CN116421851B - Bending piece for vascular intervention robot, catheter and vascular intervention robot - Google Patents
Bending piece for vascular intervention robot, catheter and vascular intervention robot Download PDFInfo
- Publication number
- CN116421851B CN116421851B CN202310230496.0A CN202310230496A CN116421851B CN 116421851 B CN116421851 B CN 116421851B CN 202310230496 A CN202310230496 A CN 202310230496A CN 116421851 B CN116421851 B CN 116421851B
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- limiting
- bending
- vertebrae
- vertebra
- catheter
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- 238000005452 bending Methods 0.000 title claims abstract description 86
- 230000002792 vascular Effects 0.000 title claims abstract description 35
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 31
- 239000010959 steel Substances 0.000 claims abstract description 31
- 238000000034 method Methods 0.000 description 5
- 210000004204 blood vessel Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0067—Catheters; Hollow probes characterised by the distal end, e.g. tips
- A61M25/0068—Static characteristics of the catheter tip, e.g. shape, atraumatic tip, curved tip or tip structure
-
- 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
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/0067—Catheters; Hollow probes characterised by the distal end, e.g. tips
- A61M25/008—Strength or flexibility characteristics of the catheter tip
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0152—Tip steering devices with pre-shaped mechanisms, e.g. pre-shaped stylets or pre-shaped outer tubes
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M2025/0161—Tip steering devices wherein the distal tips have two or more deflection regions
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/12—Blood circulatory system
Abstract
The invention belongs to the technical field of vascular intervention robots, and provides a bending piece for a vascular intervention robot, a catheter and the vascular intervention robot, which comprise a plurality of vertebrae; a plurality of bending surfaces are arranged on two sides of the vertebrae; one side of the vertebra is provided with a limiting shaft, and the other side of the vertebra is provided with a limiting hole; adjacent vertebrae are matched with the limiting shaft through the limiting holes; according to the invention, the two adjacent vertebrae are matched through the limiting hole and the limiting shaft, and the two sides of the vertebrae are respectively provided with the bending surfaces, so that the rotation center of the vertebrae deviates from the axis, the bending radius is reduced by changing the rotation center of the vertebrae, the angle bending flexibility is improved, better clinical application can be realized, the adjacent vertebrae are not directly connected but matched through the limiting hole and the limiting shaft, the traction force required to be applied to the steel wire is reduced, and the bending control difficulty is reduced.
Description
Technical Field
The invention belongs to the technical field of vascular intervention robots, and particularly relates to a bending piece for a vascular intervention robot, a catheter and the vascular intervention robot.
Background
The catheter for the vascular interventional robot needs to be inserted into a blood vessel during vascular interventional operation, and the head of the catheter needs to be bent and controlled during the vascular catheterization process so as to adapt to the bent blood vessel; when the bending control of the catheter is realized, the steel wire is pulled most commonly, specifically, a steel wire hole is formed in the axial direction of the catheter, steel wires are inserted into the steel wire hole, and the bending degree of the catheter is controlled by pulling the steel wires at different positions; in order to achieve flexibility in bending the head of the catheter, a bending section such as a hypotube is often provided at the head of the catheter.
The inventor finds that although the bending section such as a hypotube arranged on the head of the traditional catheter can realize the adjustment of the bending of the catheter, when the angle of the bending section is adjusted, the rotation center of the bending section is on the axis, so that the bending angle is limited, and the hypotube formed by a plurality of connected sections needs to be applied to a steel wire, so that the traction force is larger, the bending control difficulty is increased, and the implementation of vascular interventional operation is not favorable.
Disclosure of Invention
In order to solve the problems, the invention provides a bending piece for a vascular intervention robot, a catheter and the vascular intervention robot, which reduce bending radius, improve angle bending flexibility by changing the rotation center of vertebrae, have better clinical application, and reduce traction force required to be applied to steel wires by matching a limiting hole and a limiting shaft instead of direct connection between adjacent vertebrae, thereby reducing bending control difficulty.
In order to achieve the above object, in a first aspect, the present invention provides a bending member for a vascular interventional robot, which adopts the following technical scheme:
a flexure for a vascular interventional robot comprising a plurality of vertebrae;
a plurality of bending surfaces are arranged on two sides of the vertebrae; one side of the vertebra is provided with a limiting shaft, and the other side of the vertebra is provided with a limiting hole; the two adjacent vertebrae are matched with the limiting shaft through the limiting hole.
Further, the limiting shafts and the limiting holes are arranged in a staggered mode.
