CN113749732A - Medical stone crushing robot - Google Patents
Medical stone crushing robot Download PDFInfo
- Publication number
- CN113749732A CN113749732A CN202111208295.8A CN202111208295A CN113749732A CN 113749732 A CN113749732 A CN 113749732A CN 202111208295 A CN202111208295 A CN 202111208295A CN 113749732 A CN113749732 A CN 113749732A
- Authority
- CN
- China
- Prior art keywords
- bin
- peristaltic
- outlet
- bracket
- medical stone
- 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.)
- Withdrawn
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
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
- A61B17/22012—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B2017/22079—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for with suction of debris
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Vascular Medicine (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Mechanical Engineering (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)
- Crushing And Grinding (AREA)
Abstract
The invention discloses a medical stone breaking robot which comprises a stone breaking bin, wherein one end of the stone breaking bin is provided with a camera, a water spraying port and an instrument wire guide port, and the other end of the stone breaking bin is provided with a peristaltic bin; a gravel component and a first steering component are arranged in the gravel bin, and a peristaltic component and a second steering component are arranged in the peristaltic bin; the gravel bin is provided with a first inlet and a first outlet, the peristaltic bin is provided with a second inlet and a second outlet, and the first outlet is communicated with the second inlet. In the invention, the camera is used for finding the position of the calculus, and the water spray nozzle sprays water for wetting the calculus; the stone crushing bin crushes stones through the stone crushing assembly, and the steering of the front part of the robot is realized through the first steering assembly; the peristaltic cabin realizes the forward or backward movement of the robot through the peristaltic assembly, and realizes the steering of the middle part of the robot through the second steering assembly.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a medical stone breaking robot.
Background
At present, the lithotripsy technology aiming at biliary calculi and urinary calculi in patients roughly comprises ultrasonic lithotripsy, lithotripsy through a lithotomy net under a natural lumen choledochoscope or a ureteroscope, and lithotripsy under the radiography of duodenal papilla; if part of stones are large or the stones are hard, holmium laser, liquid electricity or air pressure ballistic calculus breaking is used; however, the prior art has the problems of low calculus removing efficiency, high technical requirements of operators, difficulty in removing part of calculus and the like, and doctors often spend several hours and still cannot remove all calculus.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the medical stone crushing robot with high stone taking efficiency.
In order to achieve the purpose of the invention, the technical scheme adopted by the invention is as follows:
the medical stone breaking robot comprises a stone breaking bin, wherein one end of the stone breaking bin is provided with a camera, a water spraying port and an instrument wire guide port, and the other end of the stone breaking bin is provided with a peristaltic bin; a gravel component and a first steering component are arranged in the gravel bin, and a peristaltic component and a second steering component are arranged in the peristaltic bin; the gravel bin is provided with a first inlet and a first outlet, the peristaltic bin is provided with a second inlet and a second outlet, and the first outlet is communicated with the second inlet.
The beneficial effects of adopting the above technical scheme are: the camera is used for finding the position of the calculus, and the water spray nozzle sprays water for wetting the calculus; the stone crushing bin crushes stones through the stone crushing assembly, and the steering of the front part of the robot is realized through the first steering assembly; the peristaltic cabin realizes the forward or backward movement of the robot through the peristaltic assembly, and realizes the steering of the middle part of the robot through the second steering assembly; the first outlet is communicated with the second inlet, so that the stones entering from the first inlet are crushed and then sequentially enter the first outlet and the second inlet, and are discharged from the second outlet.
Further, first subassembly that turns to includes a plurality of first electro-magnets, first electro-magnet evenly sets up the one end that is close to first export at the rubble storehouse along circumference, and the one end that first export was kept away from to first electro-magnet has the mounting panel through spring coupling, and the one end of mounting panel articulates there are a plurality of first mounting brackets, all slides on a plurality of first mounting brackets and is provided with the link, and the one end of link articulates in the rubble storehouse.
