CN113425391A - Based on spring compression supports flexible needle puncture mechanism - Google Patents
Based on spring compression supports flexible needle puncture mechanism Download PDFInfo
- Publication number
- CN113425391A CN113425391A CN202110731929.1A CN202110731929A CN113425391A CN 113425391 A CN113425391 A CN 113425391A CN 202110731929 A CN202110731929 A CN 202110731929A CN 113425391 A CN113425391 A CN 113425391A
- Authority
- CN
- China
- Prior art keywords
- spring
- flexible needle
- needle
- flexible
- lead screw
- 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.)
- Pending
Links
Images
Classifications
-
- 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
-
- 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
- A61B2017/347—Locking means, e.g. for locking instrument in cannula
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Engineering & Computer Science (AREA)
- Pathology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Infusion, Injection, And Reservoir Apparatuses (AREA)
Abstract
The invention designs a spring compression type supporting flexible needle puncture mechanism, belonging to the field of medical instruments; the supporting mechanism of the mechanism is composed of three compressible springs and three herringbone supporting sliding blocks which are uniformly distributed, a flexible needle penetrates through the supporting mechanism and a baffle plate, the flexible needle is driven by a feeding mechanism to feed forwards and sequentially extrudes the three springs among the herringbone sliding blocks, the three springs sequentially push the flexible needle sliding blocks to move, and in the retraction process of the flexible needle, the springs sequentially stretch and further push the supporting sliding blocks to retract until the springs restore to the original state; the direction of the needle point is adjusted by the steering mechanism, so that the needle inserting angle is changed, and the form can ensure the puncturing precision and the puncturing precision of the flexible needle.
Description
Technical Field
The invention relates to a flexible needle puncture mechanism based on a spring compression type support, and belongs to the technical field of medical instruments.
Background
Minimally invasive interventional surgery in the medical field is a medical technique developed in recent years; the interventional therapy is that a special catheter, a guide wire and other precise instruments are punctured into a human body under the guidance of medical imaging equipment to diagnose and locally treat a focus; the treatment technology has the advantages of small wound, quick recovery, good treatment effect and the like; because the rigidity of the traditional rigid needle is higher, the needle point position cannot be effectively controlled in the puncture process, the puncture limitation is larger, and therefore the flexible needle is rapidly developed and gradually applied to the puncture operation.
Disclosure of Invention
The invention adopts the flexible needle puncture mechanism based on the spring compression type support, thereby solving the warping phenomenon in the puncture process; the flexible needle is more stable in the puncture process, the stress of the needle shaft is more uniform, the rotation motor is adopted to drive the flexible needle to rotate, the puncture angle of the flexible needle can be changed, and the puncture precision is improved. The technical scheme of the invention is as follows: the utility model provides a support flexible needle puncture mechanism based on spring compression specifically includes: the device comprises a spring baffle, a first feed bar, a first spring, a second spring, a flexible needle, a third spring, a lead screw, a needle clamping mechanism, a self-rotation motor support, a feed motor support, a second feed bar, a lead screw nut, a feed slider, a slide way, a first flexible needle support slider, a base, a second flexible needle support slider, a third flexible needle support slider, a bearing support and a baffle support.
Preferably, the method comprises the following steps: the feeding motor support is fixed on the base through screws, the slide is fixed on the base through screws, the bearing support is fixed on the base through screws, the feeding motor is installed on the feeding motor support through bolts, the feeding motor is fixedly connected with a lead screw through a coupler, the lead screw penetrates through a lead screw nut, one end of each of two ends of the lead screw is rotatably connected with the bearing support, the lead screw nut is fixedly connected with a feeding slide block through the bolts, the feeding slide block is embedded on the slide, the feeding motor works to drive the lead screw to rotate, and then the lead screw nut is driven to axially move on the slide.
Preferably, the method comprises the following steps: the feeding motor works to drive the lead screw nut to move forwards, and the rotation motor on the lead screw nut is driven by the feeding motor to move forwards simultaneously, so that the needle clamping mechanism on the rotation motor moves forwards, the flexible needle supporting slide block is pushed to move forwards to push the spring III in the advancing process of the needle clamping mechanism, the spring III is compressed to push the flexible needle supporting slide block II to move forwards, the spring II is compressed to push the spring II to push the flexible needle supporting slide block III to move forwards, the flexible needle supporting slide block pushes the spring I forwards in three directions, the spring baffle blocks the spring to move forwards, the spring I is compressed, and the phenomenon that the flexible needle bends in the puncturing process is achieved through the compression of the spring I, the spring II and the spring III.