Further, the limiting shaft is arranged at the junction of two adjacent curved surfaces, and the limiting Kong Kaishe is arranged at the middle position of the curved surfaces.
Further, the limiting hole is an arc-shaped long groove.
Further, the middle of the bending surface is a convex sector-shaped curved surface; the thickness of the end, close to the axle center, of the bending surface is larger than that of the end, far away from the axle center.
Further, a guide wire hole is formed in the middle of the vertebra.
Further, the limiting shaft and the limiting hole are provided with a steel wire hole.
In order to achieve the above object, in a second aspect, the present invention further provides a catheter for a vascular interventional robot, which adopts the following technical scheme:
a catheter for a vascular interventional robot, comprising a catheter body and a bending member provided on the catheter body, the bending member comprising a plurality of vertebrae;
a plurality of bending surfaces are arranged on two sides of the vertebrae; one side of the vertebra is provided with a limiting shaft, and the other side of the vertebra is provided with a limiting hole; the two adjacent vertebrae are matched with the limiting shaft through the limiting hole.
Further, the limiting shaft and the limiting hole are provided with a steel wire hole, and a steel wire is arranged in the steel wire hole.
In order to achieve the above object, in a third aspect, the present invention further provides a vascular intervention robot, which adopts the following technical scheme:
a vascular intervention robot comprising a robot body and a catheter provided on the robot body, the catheter employing the catheter for vascular intervention robot as described in the first aspect.
Compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, two adjacent vertebrae are matched through the limiting hole and the limiting shaft, and the two sides of each vertebra are provided with the bending surfaces, so that the rotation center of each vertebra deviates from the axis, the bending radius is reduced by changing the rotation center of each vertebra, the angle bending flexibility is improved, the focus which cannot be contacted by the traditional bending radius instrument can be reached, the clinical application is better, the adjacent vertebrae are not directly connected but matched through the limiting hole and the limiting shaft, the traction force required to be applied to the steel wire is reduced, and the bending control difficulty is reduced;
2. the bending surface is a fan-shaped curved surface with a convex middle part, and the thickness of the bending surface near one end of the axle center is larger, so that the limiting hole and the limiting shaft are in point contact in a non-bending state, the bending process is line contact and surface contact, the bending control flexibility is improved, the thickness of the bending surface far from one end of the axle center is smaller, enough space is provided for bending, and the control angle requirement is met.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
FIG. 1 is a schematic structural diagram of embodiment 1 of the present invention;
FIG. 2 is an elevation view of a vertebra of example 1 of the present invention;
FIG. 3 is a side view of a vertebra of example 1 of the present invention;
FIG. 4 is a posterior view of a vertebra of example 1 of the present invention;
FIG. 5 is a schematic representation of the anterior aspect of the vertebrae of example 1 of the present invention;
FIG. 6 is a schematic representation of the posterior aspect of the vertebrae of example 1 of the present invention;
FIG. 7 is a diagram showing bending actions according to embodiment 1 of the present invention;
wherein, 1, vertebrae; 2. a guidewire port; 3. a wire hole; 4. a limiting shaft; 5. a limiting hole; 6. a curved surface.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
in order to solve the problems that the rotation center of the conventional catheter is on the axis to limit the bending angle and the traction force required to be applied to the steel wire is large during the angle adjustment, as shown in fig. 1, the embodiment provides a bending piece for a vascular interventional robot, which comprises a plurality of vertebrae 1 which are independently arranged;
a plurality of bending surfaces 6 are arranged on two sides of the vertebra 1; one side of the vertebra 1 is provided with a limiting shaft 4, and the other side is provided with a limiting hole 5; the adjacent vertebrae 1 are matched with the limiting shaft 4 through the limiting holes 5.
Specifically, two adjacent vertebrae 1 are joined in marriage 4 through spacing hole 5 with spacing axle, and vertebra 1 both sides all are provided with curved surface 6 for the center of rotation of vertebra 1 deviates from the axle center, through changing the rotatory center of vertebra, has reduced bending radius, has improved angle bending flexibility, can reach the focus that traditional bending radius apparatus contacted, can have better clinical application, and independent setting between the adjacent vertebrae, not the direct connection but connect through the steel wire, and pass through spacing hole and spacing axle cooperation in the bending process, reduced the traction that needs to be exerted on the steel wire, reduced the bending control degree of difficulty.
Optionally, the number of curved surfaces is 3, uniformly distributed in the circumferential direction of the vertebra 1; the number of the corresponding limiting shafts 4 and the corresponding limiting holes 5 is 3, and the limiting shafts and the limiting holes are uniformly distributed in the circumferential direction of the vertebra 1.