The beneficial effects of adopting the above technical scheme are: first electro-magnet attractable mounting panel, can control the mounting panel through the magnetic force of controlling first electro-magnet and deflect thereupon, and then make the first mounting bracket on the mounting panel deflect thereupon, thereby realize the anterior turning to of robot, in addition, when a plurality of first electro-magnets attract the mounting panel with same magnetic force, the mounting panel removes to first electro-magnet direction, a plurality of first mounting brackets strut gradually under the restraint of link, when first electro-magnet stops to attract, under the effect of spring, a plurality of first mounting brackets withdraw gradually again, thereby realize the reducing of first mounting bracket front end, and then conveniently swallow the calculus storehouse.
Furthermore, the gravel assembly comprises a second mounting rack fixed in the gravel bin along the axial direction and a first support arranged at one end of the first mounting racks, and a toothed chain is arranged on the first support and the second mounting rack in a sliding manner; one end of the second mounting frame, which is close to the first outlet, is provided with a hollow shaft motor, and the output end of the hollow shaft motor is meshed with the toothed chain.
The beneficial effects of adopting the above technical scheme are: the hollow shaft motor drives the toothed chain to rotate, and the toothed chain slides on the first support and the second mounting rack, so that the calculi are cut and are taken to the interior of the gravel bin.
Furthermore, a second support and a third support are respectively arranged at two ends of the second mounting frame, the first support and the third support are arc-shaped supports, and the second support is a circular support; sliding rails are arranged on the second mounting frame, the first support, the second support and the third support.
The beneficial effects of adopting the above technical scheme are: the toothed chain slides in the slide rails of the second mounting frame, the first support, the second support and the third support to form a closed toothed chain, and the closed toothed chain is driven by the hollow shaft motor to cut circularly.
Further, a hollow shaft of the hollow shaft motor is provided with a spiral inner wall, and the hollow shaft is communicated with the first outlet.
The beneficial effects of adopting the above technical scheme are: the helical inner wall facilitates the carrying of stone debris from one end of the hollow shaft to the first outlet.
Furthermore, the peristaltic assembly comprises a sliding rod axially fixed in the peristaltic bin, a plurality of sliding plates are arranged on the sliding rod in a sliding manner, and second electromagnets are fixed on the sliding plates; a first elastic steel sheet is arranged between two adjacent sliding plates, the two adjacent sliding plates are connected with a second elastic steel sheet through a connecting rod, one end of the second elastic steel sheet penetrates through the wriggling bin, and a silica gel wriggling foot is arranged at one end of the second elastic steel sheet.
The beneficial effects of adopting the above technical scheme are: the second electromagnet generates magnetic force, the sliding plates are close to each other, the magnetic force of the second electromagnet disappears, and the sliding plates are far away under the action of the first elastic steel sheet; the approach and the departure of the sliding plate drive the silica gel creeping foot to start creeping, thereby realizing the forward or backward movement.
Further, the middle part of the sliding plate is provided with a through hole.
The beneficial effects of adopting the above technical scheme are: the middle part of the sliding plate is provided with a through hole, so that stone fragments can pass through the through hole conveniently.
Furthermore, elastic sleeves are arranged between the first outlet and the sliding plates, between two adjacent sliding plates and between the sliding plates and the second outlet.
The beneficial effects of adopting the above technical scheme are: the elastic sleeve is arranged to provide a passage for discharging the stone fragments, so that the stone fragments can be discharged to the second outlet through the first outlet, the elastic sleeve and the through hole.
Further, the second steering assembly includes a push-pull rod secured to the second resilient steel sheet and a pull rope connected to the slide plate adjacent the second inlet.
The beneficial effects of adopting the above technical scheme are: the push-pull rod changes the bending angle of the second elastic steel sheet, so that the angle of the silica gel creeping foot is changed, and the steering of the middle part of the creeping bin is realized; the pulling rope pulls the sliding plate close to the second inlet so as to realize the steering of the front part of the peristaltic cabin.
