CN205947765U - Endoscope of controllable bending apparatus and controllable bending - Google Patents
Endoscope of controllable bending apparatus and controllable bending Download PDFInfo
- Publication number
- CN205947765U CN205947765U CN201620163098.7U CN201620163098U CN205947765U CN 205947765 U CN205947765 U CN 205947765U CN 201620163098 U CN201620163098 U CN 201620163098U CN 205947765 U CN205947765 U CN 205947765U
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- joint
- controlled deflection
- insertion tube
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- 238000005452 bending Methods 0.000 title abstract description 27
- 238000003780 insertion Methods 0.000 claims description 53
- 230000037431 insertion Effects 0.000 claims description 53
- 239000000835 fiber Substances 0.000 claims description 20
- 208000037873 arthrodesis Diseases 0.000 claims description 2
- 230000000694 effects Effects 0.000 description 9
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 7
- 229910000831 Steel Inorganic materials 0.000 description 5
- 239000010959 steel Substances 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 239000002184 metal Substances 0.000 description 4
- 241000270295 Serpentes Species 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 3
- 230000008859 change Effects 0.000 description 3
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- 229920002725 thermoplastic elastomer Polymers 0.000 description 3
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- 210000004369 blood Anatomy 0.000 description 2
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- 238000004519 manufacturing process Methods 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
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- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 229920006311 Urethane elastomer Polymers 0.000 description 1
- 230000005856 abnormality Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000007865 diluting Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
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- 238000012423 maintenance Methods 0.000 description 1
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- 239000000203 mixture Substances 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 239000002504 physiological saline solution Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 239000004814 polyurethane Substances 0.000 description 1
- 239000004800 polyvinyl chloride Substances 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 239000011780 sodium chloride Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 229920001169 thermoplastic Polymers 0.000 description 1
- 239000004416 thermosoftening plastic Substances 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
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- Endoscopes (AREA)
Abstract
The utility model relates to a controllable bending apparatus, the joint that contains a plurality of mutual series connection, and crooked controlling means takes place for the joint that is used for control to establish ties each other, the joint is the drum structure, a tip of articular pipe wall is formed with a plurality of convex parts that extend along the axis direction, another tip of articular pipe wall is formed with a plurality of correspondingly with the convex part, concave part along the axis direction extension, after establishing ties in a plurality of joints, articular convex part and adjacent articular concave part looks block, the articular convex part looks block that articular concave part is adjacent with another, reciprocating motion can be to the convex part behind the block in the concave part. The utility model discloses a controllable bending apparatus can be used to every field such as industry, medical treatment, and this controllable bending apparatus can be crooked according to the arbitrary direction of use needs orientation, and the utility model relates to a controllable bending apparatus simple structure, low cost, long service life.
Description
Technical field
The utility model is related to a kind of controlled deflection device.
Background technology
Endoscope is widely used in medical field or industrial circle, can be in the state of minimally invasive, in the patient or work
Industry interiors of products is checked.Due to being arranged at the front end of outer tube the camera of the endoscope being checked, if making camera more
Rotate or change and shoot the visual field it is necessary to arrange controlled deflection device in the insertion end of outer tube, make the shooting visual field of camera with
The bending of the insertion end of outer tube and change.
In the prior art, the outer tube structure of traditional controlled deflection device is complex, and production cost is higher.Traditional
Controlled deflection device is mainly made up of a soft outer tube, generally can be provided with soft outer tube bourdon tube, snake bone, mesh grid,
For controlling the compositions such as the steel wire of outer tube bending, and traditional snake bone leads to how by chain connection, that is, by much individual articular sclerites
Cross and weld or be riveted together, become snake bone that can be movable, be welded with the little ring wearing steel wire in each articular sclerite or pass through punching press
The little ring worked it out, this technics comparing is complicated, and reliability is poor and relatively costly.Additionally, these parts machining high precisions,
, easily situations such as bending is stuck or damaged and occurs, once breaking down, endoscope will be scrapped in complex structure.
For example Chinese utility model patent application CN101732027 discloses a kind of bendable steering endoscope, and it includes
Handle with center through hole and conduit, are provided with steering passage and service aisle in conduit, turn in passage and be provided with steering steel wire, hand
Slide block is provided with handle, the inner of conduit is fixedly connected with handle center through hole one end, positioned at the inner service aisle of conduit with
The pipeline being placed through in handle center through hole is connected, and the outer end of conduit is provided with protective metal shell, the steering passage in conduit
In be provided with locating sleeve, be provided with elastic tube in the conduit between locating sleeve and protective metal shell, turn to steel wire and pass through positioning sleeve
Pipe and elastic tube, one end is fixedly connected with protective metal shell, and the other end is fixedly connected with a slide block.Inside this bendable steering endoscope
Structure complex, be susceptible to be lost.
