorption and storage device 13. When a sampling control signal for liquid biopsy in the alimentary canal is sent out, the shape memory alloy bracket conduit 19 starts to extend to push the semicircular protective cover 10 open, extends out of the capsule endoscope robot body, is flexibly close to and attached to the inner surface of the alimentary canal by the aid of the conduit, the SMA clamp 16 is opened under the action of the control signal, the conduit is conducted, liquid in the alimentary canal is sucked into the liquid suction and storage bag under the action of pressure difference between the inside and the outside of the far-end liquid suction and storage device 13, finally the spiral electric heating wire 18 is electrified, the solid paraffin 20 is heated and melted, the conduit of the far-end liquid suction and storage device 13 is plugged, and single biopsy sampling action in the alimentary canal is completed. Likewise, the middle aspirate reservoir 14 and the proximal aspirate reservoir 15 perform the same biopsy sampling actions as the distal aspirate reservoir 13 under sequential control.
As shown in fig. 1, a micro suction type multi-position liquid biopsy sampling device 8 for digestive tract according to the present embodiment is disposed inside a capsule endoscopic robot housing 1, and is connected to a rectification and control circuit 5 inside the capsule endoscopic robot housing 1, the capsule endoscopic robot housing 1 is further provided therein with an antenna 2 connected to the rectification and control circuit 5, a radio frequency transceiver 3, a wireless energy receiving coil 4, a light emitting diode 6 and an image capturing device 7, wherein: the wireless energy receiving coil 4 receives an external magnetic field and generates an induced current, a rectifier bridge circuit in the rectification and control circuit 5 carries out rectification filtering, the antenna 2 receives a control signal transmitted from the outside and transmits the control signal to a microcontroller in the rectification and control circuit 5 to execute a control instruction, the light emitting diode 6 is controlled to illuminate the environment in the gastrointestinal tract and an image acquisition device 7 shoots and monitors the environment through a transparent cover 9, the image acquisition device 7 shoots an image and transmits the image out of the body, and the microcontroller in the antenna 2 and the rectification and control circuit 5 executes the control instruction to operate a shape memory alloy support catheter in the miniature suction type alimentary tract multi-position liquid biopsy sampling device 8 to push open a semicircular protective cover 10 to complete a liquid biopsy sampling task in the alimentary tract.
And a transparent cover 9 is arranged in the capsule endoscope robot shell 1 at the position opposite to the light-emitting diode 6 and the image acquisition equipment 7.
A semicircular protective cover 10 is arranged in the shell 1 of the capsule endoscope robot at the position opposite to the micro suction type alimentary canal multi-position liquid biopsy sampling device 8.
The capsule endoscope robot comprises a capsule endoscope robot shell 1, wherein a fixed wireless energy transmitting end 11 is arranged outside the capsule endoscope robot shell 1, and the fixed wireless energy transmitting end 11 generates an alternating magnetic field.
Through specific practical experiments, the gastrointestinal tract environment of a human body is simulated in the experimental environment, the device is operated at 5 volts, sequential actions can be realized, and multi-position gastrointestinal tract liquid sampling can be completed. Compared with the prior art, the device can sequentially complete multi-position liquid biopsy sampling of a narrow environment in the gastrointestinal tract by arranging a plurality of liquid suction and storage devices in an axial superposition manner; the liquid suction process is jointed with the inner wall of the digestive tract under the effect of the shape memory alloy bracket conduit at the front end of the gastrointestinal tract liquid suction and storage device, and the liquid suction weighing power is improved; solid paraffin is melted by heating of the spiral electric heating wire, the liquid suction catheter is plugged, collected liquid is isolated from the external environment, and the sampled liquid is protected and prevented from being polluted by the outside.
The foregoing embodiments may be modified in many different ways by those skilled in the art without departing from the spirit and scope of the invention, which is defined by the appended claims and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.
Claims (7)
1. A micro aspiration alimentary tract multi-position liquid biopsy sampling device, comprising: the shell with set gradually in its inside, along the superimposed distal end of shell axial inhale accumulator, well end inhale accumulator, near-end inhale accumulator, heating wire and shape memory alloy support pipe, wherein: when the three liquid absorption and storage devices are pre-installed, the three liquid absorption and storage devices are in a negative pressure state, a solid paraffin layer is arranged at the position, right opposite to the electric heating wire, of the inner wall of the far-end liquid absorption and storage device, an SMA holder is arranged on the shape memory alloy support guide pipe, the SMA holder is applied with voltage and then returns to the original shape and extends out of the device, the port of the shape memory alloy support guide pipe is attached to the inner wall of the alimentary canal, and suction is generated through the negative pressure of the liquid absorption and storage devices; the electric heating wire heats and melts paraffin to plug the shape memory alloy bracket conduit, so as to prevent sampling pollution.