Furthermore, one end of the peristaltic cabin is provided with a line concentration channel.
The beneficial effects of adopting the above technical scheme are: the line concentration channel is used for collecting a camera control line, a pipeline required by a water jet, a guide wire, a hollow shaft motor control line, a first electromagnet control line, a second electromagnet control line, a push-pull rod and a traction rope, and is beneficial for a doctor to control outside a human body.
The invention has the beneficial effects that: the camera is used for finding the position of the calculus, and the water spray nozzle sprays water for wetting the calculus; the stone crushing bin crushes stones through the stone crushing assembly, and the steering of the front part of the robot is realized through the first steering assembly; the peristaltic cabin realizes the forward or backward movement of the robot through the peristaltic assembly, and realizes the steering of the middle part of the robot through the second steering assembly; the first outlet is communicated with the second inlet, so that the stones entering from the first inlet are crushed and then sequentially enter the first outlet and the second inlet, and are discharged from the second outlet.
Drawings
FIG. 1 is a front view of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a gravel bin according to an embodiment of the present invention;
FIG. 3 is a left side view of FIG. 2;
FIG. 4 is a schematic structural view of a peristaltic bin in an embodiment of the present invention;
FIG. 5 is a schematic view of the structure at A in FIG. 2;
the device comprises a gravel bin 1, a gravel bin 2, a creeping bin 3, a silica gel creeping foot 4, a line concentration channel 5, a camera 6, a first mounting frame 7, a connecting frame 8, a mounting plate 9, a spring 10, a first electromagnet 11, a first outlet 12, a hollow shaft motor 13, an inner wall 14, a second support 15, a toothed chain 16, a second mounting frame 17, a third support 18, a first inlet 19, a first support 20, a water spraying port 21, an instrument guide wire port 22, a second inlet 23, a sliding plate 24, a traction rope 25, a sliding rod 26, an elastic sleeve 27, a through hole 28, a first elastic steel sheet 29, a connecting rod 30, a second elastic steel sheet 31, a push-pull rod 32, a second outlet 33 and a sliding rail.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
As shown in fig. 1-4, the scheme provides a medical stone crushing robot, which comprises a stone crushing bin 1, wherein one end of the stone crushing bin 1 is provided with a camera 5, a water spraying port 20 and an instrument guide port 21, the other end of the stone crushing bin 1 is provided with a peristaltic bin 2, hydrophilic rubber skins are arranged outside the stone crushing bin 1 and the peristaltic bin 2, and the hydrophilic rubber skins are provided with folds to facilitate stretching; a gravel component and a first steering component are arranged in the gravel bin 1, and a peristaltic component and a second steering component are arranged in the peristaltic bin 2; the gravel bin 1 is provided with a first inlet 18 and a first outlet 11, the peristaltic bin 2 is provided with a second inlet 22 and a second outlet 32, and the first outlet 11 is communicated with the second inlet 22.
Wherein, the camera 5 is used for finding the position of the calculus, and the water spraying port 20 sprays water for wetting the calculus; the stone crushing bin 1 crushes stones through a stone crushing component, and realizes steering of the front part of the robot through a first steering component; the peristaltic cabin 2 realizes the forward or backward movement of the robot through a peristaltic assembly, and realizes the steering of the middle part of the robot through a second steering assembly; the first outlet 11 is communicated with the second inlet 22, so that the stones entering from the first inlet 18 are crushed, enter the first outlet 11 and the second inlet 22 in sequence, and are discharged from the second outlet 32.
As optional embodiment, first steering assembly includes a plurality of first electro-magnets 10, and first electro-magnet 10 evenly sets up in rubble storehouse 1 along circumference and is close to the one end of first export 11, and the one end that first electro-magnet 10 kept away from first export 11 is connected with mounting panel 8 through spring 9, and the mounting panel can be iron plate, and mounting panel 8's one end articulates there is a plurality of first mounting brackets 6, all slides on a plurality of first mounting brackets 6 and is provided with link 7, and the one end of link 7 articulates in rubble storehouse 1.