Preferably, the method comprises the following steps: the feeding motor rotates reversely to drive the screw nut to move backwards, and the springs I, II and III return to the original lengths due to the action of elastic force, so that the springs I, II and III push the flexible needle supporting slide block I, II and III to return to the original positions, and the reset function is realized.
Preferably, the method comprises the following steps: the flexible needle is fixed connection by a needle clamping mechanism, the needle clamping mechanism is fixed connection with an autorotation motor, the autorotation motor is installed on an autorotation motor support through a bolt, the autorotation motor support is installed on a screw nut through a bolt, the autorotation motor works to drive the needle clamping mechanism to rotate the flexible needle to move in a rotating mode, and then the needle entering angle of the flexible needle is changed through the rotating angle of the flexible needle.
Preferably, the method comprises the following steps: the flexible needle penetrates through the axis of the top end hole of the first flexible needle supporting slide block, the axis of the top end hole of the second flexible needle supporting slide block and the axis of the top end hole of the third flexible needle supporting slide block, the flexible needle penetrates through the hole in the spring baffle, the flexible needle between the spring baffle and the third flexible needle supporting slide block penetrates through the first spring, the flexible needle between the spring baffle and the second flexible needle supporting slide block penetrates through the second spring, the flexible needle between the spring baffle and the second flexible needle supporting slide block penetrates through the third spring, the first spring, the second spring and the third spring are compressed and restored to drive the flexible needle supporting slide blocks to be linked, the holes in the two bottoms of the first flexible needle supporting slide block, the second flexible needle supporting slide block and the third flexible needle supporting slide block (20) are respectively connected with the first optical lever and the second optical lever in a sliding mode, and the first optical lever and the optical lever are arranged in parallel and are fixed on the base.
The gain effect of the invention is as follows:
1. according to the invention, the puncture mechanism is more stable, the needle shaft is uniformly stressed, the feeding control is simpler, and the springs are compressed one by one in the feeding process, so that the effect of supporting the flexible needle all the time in the puncture process is ensured;
2. the invention drives the flexible needle to rotate by the autorotation motor, thereby changing the puncture angle of the flexible needle and improving the puncture precision.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention
FIG. 2 is an exploded view of the flexible needle steering mechanism of the present invention
In the drawings: 1. the flexible needle feeding mechanism comprises a spring baffle, a first smooth rod, a first spring, a second flexible needle, a third spring, a spring 7, a lead screw, a needle clamping mechanism 8, a rotation motor 9, a rotation motor support 10, a feed motor 11, a feed motor support 12, a feed motor support 13, a second smooth rod, a lead screw nut 14, a feed slider 15, a slideway 16, a flexible needle support slider 17, a first flexible needle support slider 18, a base 19, a second flexible needle support slider 20, a third flexible needle support slider 21, a bearing support and a baffle support 22.
Detailed Description
In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
The first embodiment is as follows:
as shown in fig. 1, the puncture mechanism based on a spring compression type supporting flexible needle comprises: the device comprises a spring baffle 1, a first feed bar 2, a first spring 3, a second spring 4, a flexible needle 5, a third spring 6, a lead screw 7, a needle clamping mechanism 8, a self-rotation motor 9, a self-rotation motor support 10, a feed motor 11, a feed motor support 12, a second feed bar 13, a lead screw nut 14, a feed slider 15, a slideway 16, a first flexible needle support slider 17, a base 18, a second flexible needle support slider 19, a third flexible needle support slider 20, a bearing support 21 and a baffle support 22. The feeding motor support 12 is fixed on a base 18 through screws; the slideway 16 is fixed on the base 18 and the bearing support 21 through screws, the feeding motor 11 is installed on the feeding motor bracket 12 through bolts, the feeding motor 11 is fixedly connected with the lead screw 7 through a coupler, the lead screw 7 passes through the lead screw nut 14, the other end of the lead screw 7 is connected with the bearing support 21 and forms rotary connection, the lead screw nut 14 is fixedly connected with the feeding slider 15 through bolts, the feeding slider 15 is embedded into the slideway 16, the feeding motor 11 drives the lead screw 7 to rotate when working, and further drives the lead screw nut 14 to axially feed on the slideway 16, the lead screw nut 14 drives the self-rotating motor 9 to forwardly feed, the self-rotating motor 9 is fixedly connected with the needle clamping mechanism 8, and the flexible needle 5 is installed on the needle clamping mechanism 8, namely the flexible needle 5 is axially moved; when the flexible needle 5 moves forwards, the needle clamping mechanism 8 pushes the first flexible needle supporting slide block 17 to move forwards, then the third spring 6 between the first flexible needle supporting slide block 17 and the second flexible needle supporting slide block 19 is compressed, the second flexible needle supporting slide block 19 is pushed to move forwards due to the compression of the third spring 6, so that the second spring 4 between the second flexible needle supporting slide block 19 and the third flexible needle supporting slide block 20 is compressed, and the third flexible needle supporting slide block 20 is pushed to move forwards due to the compression of the second spring 4, so that the first spring 3 between the third flexible needle supporting slide block 20 and the spring baffle plate 1 is compressed; after the puncture process is finished, the flexible needle 5 needs to be drawn out of the experimental body, and the control of the mechanism is opposite to the control during puncture. The feed motor 11 rotates reversely to drive the screw rod 7 to rotate reversely, so that the screw rod nut 14 on the screw rod 7 moves backwards, the flexible needle 5 moves backwards, and the spring I3, the spring II 4 and the spring III 6 are all restored simultaneously, and the whole puncture process is completed because the telescopic puncture mechanism of the spring is restored to the original position. The spring supporting mechanism can prevent the flexible needle from bending in the puncturing process and has a certain supporting function.