The limiting shafts 4 and the limiting holes 5 are arranged in a staggered manner, specifically, the limiting shafts 4 are arranged at the junction of two adjacent bending surfaces, the limiting holes 5 are arranged at the middle positions of the bending surfaces, and after a plurality of vertebrae 1 form a bending piece, the connecting shafts 4 and the connecting holes 5 are arranged at four positions which are not shown in the circumferential direction of the bending piece; the bending piece can be bent at any angle when the steel wire is pulled, and the precision and flexibility of bending control are guaranteed.
The limiting holes 5 are arc-shaped long grooves, the corresponding sections of the limiting shafts 4 in the length direction are semi-arc-shaped, and the semi-arc-shaped limiting shafts 4 are matched with the limiting holes 5, so that the stability of the bending piece in the circumferential direction is guaranteed.
The middle of the bending surface 6 is provided with a convex fan-shaped curved surface, the thickness of one end of the bending surface 6 close to the axle center is larger, the vertebrae 1 are of an inclined angle sheet structure, and the bending surface 6 is designed to be an inclined plane; it can be understood that both surfaces of the bending piece are wavy surfaces with thick middle and thin periphery, and the limiting shaft 4 and the limiting hole 5 are positioned on peaks of the wavy surfaces on the corresponding surfaces; by the arrangement, the limiting hole 5 and the limiting shaft 4 are in point contact in the non-bending state, the bending process is line contact and surface contact, the bending control flexibility is improved, the thickness of the bending surface at one end far away from the axle center is small, enough space is provided for bending, and the control angle requirement is met.
The guide wire hole 2 is formed in the middle of the vertebra 1, the limit hole 5 and the limit shaft 4 are in point contact at the edge of the guide wire hole 2 in a non-bending state, and during bending control, the rotation center is located at the edge of the guide wire hole 2 instead of the axis of the guide wire hole 2, and can reach a focus which cannot be contacted by a traditional bending radius instrument by reducing the bending radius, so that the applicability is better and stronger.
The limiting shaft 4 and the limiting hole 5 are provided with the steel wire hole 3, the steel wire hole 3 is internally provided with a steel wire, a plurality of vertebrae 1 are connected through the steel wire to obtain a bending piece, the adjacent vertebrae 1 are independently arranged and are not directly connected, and when bending control is carried out, traction force required to be applied to the steel wire is small, so that the bending control difficulty of a catheter is reduced.
The working principle or process of the embodiment is as follows:
as shown in fig. 1 and 7, after the steel wires are connected to the plurality of vertebrae 1, the plurality of vertebrae 1 are arranged in a linear array, and the limiting shaft 4 of the previous vertebrae is engaged with the limiting hole 5 of the next vertebrae, each limiting shaft 4 has a contact point with the limiting hole 5, when any one of the steel wires is pulled, the vertebrae 1 moves along the rotation axis formed by the contact point, and the rotation radius is a/2, and when the corresponding two curved surfaces on the adjacent vertebrae are contacted, the maximum rotation angle is reached.
Example 2:
the embodiment provides a catheter for a vascular interventional robot, which comprises a catheter body and a bending piece arranged on the catheter body, wherein the bending piece comprises a plurality of vertebrae 1;
a plurality of bending surfaces 6 are arranged on two sides of the vertebra 1; one side of the vertebra 1 is provided with a limiting shaft 4, and the other side is provided with a limiting hole 5; the two adjacent vertebrae 1 are connected with the limiting shaft 4 through the limiting holes 5.
The limiting shaft 4 and the limiting hole 5 are provided with a steel wire hole 3, and steel wires are arranged in the steel wire hole 3.
The flexure in this embodiment has all the features of the flexure in embodiment 1 and will not be described in detail here.
Example 3:
the present embodiment provides a vascular intervention robot including a robot body and a catheter provided on the robot body, the catheter employing the catheter for vascular intervention robot as described in embodiment 1. The robot body of the vascular interventional robot and the arrangement of the catheter on the robot body are conventional techniques, and will not be described in detail here.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (6)
1. A flexure for a vascular interventional robot, comprising a plurality of vertebrae;
a plurality of bending surfaces are arranged on two sides of the vertebrae; one side of the vertebra is provided with a limiting shaft, and the other side of the vertebra is provided with a limiting hole; adjacent vertebrae are matched with the limiting shaft through the limiting holes;
the limiting hole is a long groove with an arc-shaped cross section, the corresponding cross section of the limiting shaft in the length direction is a semi-arc shape, the limiting hole and the limiting shaft are in point contact in an unbent state, and are in line contact or surface contact in a maximum bending state;
the bending surface is a sector-shaped curved surface; the thickness of the end, close to the axle center, of the vertebra is larger than that of the end, far away from the axle center; the plurality of curved surfaces on two sides of the vertebra form wave surfaces, and the limiting shaft and the limiting hole are positioned on peaks of the wave surfaces on the corresponding sides of the vertebra;
the bending surfaces are uniformly distributed in the circumferential direction of the vertebrae, and the corresponding limiting shafts and limiting holes are uniformly distributed in the circumferential direction of the vertebrae;
the limiting shaft and the limiting hole are provided with steel wire holes, steel wires are arranged in the steel wire holes, and a plurality of vertebrae are connected through the steel wires to form a bending piece.