Wherein, the adsorbable mounting panel 8 of first electro-magnet 10, can control the mounting panel 8 through the magnetic force power of controlling first electro-magnet 10 and deflect, and then make first mounting bracket 6 on the mounting panel 8 deflect along with it, thereby realize the anterior turning to of robot, in addition, when a plurality of first electro-magnets 10 attract mounting panel 8 with same magnetic force, mounting panel 8 removes to 10 directions of first electro-magnet, a plurality of first mounting brackets 6 strut gradually under the restraint of link 7, when first electro-magnet 10 stops to attract, under spring 9's effect, a plurality of first mounting brackets 6 are withdrawed gradually again, thereby realize the reducing of 6 front ends of first mounting bracket, and then the convenience is with swallowing gravel storehouse 1.
As an optional implementation mode, the stone breaking assembly comprises a second mounting frame 16 fixed in the stone breaking bin 1 along the axial direction and a first support 19 arranged at one end of the first mounting frames 6, a toothed chain 15 is arranged on the first support 19 and the second mounting frame 16 in a sliding manner, the toothed chain 15 can be a ceramic toothed chain, and the ceramic toothed chain has cutting and abrasion effects on fragile substances such as stones and has no cutting effect on softer tissues such as tube wall tissues; one end of the second mounting frame 16 close to the first outlet 11 is provided with a hollow shaft motor 12 which is a micro motor; as shown in fig. 5, the output of the hollow shaft motor 12 meshes with the toothed chain 15.
Wherein the hollow shaft motor 12 drives the toothed chain 15 to rotate, and the toothed chain 15 slides on the first mounting rack 19 and the second mounting rack 16, so as to cut the calculi and bring the calculi at the first mounting rack 19 to the interior of the gravel bin 1.
As an alternative embodiment, the second bracket 14 and the third bracket 17 are respectively arranged at two ends of the second mounting bracket 16, the first bracket 19 and the third bracket 17 are arc-shaped brackets, and the second bracket 14 is a circular bracket; the second mounting frame 16, the first support 19, the second support 14 and the third support 17 are all provided with slide rails 33, and the second mounting frame 16 is provided with two rows of slide rails along the axial direction; an unclosed circular slide rail is arranged on the second support 14, and two ends of the circular slide rail are respectively communicated with the two rows of slide rails of the second mounting rack 16; interrupted slide rails are arranged on the third support 17, and the interrupted parts of the slide rails are respectively communicated with the two rows of slide rails of the second mounting rack 16; the toothed chain 15 slides in the slide rails 33 of the second mounting frame 16, the first bracket 19, the second bracket 14 and the third bracket 17 to form a closed toothed chain 15, and the closed toothed chain is driven by the hollow shaft motor 12 to cut circularly.
As an alternative embodiment, the hollow shaft of the hollow shaft motor 12 is provided with a helical inner wall 13, the hollow shaft communicating with the first outlet 11; wherein the helical inner wall 13 facilitates the carrying of stone debris from one end of the hollow shaft to the first outlet 11.
As an optional embodiment, the peristaltic assembly comprises a slide rod 25 axially fixed in the peristaltic bin 2, the slide rod 25 is slidably provided with a plurality of slide plates 23, and the slide plates 23 are all fixed with second electromagnets; a first elastic steel sheet 28 is arranged between two adjacent sliding plates 23, the two adjacent sliding plates 23 are connected with a second elastic steel sheet 30 through a connecting rod 29, one end of the second elastic steel sheet 30 penetrates through the peristaltic cabin 2, and one end of the second elastic steel sheet 30 is provided with the peristaltic cabin 2; the second electromagnet generates magnetic force, the sliding plates 23 approach to each other, the magnetic force of the second electromagnet disappears, and the sliding plates 23 are far away under the action of the first elastic steel sheet 28; the approach and the distancing of the sliding plate 23 bring the peristaltic cabin 2 to start peristalsis, thus realizing the advance or the retreat.