2. The micro aspiration digestive tract multiple position fluid biopsy sampling device of claim 1 wherein the housing has a front cover at one end for securing and protecting a plurality of internal aspiration reservoirs.
3. The micro aspiration digestive tract multiposition liquid biopsy sampling device of claim 1 wherein the shape memory alloy stent catheter is extended at elevated temperature and retracted at low temperature to achieve flexible contact with the surface of the digestive tract to be aspirated by active catheter retraction.
4. The micro suction type multi-position liquid biopsy sampling device for the alimentary canal according to any one of claims 1 to 3, wherein the micro suction type multi-position liquid biopsy sampling device is arranged inside a capsule endoscope robot shell and is connected with a rectification and control circuit inside the capsule endoscope robot shell, and an antenna, a radio frequency transceiver, a wireless energy receiving coil, a light emitting diode and an image acquisition device which are connected with the rectification and control circuit are further arranged inside the capsule endoscope robot shell, wherein: the wireless energy receiving coil receives an external magnetic field and generates an induced current, a rectifier bridge circuit in the rectification and control circuit carries out rectification filtering, the antenna receives a control signal transmitted from the outside and transmits the control signal to a microcontroller in the rectification and control circuit to execute a control instruction, the light emitting diode is controlled to illuminate the environment in the gastrointestinal tract, an image acquisition device shoots and monitors the environment through a transparent cover, the image acquisition device shoots an image and transmits the image out of the body, and the microcontroller in the antenna and rectification and control circuit executes the control instruction to operate a shape memory alloy support catheter in the miniature suction type gastrointestinal tract multi-position liquid biopsy sampling device to push open a semicircular protective cover to complete a liquid biopsy sampling task in the gastrointestinal tract.
5. The micro aspiration digestive tract multiple position liquid biopsy sampling device of claim 4 wherein a transparent cover is provided in the capsule endoscopic robot housing opposite to the light emitting diode and the image capture device.
6. The microaspiratory gastrointestinal multiposition liquid biopsy sampling device of claim 4, wherein said capsule endoscopic robot housing has a semicircular protective cover in a position facing said microaspiratory gastrointestinal multiposition liquid biopsy sampling device.
7. The micro aspiration digestive tract multiple position liquid biopsy sampling device of claim 4 wherein the capsule endoscopic robot housing is externally provided with a fixed wireless energy emitting end which generates an alternating magnetic field.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110573069.3A CN113331872B (en) | 2021-05-25 | 2021-05-25 | Miniature suction type alimentary canal multi-position liquid biopsy sampling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110573069.3A CN113331872B (en) | 2021-05-25 | 2021-05-25 | Miniature suction type alimentary canal multi-position liquid biopsy sampling device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113331872A true CN113331872A (en) | 2021-09-03 |
| CN113331872B CN113331872B (en) | 2023-03-14 |
Family
ID=77471334
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110573069.3A Active CN113331872B (en) | 2021-05-25 | 2021-05-25 | Miniature suction type alimentary canal multi-position liquid biopsy sampling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113331872B (en) |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58135808A (en) * | 1982-02-08 | 1983-08-12 | Funakubo Hiroyasu | Capsule |
| CN101513340A (en) * | 2009-03-19 | 2009-08-26 | 上海交通大学 | Capsule endoscope system of energy supply in vitro |
| CN201719266U (en) * | 2010-06-08 | 2011-01-26 | 重庆金山科技（集团）有限公司 | Mini device for sampling liquid of alimentary canal |
| WO2016098818A1 (en) * | 2014-12-18 | 2016-06-23 | 株式会社パイオラックス | Capsule endoscope, capsule endoscopic inspection method, and capsule endoscopic inspection device |
| CN106823113A (en) * | 2017-01-24 | 2017-06-13 | 武汉市瑞达源科技有限公司 | A kind of medical capsule device |
| CA3035125A1 (en) * | 2016-09-15 | 2018-03-22 | Progenity, Inc. | Fluid sampling device |
| CN108318672A (en) * | 2018-01-17 | 2018-07-24 | 成都菲斯普科技有限公司 | A kind of internal medicine and clinical laboratory's living body sampling analyzer |
| CN108451488A (en) * | 2018-05-04 | 2018-08-28 | 哈尔滨工业大学深圳研究生院 | A kind of enteron aisle microcapsule robot with multi-direction live body sampling functions |