Such as Chinese utility model patent application CN103431829 discloses a kind of medical endoscope bending control machine again
Structure, including bend, bending driver element and handwheel adjusting means, bend is provided with overcoat, crooked assembly and fixed cylinder, institute
State overcoat and be sheathed on crooked assembly, fixed cylinder is fixed in the front end of described crooked assembly, be provided with bending driver element, described curved
Bent driver element includes at least four controlling cables and control ball, the circumference of described fixed cylinder offer company corresponding with controlling cable
Access slot, the control ball of described controlling cable end is respectively arranged in link slot, and handwheel adjusting means is driven with described controlling cable
It is dynamically connected, described handwheel adjusting means is additionally provided with two sets of spacing and self-locking mechanisms.Similarly, this kind of medical endoscope bending
The structure of controlling organization is also complex, and bend size limited it is impossible to more comprehensively be checked to patient.
Flexible endoscope involved by above-mentioned application is all carried out to the outer tube of endoscope using complex structure
Transformation, is greatly improved production cost and maintenance cost, and angle of bend also has certain limitation.
Utility model content
The purpose of this utility model is to provide a kind of controlled deflection device, comprises multiple joints being serially connected, and
For the control device controlling the joint being serially connected to bend, joint is cylindrical structure, the one end shape of the tube wall in joint
Become to have multiple protuberances extending in the axial direction, the other end of the tube wall in joint is formed with multiple corresponding with protuberance, edges
The recess that axis direction extends, after the series connection of multiple joints, the protuberance in joint is fastened with the recess in adjacent joint, joint recessed
Portion is fastened with the protuberance in another adjacent joint, and after engaging, protuberance can move reciprocatingly in recess.
Controlled deflection device of the present utility model can be used for the every field such as industry, medical treatment, and this controlled deflection device can root
Bend towards any direction according to using needs, and the controlled deflection apparatus structure involved by the utility model is simple, low cost
Honest and clean, long service life.
Further, control device comprises one or two traction fibers, and traction fiber penetrates from the joint one end being serially connected,
And be connected with the arthrodesis of the other end being located at the joint being serially connected.
Preferably, protuberance is distributed in the end in joint, and recess is distributed in the end of the other end in joint.
Further, joint is additionally provided with one or more fixed parts for fixed traction silk.
Preferably, multiple fixed parts are distributed on joint.
Further, fixed part is the wire casing being opened in internal knuckle walls.
Preferably, fixed part is the pipe being fixedly connected in internal knuckle walls.
The utility model also provides a kind of endoscope of controlled deflection, including insertion tube, insertion tube can enter in human body
Portion is partly provided with controlled deflection device, the insertion end of insertion tube is additionally provided with camera and one or more light source, takes the photograph
As head is connected with display.
Further, the non-intrusive end of insertion tube is provided with handle, and control device is arranged on handle.
Preferably, it is provided with instrument channel in insertion tube, the entrance of instrument channel is arranged on handle, the outlet of instrument channel
It is arranged on the insertion end face of insertion tube.
As above, the controlled deflection apparatus structure that the utility model is related to is simple, easy to use, significantly reduces cost.
It is that the above of the present utility model can be become apparent, preferred embodiment cited below particularly, and combine accompanying drawing, make
Describe in detail as follows.
Brief description
Introduce the utility model below in conjunction with accompanying drawing.
Fig. 1 is a kind of overall structure diagram of controlled deflection device of the present utility model；
Fig. 2 is the decomposing schematic representation in joint 1 in Fig. 1；
Fig. 3 is the structural representation in joint 1；
Fig. 4 be Fig. 1 controlled deflection device to side bend when structural representation；
Fig. 5 be Fig. 1 controlled deflection device to both sides bend when structural representation；
Fig. 6 is applied to structural representation during endoscope for the utility model.
Component label instructions
1 joint
11 protuberances
12 recesses
2 traction fibers
3 insertion tubes
4 handles
41 control devices
5 displays
Specific embodiment
Hereinafter embodiment of the present utility model is illustrated by particular specific embodiment, those skilled in the art can be by this theory
Content disclosed by bright book understands other advantages of the present utility model and effect easily.
As shown in Figures 1 to 5, the utility model provides a kind of controlled deflection device it is adaptable to various endoscope, including work
Sight glass, medical endoscopes etc. in the industry, can comprehensively be observed to the tiny position in object or person body and be detected, this practicality is new
The controlled deflection device of type can also be applied in the various structures needing and being curved to specific direction.In the utility model
In, illustrate taking medical endoscope as a example.But the utility model is not limited merely to this, applies also for industry or other are each
The field of kind.