As an alternative embodiment, the sliding plate 23 is provided with a through hole 27 in the middle to facilitate the passage of stone debris.
As an alternative embodiment, elastic sleeves 26 are arranged between the first outlet 11 and the sliding plate 23, between two adjacent sliding plates 23, and between the sliding plate 23 and the second outlet 32; the resilient sleeve 26 is arranged to provide a passage for the discharge of stone debris, allowing the stone debris to be discharged through the first outlet 11, the resilient sleeve 26 and the through bore 27 to the second outlet 32.
As an alternative embodiment, the second steering assembly comprises a push-pull rod 31 and a pull rope 24, the push-pull rod 31 is fixed on the second elastic steel sheet 30, and the pull rope 24 is connected on the sliding plate 23 near the second inlet; wherein, the push-pull rod 31 changes the bending angle of the second elastic steel sheet 30, and further changes the angle of the peristaltic cabin 2, so as to realize the steering of the middle part of the peristaltic cabin 2; the pulling rope 24 pulls the sliding plate 23 close to the second inlet to effect the turning of the front part of the peristaltic cabin 2.
As an optional embodiment, one end of the peristaltic cabin 2 is provided with a wire collecting channel 4 for collecting a control wire of the camera 5, a pipeline required by the water jet 20, a guide wire, a control wire of the hollow shaft motor 12, a control wire of the first electromagnet 10, a control wire of the second electromagnet, a push-pull rod 31 and a traction rope 24, and is beneficial for a doctor to control outside a human body.
Claims (10)
1. The medical stone breaking robot is characterized by comprising a stone breaking bin (1), wherein one end of the stone breaking bin (1) is provided with a camera (5), a water spraying port (20) and an instrument wire guide port (21), and the other end of the stone breaking bin (1) is provided with a peristaltic bin (2); a gravel component and a first steering component are arranged in the gravel bin (1), and a peristaltic component and a second steering component are arranged in the peristaltic bin (2); the gravel bin (1) is provided with a first inlet (18) and a first outlet (11), the peristaltic bin (2) is provided with a second inlet (22) and a second outlet (32), and the first outlet (11) is communicated with the second inlet (22).
2. The medical stone crushing robot as claimed in claim 1, wherein the first steering assembly comprises a plurality of first electromagnets (10), the first electromagnets (10) are uniformly arranged at one end, close to the first outlet (11), of the stone crushing bin (1) along the circumferential direction, one end, far away from the first outlet (11), of each first electromagnet (10) is connected with a mounting plate (8) through a spring (9), one end of each mounting plate (8) is hinged to a plurality of first mounting frames (6), a plurality of connecting frames (7) are arranged on the first mounting frames (6) in a sliding mode, and one ends of the connecting frames (7) are hinged to the stone crushing bin (1).
3. The medical stone breaking robot according to claim 1, characterized in that the stone breaking assembly comprises a second mounting frame (16) fixed in the stone breaking bin (1) along the axial direction and a first bracket (19) arranged at one end of a plurality of first mounting frames (6), wherein a toothed chain (15) is arranged on the first bracket (19) and the second mounting frame (16) in a sliding manner; one end, close to the first outlet (11), of the second mounting frame (16) is provided with a hollow shaft motor (12), and the output end of the hollow shaft motor (12) is meshed with the toothed chain (15).
4. The medical stone crushing robot according to claim 3, wherein a second bracket (14) and a third bracket (17) are respectively arranged at two ends of the second mounting frame (16), the first bracket (19) and the third bracket (17) are circular arc brackets, and the second bracket (14) is a circular bracket; and sliding rails (33) are arranged on the second mounting frame (16), the first support (19), the second support (14) and the third support (17).
5. Medical stone breaking robot according to claim 3, characterized in that the hollow shaft of the hollow shaft motor (12) is provided with a helical inner wall (13) and communicates with the first outlet (11).