The second embodiment is as follows:
as shown in fig. 2, the flexible needle steering mechanism in this embodiment includes a first optical lever 2, a first spring 3, a second spring 4, a flexible needle 5, a third spring 6, a needle clamping mechanism 8, a rotation motor 9, a first flexible needle supporting slider 17, a second flexible needle supporting slider 19, and a third flexible needle supporting slider 20, the flexible needle 5 is fixedly connected to the rotation motor 9 through the needle clamping mechanism 8, the rotation motor 9 is mounted on the rotation motor bracket 10 through a bolt, the rotation motor 9 operates to drive the needle clamping mechanism 8 to rotate, and the needle clamping mechanism 8 drives the flexible needle 5 to rotate, so as to change the needle inserting angle of the flexible needle 5 by changing the rotation angle of the flexible needle 5.
The spring support flexible needle puncture method comprises the following steps:
1. path planning is done before puncture, and a puncture mode of reaching a target point position is determined;
2. writing a motor control program;
3. the needle clamping mechanism 8 clamps the flexible needle 5 and controls the flexible needle 5 to do puncture feeding motion;
4. in the process of axial movement of the flexible needle 5, the first spring 3, the second spring 4 and the third spring 6 are sequentially compressed to support the needle shaft, so that the flexible needle 5 is prevented from warping in the puncturing process;
5. when the flexible needle 5 punctures to a certain position, the flexible needle feeding mechanism stops working, and the flexible needle steering mechanism adjusts the rotation angle of the needle;
6. after the angle is adjusted, the rotation motor 9 stops working, and the flexible needle feeding mechanism is controlled to do puncture feeding movement on the flexible needle 5;
7. after the puncture is finished, the flexible needle feeding mechanism drives the flexible needle 5 to retreat backwards, the spring I3, the spring II 4 and the spring III 6 stretch in sequence, and the puncture mechanism restores to the original position.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (1)
1. A flexible needle puncture mechanism based on spring compression type support comprises a spring baffle (1), a first feed bar (2), a first spring (3), a second spring (4), a flexible needle (5), a third spring (6), a lead screw (7), a needle clamping mechanism (8), a self-rotating motor (9), a self-rotating motor support (10), a feeding motor (11), a feeding motor support (12), a second feed bar (13), a lead screw nut (14), a feeding sliding block (15), a sliding way (16), a first flexible needle support sliding block (17), a base (18), a second flexible needle support sliding block (19), a third flexible needle support sliding block (20), a bearing support (21) and a baffle support (22);
the method is characterized in that: the feeding motor support (12) is fixed on the base (18) through screws, the slide way (16) is fixed on the base (18) through screws, the bearing support (21) is fixed on the base (18) through screws, the feeding motor (11) is installed on the feeding motor support (12) through bolts, the feeding motor (11) is fixedly connected with the lead screw (7) through a coupler, the lead screw (7) penetrates through a lead screw nut (14), one end of each of two ends of the lead screw (7) is rotatably connected with the bearing support (21), the lead screw nut (14) is fixedly connected with the feeding slide block (15) through bolts, the feeding slide block (15) is embedded into the slide way (16), and the feeding motor (11) works to drive the lead screw (7) to rotate so as to drive the lead screw nut (14) to axially move on the slide way (16);
the feed motor (11) works to drive the lead screw nut (14) to move forwards, the rotation motor (9) on the lead screw nut (14) is driven by the feed motor (11) to move forwards at the same time, so that the needle clamping mechanism (8) on the rotation motor (9) moves forwards, the flexible needle supporting slide block I (17) is pushed to feed forwards in the advancing process of the needle clamping mechanism (8), the spring III (6) is pushed, the spring III (6) is compressed, the flexible needle supporting slide block II (19) is pushed to feed forwards, the flexible needle supporting slide block II (19) pushes the spring II (4), the spring II (4) is compressed, the flexible needle supporting slide block III (17) pushes the spring I (3) forwards, the spring baffle plate (1) blocks the spring I (3) to move forwards, the spring I (3) is compressed, and the spring I (1) and the spring II (1) are connected with the feed mechanism in a matched mode, The second spring (4) and the third spring (6) are compressed, so that the flexible needle (5) is bent in the puncturing process;
the feeding motor (11) rotates reversely to drive the screw nut (14) to move backwards, and the spring I (3), the spring II (4) and the spring III (6) return to the original lengths under the action of spring elasticity, so that the spring I (3), the spring II (4) and the spring III (6) push the flexible needle supporting slide block I (17), the flexible needle supporting slide block II (19) and the flexible needle supporting slide block III (20) to return to the original positions, and the reset function is realized;
the flexible needle (5) is fixedly connected with a needle clamping mechanism (8), the needle clamping mechanism (8) is fixedly connected with a rotation motor (9), the rotation motor (9) is installed on a rotation motor support (10) through a bolt, the rotation motor (9) can drive the needle clamping mechanism (8) to rotate when working, the needle clamping mechanism (8) drives the flexible needle (5) to rotate, and the needle inserting angle of the flexible needle (5) is changed by changing the rotation angle of the flexible needle (5);
the flexible needle (5) penetrates through the axis of the top hole of the first flexible needle supporting sliding block (17), the axis of the top hole of the second flexible needle supporting sliding block (19) and the axis of the top hole of the third flexible needle supporting sliding block (20), the flexible needle (5) penetrates through the hole in the spring baffle plate (1), the flexible needle (5) between the spring baffle plate (1) and the third flexible needle supporting sliding block (20) penetrates through the first spring (3), the flexible needle (5) between the spring baffle plate (1) and the second flexible needle supporting sliding block (19) penetrates through the second spring (4), the flexible needle (5) between the spring baffle plate (1) and the second flexible needle supporting sliding block (19) penetrates through the third spring (6), and the first flexible needle supporting sliding block (17), the second flexible needle supporting sliding block (19) and the flexible needle supporting sliding blocks are linked by compressing and retracting the first spring (3), the second spring (4) and the third spring (6), and the flexible needle supporting sliding blocks are linked, Holes at the two bottoms of the flexible needle supporting sliding block III (20) are respectively connected with the light bars 1 (2) and 2 (13) in a sliding way, and the light bars 1 (2) and 2 (13) are arranged in parallel and are fixed on the base (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110731929.1A CN113425391A (en) | 2021-06-30 | 2021-06-30 | Based on spring compression supports flexible needle puncture mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110731929.1A CN113425391A (en) | 2021-06-30 | 2021-06-30 | Based on spring compression supports flexible needle puncture mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113425391A true CN113425391A (en) | 2021-09-24 |
Family
ID=77757988
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110731929.1A Pending CN113425391A (en) | 2021-06-30 | 2021-06-30 | Based on spring compression supports flexible needle puncture mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113425391A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114569214A (en) * | 2022-03-31 | 2022-06-03 | 哈尔滨理工大学 | Sleeve flexible needle puncture device with needle point pose adjusting mechanism |
| CN114668462A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Flexible needle puncturing device supported by scissor fork mechanism and capable of adjusting needle inserting angle |
| CN114668464A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Automatic flexible needle replacing device |
| CN114948120A (en) * | 2022-05-05 | 2022-08-30 | 哈尔滨理工大学 | Flexible needle puncture device with flexible cable parallel platform for adjusting needle inserting angle |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104116576A (en) * | 2014-08-11 | 2014-10-29 | 宁波市鄞州云帆工程咨询有限公司 | Minimally invasive inward-hunching implantation former for tissue engineering chamber |
| CN105212997A (en) * | 2015-11-11 | 2016-01-06 | 哈尔滨理工大学 | The piercing mechanism of sleeve pipe flexible needle and piercing method |
| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
| CN107280767A (en) * | 2017-06-02 | 2017-10-24 | 北京邮电大学 | Sleeve pipe flexibility pin puncture medical robotic system |
| CN210408519U (en) * | 2019-06-24 | 2020-04-28 | 新乡医学院第三附属医院 | Interventional therapy hemostasis device |
| CN211381764U (en) * | 2020-01-09 | 2020-09-01 | 杨琼 | Operation equipment turnover vehicle |
| CN112370125A (en) * | 2020-11-13 | 2021-02-19 | 哈尔滨理工大学 | Winding type flexible needle puncture mechanism |
-
2021
- 2021-06-30 CN CN202110731929.1A patent/CN113425391A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104116576A (en) * | 2014-08-11 | 2014-10-29 | 宁波市鄞州云帆工程咨询有限公司 | Minimally invasive inward-hunching implantation former for tissue engineering chamber |
| CN105212997A (en) * | 2015-11-11 | 2016-01-06 | 哈尔滨理工大学 | The piercing mechanism of sleeve pipe flexible needle and piercing method |
| CN106420018A (en) * | 2016-11-29 | 2017-02-22 | 哈尔滨理工大学 | Flexible trocar concurrent puncture mechanism based on gear transmission |
| CN107280767A (en) * | 2017-06-02 | 2017-10-24 | 北京邮电大学 | Sleeve pipe flexibility pin puncture medical robotic system |
| CN210408519U (en) * | 2019-06-24 | 2020-04-28 | 新乡医学院第三附属医院 | Interventional therapy hemostasis device |
| CN211381764U (en) * | 2020-01-09 | 2020-09-01 | 杨琼 | Operation equipment turnover vehicle |
| CN112370125A (en) * | 2020-11-13 | 2021-02-19 | 哈尔滨理工大学 | Winding type flexible needle puncture mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114668462A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Flexible needle puncturing device supported by scissor fork mechanism and capable of adjusting needle inserting angle |
| CN114668464A (en) * | 2022-03-29 | 2022-06-28 | 哈尔滨理工大学 | Automatic flexible needle replacing device |
| CN114668464B (en) * | 2022-03-29 | 2024-05-28 | 哈尔滨理工大学 | Automatic replacement device for flexible needle |
| CN114569214A (en) * | 2022-03-31 | 2022-06-03 | 哈尔滨理工大学 | Sleeve flexible needle puncture device with needle point pose adjusting mechanism |
| CN114569214B (en) * | 2022-03-31 | 2024-05-14 | 哈尔滨理工大学 | Flexible trocar puncturing device with needle tip pose adjusting mechanism |
| CN114948120A (en) * | 2022-05-05 | 2022-08-30 | 哈尔滨理工大学 | Flexible needle puncture device with flexible cable parallel platform for adjusting needle inserting angle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113425391A (en) | Based on spring compression supports flexible needle puncture mechanism | |
| CN113208735B (en) | Flexible needle puncturing mechanism for tail end of mechanical arm | |
| CN103874524B (en) | Manipulator continuously | |
| CN107961077B (en) | Vascular intervention operation robot slave hand for controlling catheter-guide wire | |
| CN105902303B (en) | Friction wheel type casing flexible needle acupuncture treatment mechanism | |
| CN105212997A (en) | The piercing mechanism of sleeve pipe flexible needle and piercing method | |
| CN110755137A (en) | Pre-bent needle puncture mechanism capable of realizing controllable continuous curvature based on separated needle core feeding and application method thereof | |
| CN112656487A (en) | Based on flexible needle puncture mechanism of parallel lead screw formula | |
| CN106411034A (en) | Linear electric push rod capable of adjusting limitation positions | |
| CN110840524A (en) | Tumor clamp for surgical robot | |
| CN114533223B (en) | Be applied to brain branch of academic or vocational study operation's flexible needle puncture intervention device | |
| JP5042059B2 (en) | Aging device and aging method for flexible tube for endoscope | |
| CN109328661B (en) | Cortex Cinnamomi removes green tangerine peel self-adaptation device | |
| CN113768593B (en) | Based on multistage formula split supports flexible needle piercing depth | |
| CN110279439B (en) | Biopsy needle and puncture device for mechanical arm puncture | |
| CN116267503A (en) | Rubber tapping machine | |
| CN112890759B (en) | Anal canal expansion device for anorectal surgery | |
| CN114668466A (en) | Flexible needle puncture mechanism based on multi-angle adjustment | |
| CN210940098U (en) | Torsion tube solidification protection integral type frock | |
| CN110934643B (en) | Tumor surgery robot instrument assembly with dual-drive structure | |
| CN206149083U (en) | Adjustable spacing sharp electric putter | |
| KR101939319B1 (en) | Linear actuator | |
| CN118404484A (en) | High-efficient processingequipment of steam turbine valve base | |
| CN204261173U (en) | Interposing catheter conveying operations device | |
| CN220272321U (en) | Guide pair drawing type device of capacitor winding equipment |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210924 |