The utility model provides a kind of controlled deflection device it is convenient to be curved according to using needs.This controllable bending
Bent device comprises multiple joints 1 being serially connected, and the control device for controlling the joint 1 being serially connected to bend
41.In the utility model, joint 1 is cylindrical structure, and the one end of the tube wall in joint 1 is formed with and multiple extends in the axial direction
Protuberance 11, the other end of the barrel in joint 1 is formed with multiple recesses that are corresponding with protuberance 11, extending in the axial direction
12, after the series connection of multiple joints 1, the protuberance 11 in joint 1 is fastened with the described recess 12 in adjacent joint 1, the recess in joint 1
12 are fastened with the protuberance 11 in another adjacent joint 1, and after engaging, protuberance 11 can move reciprocatingly in recess 12.
In the utility model, protuberance 11 preferably exceeds the circular protrusions of joint 1 end face, and in the both sides of protuberance 11
On barrel, offer the opening for recess 12 activity respectively, the shape of two openings is corresponding with the shape of protuberance 11.Further
Ground, in the utility model, recess 12 preferably has a circular ring structure of opening, and the two ends of recess 12 are also above the end in joint 1
Face, when multiple joint 1 first place is connected, the two ends of recess 12 can be respectively protruding in the opening of protuberance 11 both sides, due to opening
The annulus of depth ratio recess 12 length big, therefore after protuberance 11 is snapped into recess 12, also have in opening space not by
The annulus of recess 12 occupies, and therefore protuberance 11 can rotate in recess 12.Further, when joint 1 is provided with multiple protuberances 11
Or during multiple recess 12, multiple protuberances 11 are distributed in the end in joint 1, multiple recesses 12 are also distributed in the other end end in joint 1
Portion.Joint 1 of the present utility model structure is simple, can be molded by Laser cutting, low processing cost, and high yield rate.
Further, in the utility model, in the joint 1 being serially connected at outside two ends, flat mouth can be set
Joint 1, to prevent from causing danger higher than the protuberance 11 of joint 1 end face or recess 12 to user.
In the utility model, the material in joint 1 is preferably nonmetallic materials, such as nylon, polyurethane (PU), thermoplastic poly
The various plastic materials such as urethane elastomer rubber (TPU), polyvinyl chloride (PVC), thermoplastic elastomer (TPE) (TPE)；Outer tube and interior
The material of pipe can also preferably have resilient metal material.
In order that user is preferably controlled to controlled deflection device, in the utility model, also using control dress
Put 41 the joint 1 being serially connected is controlled.Further, control device 41 is preferably one or more traction fiber 2, is used for
The joint 1 after series connection is controlled to bend towards one or more directions, traction fiber 2 penetrates from the one end in the joint 1 being serially connected, and with
The joint 1 being located at the other end outermost end in joint 1 being serially connected is fixedly connected, and when being applied to external force on traction fiber 2, that is, leads
When drawing traction fiber 2, the joint 1 being fixedly connected with traction fiber 2 can be driven to be moved, now the protuberance 11 on this joint 1 with
The recess 12 in adjacent joint 1 between rotate, after the protuberance 11 in this joint 1 goes to extreme position continue tractive traction fiber
2, can continue to drive adjacent joint 1 to continue to rotate, so that whole bending apparatus bends；When bending apparatus bending
To the angle needed for user, remove the external force being applied on bending apparatus fixed traction silk 2, you can make bending apparatus
It is maintained at this bending position.
Further, in the utility model, tractive unit is preferably steel wire, but the utility model is not limited thereto, and leads
The portion of drawing can also be any filamentous structure, and filamentary structure can also select any metal or non-metallic material.
In order that traction fiber 2 and bending apparatus preferably coordinate, prevent traction fiber 2 activity in the joint 1 of bending apparatus,
The effect of impact bending, in the utility model, joint 1 also can be provided with one or more fixations for fixed traction silk 2
Portion.
As shown in Figure 4 and Figure 5, preferably in the joint 1 of multiple series connection, one or two traction fibers 2 of setting fill as controlling
Put 41, so that controlled deflection device can bend towards one or two direction
Further, when joint 1 is provided with multiple fixed part, multiple fixed parts are distributed on joint 1, to ensure to bend
Device can be bent with one way or another.
Further, fixed part can be the pipe being fixedly connected on the inwall of joint 1 or be opened in joint
Wire casing on 1 inwall.By fixed part, traction fiber 2 is fixed, can prevent traction fiber 2 from slipping and lead to controlled deflection device to lose
Effect.