6. The medical stone breaking robot according to claim 1, wherein the peristaltic assembly comprises a slide bar (25) axially fixed in the peristaltic chamber (2), a plurality of slide plates (23) are slidably arranged on the slide bar (25), and second electromagnets are fixed on the slide plates (23); a first elastic steel sheet (28) is arranged between every two adjacent sliding plates (23), the two adjacent sliding plates (23) are connected with a second elastic steel sheet (30) through a connecting rod (29), one end of the second elastic steel sheet (30) penetrates through the creeping cabin (2), and a silica gel creeping foot (3) is arranged at one end of the second elastic steel sheet (30).
7. The medical stone crushing robot according to claim 6, characterized in that the sliding plate (23) is provided with a through hole (27) in the middle.
8. The medical stone crushing robot according to claim 7, characterized in that an elastic sleeve (26) is arranged between the first outlet (11) and the sliding plate (23), between two adjacent sliding plates (23), and between the sliding plate (23) and the second outlet (32).
9. The medical stone crushing robot as claimed in claim 1, wherein the second steering assembly comprises a push-pull rod (31) and a pull rope (24), the push-pull rod (31) is fixed on the second elastic steel sheet (30), and the pull rope (24) is connected to the sliding plate (23) near the second inlet.
10. The medical stone breaking robot according to claim 1, characterized in that one end of the peristaltic cabin (2) is provided with a line concentration channel (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111208295.8A CN113749732A (en) | 2021-10-18 | 2021-10-18 | Medical stone crushing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111208295.8A CN113749732A (en) | 2021-10-18 | 2021-10-18 | Medical stone crushing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113749732A true CN113749732A (en) | 2021-12-07 |
Family
ID=78799612
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111208295.8A Withdrawn CN113749732A (en) | 2021-10-18 | 2021-10-18 | Medical stone crushing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113749732A (en) |
-
2021
- 2021-10-18 CN CN202111208295.8A patent/CN113749732A/en not_active Withdrawn
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US12016626B2 (en) | Endoscope unclogging system and method | |
| CN113876388A (en) | Lithotripsy system with drill and lateral launcher | |
| US5906623A (en) | Lithotripsy system | |
| EP1511414B1 (en) | Apparatus for treating biofilms associated with catheters | |
| DE202010001176U1 (en) | Medical pressure wave device | |
| CA2299997A1 (en) | Method and apparatus for cleaning medical instruments and the like | |
| JP7159184B2 (en) | Methods of reducing or removing biological membranes | |
| CN109730746A (en) | A kind of hepatobiliary surgery calculus removing device | |
| CN202113127U (en) | Ultrasonic lithotripsy apparatus | |
| CN101461732B (en) | Ultrasound lithotriptor | |
| CN110711012B (en) | Closed ultrasonic composite stone crushing device | |
| CN215384412U (en) | Stone breaking and taking device | |
| CN113749732A (en) | Medical stone crushing robot | |
| WO1999045853A1 (en) | Holding and lithotripsy instrument | |
| JP2003260127A (en) | Suction method by pressurized reverse jet supply of fluid and apparatus therefor | |
| DE19734890C1 (en) | Catheter for | |
| CN103431888B (en) | Push type bladder diverticulum calculus removing device | |
| CN113229885A (en) | Urological calculus smashing and sucking device | |
| GB2268883A (en) | Endoscope | |
| CN209220421U (en) | A kind of Urology Surgery lithotripsy apparatus | |
| RU48149U1 (en) | DEVICE FOR REMOVING STONES OF THE BLADDER | |
| CN113749765B (en) | Laser stone breaking and cleaning device | |
| DE19742669A1 (en) | Catheter | |
| WO2019181217A1 (en) | Endoscope device and endoscope device operation method | |
| EP4205629A1 (en) | Albarran and pull-wire carrier for an albarran |
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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20211207 |
|
| WW01 | Invention patent application withdrawn after publication |