| CN108784634A (en) * | 2018-06-15 | 2018-11-13 | 安翰光电技术（武汉）有限公司 | Can automatic-sealed sampling capsule endoscope |
| CN108784633A (en) * | 2018-06-15 | 2018-11-13 | 安翰光电技术（武汉）有限公司 | Sampling capsule endoscope based on shape memory spring |
| CN109009247A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN109009246A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN110236599A (en) * | 2019-07-15 | 2019-09-17 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
| CN210644063U (en) * | 2019-06-19 | 2020-06-02 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
| CN211432795U (en) * | 2019-09-11 | 2020-09-08 | 群曜医疗科技(无锡)有限公司 | Capsule type endoscope with clear camera shooting function |
-
2021
- 2021-05-25 CN CN202110573069.3A patent/CN113331872B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58135808A (en) * | 1982-02-08 | 1983-08-12 | Funakubo Hiroyasu | Capsule |
| CN101513340A (en) * | 2009-03-19 | 2009-08-26 | 上海交通大学 | Capsule endoscope system of energy supply in vitro |
| CN201719266U (en) * | 2010-06-08 | 2011-01-26 | 重庆金山科技（集团）有限公司 | Mini device for sampling liquid of alimentary canal |
| WO2016098818A1 (en) * | 2014-12-18 | 2016-06-23 | 株式会社パイオラックス | Capsule endoscope, capsule endoscopic inspection method, and capsule endoscopic inspection device |
| CA3035125A1 (en) * | 2016-09-15 | 2018-03-22 | Progenity, Inc. | Fluid sampling device |
| CN106823113A (en) * | 2017-01-24 | 2017-06-13 | 武汉市瑞达源科技有限公司 | A kind of medical capsule device |
| CN108318672A (en) * | 2018-01-17 | 2018-07-24 | 成都菲斯普科技有限公司 | A kind of internal medicine and clinical laboratory's living body sampling analyzer |
| CN108451488A (en) * | 2018-05-04 | 2018-08-28 | 哈尔滨工业大学深圳研究生院 | A kind of enteron aisle microcapsule robot with multi-direction live body sampling functions |
| CN108784634A (en) * | 2018-06-15 | 2018-11-13 | 安翰光电技术（武汉）有限公司 | Can automatic-sealed sampling capsule endoscope |
| CN108784633A (en) * | 2018-06-15 | 2018-11-13 | 安翰光电技术（武汉）有限公司 | Sampling capsule endoscope based on shape memory spring |
| CN109009247A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN109009246A (en) * | 2018-10-19 | 2018-12-18 | 安翰光电技术（武汉）有限公司 | sampling capsule and sampling capsule system |
| CN210644063U (en) * | 2019-06-19 | 2020-06-02 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
| CN110236599A (en) * | 2019-07-15 | 2019-09-17 | 安翰科技(武汉)股份有限公司 | Sampling capsule and sampling capsule system |
| CN211432795U (en) * | 2019-09-11 | 2020-09-08 | 群曜医疗科技(无锡)有限公司 | Capsule type endoscope with clear camera shooting function |
Non-Patent Citations (1)
| Title |
|---|
| 郑齐，等: "消化道磁悬浮胶囊机器人模型及控制系统", 《医疗装备》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113331872B (en) | 2023-03-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US5971916A (en) | Video camera cover | |
| EP2648602B1 (en) | Flexible electronic circuit board multi-camera endoscope | |
| ES2269144T3 (en) | MAGNETICALLY GUIDED CATETER WITH SENSOR. | |
| EP2196153B1 (en) | Single-insertion, multiple sample biopsy device | |
| ES2351073T3 (en) | SUPPLY CATHETER WITH IMPLANT EXPULSION MECHANISM. | |
| KR100839825B1 (en) | Teleoperated endoscopic capsule equipped with active locomotion system | |
| US10258225B2 (en) | Paranasal sinus access system | |
| EP3463116A1 (en) | Modular body cavity access system | |
| CN108784633B (en) | Sampling capsule endoscope based on shape memory spring | |
| WO2017015480A1 (en) | Endoscope accessory with angularly adjustable exit portal | |
| JP2016530029A5 (en) | ||
| US20130296738A1 (en) | Device and method for in vivo cytology acquisition | |
| CN109497917A (en) | Alimentary canal sampling capsule | |
| AU2013343041A1 (en) | Paranasal sinus access system | |
| EP2600758A1 (en) | Methods and systems for handling or delivering materials for natural orifice surgery | |
| JP2013538102A5 (en) | ||
| US20160089127A1 (en) | Medical retrieval systems and related methods | |
| CN107278136A (en) | Including the surgical cut component in the torque generating means being arranged in the insertable part of endoscope or the endoscope of torque transmission member and pluggable endoscope | |
| US10058234B2 (en) | Surgeon controlled endoscope device and method | |
| AU2006314054A1 (en) | Protective cover for endoscopic tool | |
| CN113331872B (en) | Miniature suction type alimentary canal multi-position liquid biopsy sampling device | |
| WO2024055556A1 (en) | Flexible surgical instrument and flexible instrument thereof | |
| KR20190066582A (en) | Device with a working channel guiding element | |
| CN115363507A (en) | Endoscope instrument tube, insertion part with expandable distal end, handle and endoscope | |
| CN201977767U (en) | Novel gastroscope with two cameras |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |