CN113729947B - Abdominal cavity suction device for robot operation - Google Patents
Abdominal cavity suction device for robot operation Download PDFInfo
- Publication number
- CN113729947B CN113729947B CN202110989753.XA CN202110989753A CN113729947B CN 113729947 B CN113729947 B CN 113729947B CN 202110989753 A CN202110989753 A CN 202110989753A CN 113729947 B CN113729947 B CN 113729947B
- Authority
- CN
- China
- Prior art keywords
- suction
- connecting rod
- rod mechanism
- section
- abdominal cavity
- 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.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2217/00—General characteristics of surgical instruments
- A61B2217/002—Auxiliary appliance
- A61B2217/005—Auxiliary appliance with suction drainage system
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
- External Artificial Organs (AREA)
Abstract
The utility model discloses an abdominal cavity suction device for robotic surgery, which comprises a suction tube, wherein the suction tube comprises a connecting rod mechanism hinged to the inner wall of a hose section, a suction port is formed between connecting rods of the connecting rod mechanism, a magnetic suction sealing structure for sealing the suction port is arranged at the edge of the suction port, and a sealing film is arranged between the connecting rod mechanism and the inner wall of the hose section. The utility model has the following beneficial effects: (1) The doctor of the main knife can directly control the opening and closing of the aspirator without additional assistant; (2) The suction function can be opened or closed only by clamping and loosening, and the operation is simple and efficient; (3) the link mechanism has high response speed and simple structure; (4) The range of the clamping point is enlarged by arranging the pushing device, so that the operation efficiency is further improved, and the operation difficulty is reduced; (5) The position of the suction tube is flexibly adjusted by arranging the telescopic section, so that the suction tube is convenient to attract and the blocking of the visual field is avoided.
Description
Technical Field
The utility model relates to the technical field of medical instruments, in particular to an abdominal cavity suction device for robotic surgery.
Background
The robot surgery, namely intelligent minimally invasive surgery, is designed to implement complex surgical operations by using a minimally invasive method. The intelligent minimally invasive surgery mainly comprises a control console and an operation arm, a surgeon sits in front of the control console far away from the operation table during surgery, eyes receive complete images from different cameras, the operation lever is controlled by two hands, and hand motions are transmitted to the tip of the mechanical arm to finish surgery operation. Although the mechanical arm has a plurality of degrees of freedom and extremely high flexibility, the tip can perform a relatively simple action, and usually only the actions such as needle holding or clamping are performed.
For minimally invasive surgery in the abdominal cavity by using a robot, it is generally necessary to inflate the abdominal cavity to create a pneumoperitoneum, then puncture the abdominal wall, and then extend the aspirator and the tip of the mechanical arm into the abdominal cavity through the stabbing port. In the conventional aspirator, substances outside the aspirator tip, i.e., in the abdominal cavity are usually extruded to the aspirator tip by using negative pressure, and a machine for manufacturing the negative pressure is always kept in an open state in the operation process, so that an assistant doctor needs to be equipped in actual operation to insert the aspirator into the abdominal cavity when the aspirator is required to be aspirated according to the requirement of a doctor of a main knife, and once the aspirator is completed, the aspirator is immediately taken out, otherwise, the continuous negative pressure can greatly reduce the air pressure in the abdominal cavity, and the establishment of pneumoperitoneum and the operation are affected. The doctor of the main knife can not directly control the opening and closing of the suction, has higher requirements on the capability of the doctor of the assistant and reduces the operation efficiency.
For example, a "disposable negative pressure aspirator and pedal negative pressure aspirator" disclosed in chinese patent literature, application number CN201821320429.9 thereof, includes an aspirator main body in which at least one guide tube is provided; the guide tube extends from the upper end of the aspirator body to the lower end of the aspirator body. The utility model realizes the opening and closing of the negative pressure through the pedals, and has the defects that as a doctor of a main knife of the robot operation is far away from an operating table, the aspirator is difficult to be suitable for the robot operation, and the doctor of the main knife is difficult to directly operate the aspirator.
Disclosure of Invention
The utility model provides an abdominal cavity suction device for a robot operation, which aims to solve the problem that a doctor of a main knife is difficult to directly control a suction device in the existing robot operation and reduce operation efficiency.
In order to achieve the above purpose, the present utility model adopts the following technical scheme:
the utility model provides an abdominal cavity suction device for robotic surgery, includes the suction tube, the suction tube includes that hose section inner wall articulates there is link mechanism, form the suction mouth between link mechanism's the connecting rod, the suction mouth is along being equipped with the magnetism that is used for sealed suction mouth and inhale seal structure, be equipped with the sealing membrane between link mechanism and the hose section inner wall.
The utility model is characterized in that an attraction opening capable of opening and closing is arranged in the attraction pipe, and the deformation of the hose is controlled by the clamping action of the tip of the mechanical arm, so that the opening and closing state of the attraction opening is controlled. In the operation process, the suction port edge is sucked and sealed through a magnetic suction sealing structure, and the connecting rod mechanism and the pipe wall are also sealed through a sealing film, so that even if continuous negative pressure is formed on one side of the suction port far away from the abdominal cavity, the pressure on the other side cannot be influenced, and the pressure on the side of the suction port close to the abdominal cavity is kept consistent with the pressure in the abdominal cavity; when suction is needed, a doctor of the main knife operates the mechanical arm to clamp the tip to clamp the hose section, the hose section is flattened and deformed and then drives the connecting rod mechanism to expand outwards, the magnetic suction sealing structure is separated, the suction port is opened, and blood and dirt are sucked out of the suction port; after the suction is completed, the clamping tip is taken down from the suction pipe, the hose section is reset to be original state due to self elasticity, the connecting rod mechanism is contracted, the magnetic suction sealing structure is sucked, the suction opening is closed, and the sealing state is restored. The structure enables a doctor of the main knife to directly control the opening and closing of the aspirator, and can realize control only by clamping or loosening the clamping tip, so that the operation efficiency is high, and a plurality of assistants are not needed.
Preferably, the connecting rod mechanism comprises two double-connecting rod mechanisms, each double-connecting rod mechanism comprises a first connecting rod and a second connecting rod, the end parts of the first connecting rod and the end parts of the second connecting rod are hinged, the two ends of each double-connecting rod mechanism are respectively hinged with the inner wall of the hose section, the suction port is arranged between the two double-connecting rod mechanisms, and magnetic suction strips are arranged on one sides, close to the suction port, of the two double-connecting rod mechanisms.
The hose section is internally provided with a left sealing film and a right sealing film, one side of each sealing film, which is close to the center of the hose, is provided with a double-connecting-rod mechanism, each double-connecting-rod mechanism comprises two connecting rods hinged together, each double-connecting-rod mechanism is provided with a flexible magnetic suction strip, when the hose is extruded, the connecting rods are folded and expanded outwards, the two magnetic suction strips are separated, the connecting rods drive the flexible sealing films to be folded and contracted, and a suction port is formed between the two double-connecting-rod mechanisms.
Preferably, two ends of the two double-link mechanisms are mutually hinged to form a four-link mechanism.
Further, two ends of the two double-link mechanisms are hinged to form an integral four-link mechanism, the suction port is diamond-shaped, the structure is more simplified, and two sides of the suction port are ensured to be synchronously opened.
Preferably, a limiting mechanism is arranged between two connecting rods of the double-connecting-rod mechanism, and the limiting mechanism enables a rotation angle between the connecting rods to be smaller than 180 degrees.
The phenomenon that dead points are formed after the connecting rods form a straight line is avoided, and the suction port can be opened rapidly when the two ends of the double-connecting-rod mechanism are pressed.
Preferably, the magnetic attraction strips are flexibly connected with the connecting rod, and the magnetic attraction strips on two sides extend along the axial direction in opposite directions.
The position of the magnetic suction strip is convenient to be finely adjusted, and the closed state of the suction opening is ensured.
Preferably, a pushing device is arranged on the outer side of the hose section, the pushing device comprises an air cylinder, a piston arranged in the air cylinder in a sliding mode and an air bag communicated with the air cylinder, the air bag is arranged along the circumferential direction of the suction tube, and the output end of the piston is arranged corresponding to the hinge point of the hose section and the connecting rod mechanism.
In order to achieve the purpose of opening the suction port, the hinge point between the pressing connecting rod mechanism and the hose section or the vicinity thereof is clamped to drive the connecting rod to rotate, and the requirement on the position precision of the clamping point is high, so that the operation precision of a doctor of the main knife is high, and the operation efficiency is influenced. The main sword doctor operates arm pointed end and grips the gasbag, extrudees the gas in the gasbag in the cylinder, promotes the piston and removes to drive hose section and warp, because the gasbag sets up along circumference, no matter what position of grasping the gasbag from what angle can both realize opening of suction inlet, through setting up thrust unit with the grip point scope expansion, improve operating efficiency, reduce the operation degree of difficulty.
Preferably, an elastic reset piece is arranged at the hinge joint of the connecting rod mechanism.
The elastic reset piece is used for assisting the connecting rod mechanism to reset and close the suction port, and the elastic reset piece is preferably a torsion spring with two ends respectively connected with the connecting rods.
Preferably, the suction tube further comprises a hard tube section, and the pushing device is fixed on the hard tube section.
Ensuring that the pushing device is supported.
Preferably, the hose section is arranged in the hard pipe section, and two ends of the hose section are fixedly connected with the hard pipe section.
The hard pipe section protects the soft pipe section externally, and deformation of the soft pipe section caused by false touch is avoided.
Preferably, the suction tube further comprises a tubular telescoping section.
The length and the angle of the suction tube are conveniently adjusted by arranging the telescopic section, the suction tube is stretched to the position to be sucked by the mechanical arm when the suction is needed, and the suction tube is retracted after the suction is completed, so that the blocking of the operation field is avoided.
Therefore, the utility model has the following beneficial effects: (1) The doctor of the main knife can directly control the opening and closing of the aspirator without additional assistant; (2) The suction function can be opened or closed only by clamping and loosening, and the operation is simple and efficient; (3) the link mechanism has high response speed and simple structure; (4) The range of the clamping point is enlarged by arranging the pushing device, so that the operation efficiency is further improved, and the operation difficulty is reduced; (5) The position of the suction tube is flexibly adjusted by arranging the telescopic section, so that the suction tube is convenient to attract and the blocking of the visual field is avoided.
Drawings
Fig. 1 is a schematic view of a structure of the present utility model.
Fig. 2 is a schematic view of a structure of the suction port of the present utility model when it is closed.
Fig. 3 is a schematic view of a structure of the suction port of the present utility model when opened.
In the figure: 1. the device comprises a hose section, 2, a connecting rod mechanism, 21, a first connecting rod, 211, a limiting groove, 22, a second connecting rod, 221, a limiting block, 3, a sealing film, 4, a magnetic suction strip, 5, a cylinder, 51, a piston, 6, an air bag, 61, an air pipe, 7, a hard pipe section, 71 and a telescopic section.
Detailed Description
The utility model is further described below with reference to the drawings and detailed description.
As shown in fig. 1, the abdominal cavity suction device for the robotic surgery comprises a suction tube with one end communicated with a negative pressure device, wherein the suction tube comprises a hard tube section 7, a telescopic section 71 and a hose section 1, the hard tube section 7 is made of hard plastic, a tubular telescopic section 71 is connected between the hard tube sections 7, the telescopic section 71 is of a corrugated telescopic bending structure, the hose section 1 is made of elastic plastic and is arranged in the hard tube section 7, and two ends of the hose section 1 are fixedly connected with the hard tube section 7.
As shown in fig. 2 and 3, the inner wall of the hose section 1 is hinged with a connecting rod mechanism 2, the connecting rod mechanism 2 is a four-bar mechanism, the four-bar mechanism surrounds a diamond-shaped suction opening 11, two opposite vertexes of the diamond are hinged on the wall of the hose section 1, the two sides of the suction opening 11 are respectively provided with a magnetic suction strip 4 used for sealing the suction opening 11, the magnetic suction strips 4 and the connecting rod 2 are flexibly connected through flexible connecting pieces, the magnetic suction strips 4 on the two sides extend in opposite directions along the axial direction, and a flexible sealing film 3 is arranged between the connecting rod mechanism 2 and the inner wall of the hose section 1. The four-bar linkage mechanism comprises two adjacent first connecting rods 21 and two adjacent second connecting rods 22, torsion springs are arranged at the hinging positions of the first connecting rods and the second connecting rods, limiting grooves 211 are formed in one sides of the first connecting rods 21 far away from the suction openings 11, one ends of the second connecting rods 22 close to the first connecting rods 21 outwards extend to form limiting blocks 221, the limiting blocks 221 are in plug-in fit with the limiting grooves 211, when the limiting blocks are plugged in the limiting grooves, and included angles between the first connecting rods and one sides of the second connecting rods close to the suction openings are smaller than 180 degrees.
Two pushing devices are arranged between the hose section 1 and the hard tube section 7, each pushing device comprises an air cylinder 5, a piston 51 arranged in the air cylinder 5 in a sliding manner and an air bag 6 communicated with the air cylinder 5, the air bag 6 is communicated with the air cylinder 5 through an air pipe 61, the air pipe 61 extends along the axial direction, the air bag 6 is circumferentially arranged along the suction tube and is fixed in the hard tube section 7, and the output end of the piston 51 corresponds to the hinge point of the hose section 1 and the connecting rod mechanism 2.
The use mode is as follows: after the pneumoperitoneum is established, a negative pressure device is started, so that the suction tube is always kept in a negative pressure state, but because of a sealing film in the tube and a closed suction port, the negative pressure does not influence the pressure in the abdominal cavity, when suction is needed, a doctor of a main knife operates a clamping tip of a mechanical arm to clamp the suction tube to a position to be sucked, an air bag is clamped in place, air in the air bag is extruded into an air cylinder through an air pipe, a piston is pushed to move towards a hinging point to extrude a hose section, the hose section is flattened and deformed to drive a connecting rod mechanism to expand, a limiting block is gradually far away from a limiting groove along with the rotation of a second connecting rod, a magnetic suction strip is separated, the suction port is opened, and blood is sucked out from the suction port, as shown in fig. 3; after the suction is completed, the clamping tip is taken down from the suction pipe, the hose section is reset to be original state under the action of the elasticity of the hose section and the torsion spring, the connecting rod mechanism contracts, the limiting block is accommodated and abutted in the limiting groove, the included angle between the connecting rods is smaller than 180 degrees, the magnetic suction strip is used for sucking the flexible connecting piece to close the suction port, the sealing state is recovered, the hose section rebounds, the piston is reset, and the gas returns to the air bag again, as shown in fig. 2. The doctor of the main knife can clamp the air bag at any position to open the suction port, so that the operation difficulty is low, and no additional assistant is needed.
Claims (8)
1. The abdominal cavity suction device for the robot operation comprises a suction tube, and is characterized in that the suction tube comprises a connecting rod mechanism (2) hinged to the inner wall of a hose section (1), a suction port (11) is formed between connecting rods of the connecting rod mechanism (2), a magnetic suction sealing structure for sealing the suction port (11) is arranged at the edge of the suction port (11), and a sealing film (3) is arranged between the connecting rod mechanism (2) and the inner wall of the hose section (1); the connecting rod mechanism (2) comprises two double-connecting rod mechanisms, wherein each double-connecting rod mechanism comprises a first connecting rod (21) and a second connecting rod (22) with hinged ends, two ends of each double-connecting rod mechanism are respectively hinged with the inner wall of the hose section (1), and two ends of each double-connecting rod mechanism are mutually hinged to form a four-connecting rod mechanism; the suction port (11) is arranged between the two double-link mechanisms, and one sides of the two double-link mechanisms, which are close to the suction port (11), are provided with magnetic suction strips (4).
2. The abdominal cavity suction device for robotic surgery according to claim 1, wherein a limiting mechanism is provided between two links of the double link mechanism, and the limiting mechanism makes a rotation angle between the links smaller than 180 °.
3. The abdominal cavity suction device for the robotic surgery according to claim 2, wherein the magnetic suction strips (4) are flexibly connected with the connecting rod mechanism (2), and the magnetic suction strips (4) on two sides extend in opposite directions along the axial direction.
4. The abdominal cavity suction device for robotic surgery according to claim 1, wherein a pushing device is arranged on the outer side of the hose section (1), the pushing device comprises a cylinder (5), a piston (51) arranged in the cylinder (5) in a sliding manner and an air bag (6) communicated with the cylinder (5), the air bag (6) is arranged along the circumferential direction of the suction tube, and the output end of the piston (51) is arranged corresponding to the hinge point of the hose section (1) and the connecting rod mechanism (2).
5. The abdominal cavity suction device for robotic surgery according to claim 4, wherein the hinge of the linkage mechanism is provided with an elastic restoring member.
6. The abdominal suction device for robotic surgery as claimed in claim 4, wherein the suction tube further comprises a hard tube section (7), and the pushing device is fixed to the hard tube section (7).
7. The abdominal cavity suction device for robotic surgery according to claim 5, wherein the hose section (1) is arranged in a hard tube section (7), and both ends of the hose section (1) are fixedly connected with the hard tube section (7).
8. A robotic surgical abdominal suction device according to claim 1, characterized in that the suction tube further comprises a tubular telescopic section (71).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110989753.XA CN113729947B (en) | 2021-08-26 | 2021-08-26 | Abdominal cavity suction device for robot operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110989753.XA CN113729947B (en) | 2021-08-26 | 2021-08-26 | Abdominal cavity suction device for robot operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113729947A CN113729947A (en) | 2021-12-03 |
| CN113729947B true CN113729947B (en) | 2023-06-02 |
Family
ID=78733105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110989753.XA Active CN113729947B (en) | 2021-08-26 | 2021-08-26 | Abdominal cavity suction device for robot operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113729947B (en) |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0975355A (en) * | 1995-09-11 | 1997-03-25 | Olympus Optical Co Ltd | Suction system of pneumoperitoneum apparatus |
| CN202844334U (en) * | 2012-11-19 | 2013-04-03 | 青岛市市立医院 | Special telescopic negative-pressure suction tube for obstetric operation |
| CN203790415U (en) * | 2014-04-16 | 2014-08-27 | 吴亚乐 | Improved structure of suction tube |
| CN207605167U (en) * | 2017-03-22 | 2018-07-13 | 中国人民解放军第三〇七医院 | A kind of not damaged aspirator of hysteroscope pneumoperitoneum |
| CN208677519U (en) * | 2017-09-27 | 2019-04-02 | 常州市海达医疗器械有限公司 | Disposable detachable puncture importer |
| CN108553075A (en) * | 2018-05-08 | 2018-09-21 | 汪凌峰 | A kind of department of stomatology auxiliary examination lighting device |
| CN211658838U (en) * | 2019-07-26 | 2020-10-13 | 杨建华 | Aspirator sleeve for laparoscopic surgery |
| CN212067315U (en) * | 2020-03-01 | 2020-12-04 | 高悬 | Negative pressure suction device for laparoscopic surgery |
| CN213099932U (en) * | 2020-07-15 | 2021-05-04 | 连云港市第一人民医院 | Double-cavity sleeve for abdominal cavity irrigation |
| CN213852327U (en) * | 2020-10-30 | 2021-08-03 | 上海市同济医院 | Nose of adjustable camber is with once only attracting pipe |
| CN112293358B (en) * | 2020-11-16 | 2022-02-18 | 浙江海洋大学 | Crab pot with improved structure |
-
2021
- 2021-08-26 CN CN202110989753.XA patent/CN113729947B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN113729947A (en) | 2021-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7559450B2 (en) | Surgical instrument incorporating a fluid transfer controlled articulation mechanism | |
| US5722990A (en) | Tissue grasping device | |
| EP2163213B1 (en) | Articulating surgical instrument using flexible fluid-filled tubing for transferring force | |
| CN104287781A (en) | Hand actuated tetherless biopsy device with scissors grip | |
| CN110292411A (en) | A kind of tissue folder closes device | |
| CN108158659B (en) | Endoscope operation mechanical arm device | |
| CN113729947B (en) | Abdominal cavity suction device for robot operation | |
| CN216148189U (en) | Abdominal cavity suction device for robot operation | |
| CN203988286U (en) | Cavity mirror object-obtaining device | |
| CN203988285U (en) | A kind of cavity mirror object-obtaining device | |
| TW201735856A (en) | Endoscopic device having design of multiple stage control | |
| CN217772507U (en) | Multifunctional aspirator for surgical machine system | |
| CN109745090A (en) | A kind of laparoscopic appendectomy stapler | |
| CN113413201B (en) | Puncture outfit and endoscope robot | |
| CN115778758A (en) | Multifunctional rehabilitation driving device and rehabilitation gloves | |
| CN105997208A (en) | Pincer body structure of foreign matter net pincer for surgery | |
| CN101279116B (en) | Dilater | |
| CN209360773U (en) | A kind of celioscope gall-bladder operation pulling clamp | |
| CN219814247U (en) | Suction cutter | |
| CN211911728U (en) | Reliable laparoscopic surgery pincers of structure | |
| CN205697953U (en) | Tissue lacuna self adaptive bendable perforator | |
| CN109893212B (en) | Soft hydraulic tissue forceps | |
| CN105749362B (en) | One kind separation attracts integrated device | |
| CN215306438U (en) | Surgical forceps | |
| CN210582631U (en) | Dual-function surgical auxiliary tool |
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 |