2. A vascular interventional robot flexure according to claim 1, wherein the limiting shaft and the limiting aperture are staggered on the same vertebra.
3. A bending member for a vascular interventional robot according to claim 2, wherein the limiting shaft and the limiting hole are provided on the same vertebra at the junction of two adjacent bending surfaces on both sides of the vertebra.
4. A bending member for a vascular interventional robot as defined in claim 1, wherein a guide wire hole is provided in the middle of the vertebrae.
5. A catheter for a vascular interventional robot, comprising a catheter body and the bending member according to any one of claims 1-4 provided on the catheter body.
6. A vascular interventional robot comprising a robot body and a catheter provided on the robot body, wherein the catheter is the catheter for vascular interventional robot according to claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310230496.0A CN116421851B (en) | 2023-03-06 | 2023-03-06 | Bending piece for vascular intervention robot, catheter and vascular intervention robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310230496.0A CN116421851B (en) | 2023-03-06 | 2023-03-06 | Bending piece for vascular intervention robot, catheter and vascular intervention robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116421851A CN116421851A (en) | 2023-07-14 |
| CN116421851B true CN116421851B (en) | 2024-02-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310230496.0A Active CN116421851B (en) | 2023-03-06 | 2023-03-06 | Bending piece for vascular intervention robot, catheter and vascular intervention robot |
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| Country | Link |
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| CN (1) | CN116421851B (en) |
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| CN105759418A (en) * | 2014-12-19 | 2016-07-13 | 深圳市锐丽视科技有限公司 | Flexible digital endoscope |
| CN107613835A (en) * | 2015-06-16 | 2018-01-19 | 奥林巴斯株式会社 | Save ring and medical manipulator |
| CN109152511A (en) * | 2016-05-27 | 2019-01-04 | 奥林巴斯株式会社 | The actuation method of medical executor and medical executor |
| CN113712611A (en) * | 2021-11-04 | 2021-11-30 | 极限人工智能(北京)有限公司 | Bone segment, vertebral segment assembly and surgical instrument |
| CN114027983A (en) * | 2022-01-06 | 2022-02-11 | 极限人工智能(北京)有限公司 | Universal snake bone component, surgical instrument and split type surgical device |
| CN115316914A (en) * | 2022-08-05 | 2022-11-11 | 上海微创医疗机器人（集团）股份有限公司 | Bendable structure, flexible instrument and endoscope |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6817974B2 (en) * | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
| CA3132792A1 (en) * | 2019-05-15 | 2020-11-19 | Boston Scientific Scimed, Inc. | Medical device having asymmetric bending |
-
2023
- 2023-03-06 CN CN202310230496.0A patent/CN116421851B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101340853A (en) * | 2005-12-27 | 2009-01-07 | 直观外科手术公司 | Articulate and swapable endoscope for a surgical robot |
| CN105759418A (en) * | 2014-12-19 | 2016-07-13 | 深圳市锐丽视科技有限公司 | Flexible digital endoscope |
| CN107613835A (en) * | 2015-06-16 | 2018-01-19 | 奥林巴斯株式会社 | Save ring and medical manipulator |
| CN109152511A (en) * | 2016-05-27 | 2019-01-04 | 奥林巴斯株式会社 | The actuation method of medical executor and medical executor |
| CN113712611A (en) * | 2021-11-04 | 2021-11-30 | 极限人工智能(北京)有限公司 | Bone segment, vertebral segment assembly and surgical instrument |
| CN114027983A (en) * | 2022-01-06 | 2022-02-11 | 极限人工智能(北京)有限公司 | Universal snake bone component, surgical instrument and split type surgical device |
| CN115316914A (en) * | 2022-08-05 | 2022-11-11 | 上海微创医疗机器人（集团）股份有限公司 | Bendable structure, flexible instrument and endoscope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116421851A (en) | 2023-07-14 |
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