Controlled deflection device involved by the utility model can be according to the needs of user, using control unit to joint group
It is curved it is possible to any direction required for towards user is curved, flexibly and easily.
For making description of the present utility model apparent, the utility model illustrates taking medical endoscope as a example, but this
Utility model is not limited thereto, can be also used for other various need tiny position is observed, or tiny position is entered
The various situations such as guide during row operation.
In the utility model, because controlled deflection device is used for medical science, therefore, as shown in fig. 6, this reality
Also provide a kind of endoscope of controlled deflection with new, including insertion tube 3, insertion tube 3 can enter partly going up of inside of human body
Be provided with above-mentioned controlled deflection device, the insertion end of insertion tube 3 be additionally provided with camera and one or more light source, camera with
Display 5 is connected.The non-intrusive end of insertion tube 3 is provided with handle 4, and the control device 41 for the bending of controlled deflection device can set
It is placed on described handle 4.When camera is shot, light source provides bright shooting environmental for camera, and display 5 will be taken the photograph
As captured by head and the image that exports shows.When insertion tube 3 enters human body, camera can also be to the mistake entering human body
Cheng Jinhang shoots, and by the picture transmission shooting to display 5, and shown by display 5；When insertion tube 3 enters people
Behind internal precalculated position, camera can shoot to human internal environment, simultaneously by the real-time pictures shooting in display 5
Shown, so that user is observed.
Further, camera can be connected with display 5 by way of wired or wireless.When camera and display
5 when being connected in the way of wired, can be connected by the electric connection line being arranged within insertion tube 3；When camera with aobvious
Show that device 5 is wirelessly connected on time, wireless generating means can be set in insertion tube 3, will be taken the photograph by wireless generating means
As head is connected with display 5.
Further, in the utility model, light source can be one or multiple, to realize the effect of no shadow.
And light source can adopt any type of luminous original paper, the such as various forms such as LED/light source, light emitting diode.Additionally, display 5
Can also be various models, the display 5 of all size or other displays 5.For example, indoors use when, can with larger
Display 5 be connected, the image more to obtain multiplication factor, and when endoscope is carried outgoing, can be using portable aobvious
Show device 5, or pluggable miniscope 5 is arranged on insertion tube 3.
In the utility model, in order that operator has more comfortable feel, can also be at the non-intrusive end of insertion tube 3
Setting handle 4, convenient use person operates.In order that handle 4 is more reliable with the connection of insertion tube 3, in handle 4 and can also insert
Enter setting connector between pipe 3, reinforce the connection between handle 4 and outer tube.
Further, handle 4 can be provided with the control device 41 for controlling traction fiber 2, control unit and traction fiber 2 phase
Connecting, traction fiber 2 is drawn, thus realizing the traction to bending apparatus, so that bending apparatus is bent.
Further, in the utility model, in order to avoid the external diameter of insertion tube 3 is excessive, wireless transmission can also be filled
Install and be placed in handle 4, reduce insertion tube 3 external diameter further, it is to avoid in use to the discomfort causing patient.
In the utility model, in order to preferably treat to patient, can also be different by arranging in insertion tube 3
The functional module of purposes, to realize more functions.
Further, can be provided for stretching into the instrument channel of therapeutic device in insertion tube 3, one end of instrument channel sets
It is placed on handle 4 or the periphery wall outside human body of insertion tube 3, the other end of instrument channel is arranged at the insertion of insertion tube 3
On end face.When finding any focus in inspection, can in time auxiliary treatment apparatus be stretched in the patient from instrument channel,
Patient is treated it is also possible to be sampled to suspected abnormality.
Further, the water pipe for water flowing can be provided with insertion tube 3, one end of water pipe is arranged at handle 4 or insertion
On the periphery wall outside human body of pipe 3, the other end of water pipe is arranged on the insertion end face of insertion tube 3.When controlled deflection dress
After putting entrance in the patient, if having obstruction to block camera, can by water pipe to saline injection in the patient, from
Watery blood can be watered down by the physiological saline that the one end on the insertion end face of insertion tube 3 is flowed out, or obstruction is washed open, makes camera
Shooting environmental is apparent from.Meanwhile, water pipe is also used as suction hose use, by the pipe being arranged at handle 4 or insertion tube 3
Outer setting liquid sucking device on wall, the watery blood after diluting or obstruction are suctioned out by available water pipe, from discharging in the patient.
Further, be arranged on various functions in insertion tube 3 pipeline can mutually general it is also possible to only in insertion tube
One Multi-use pipeline of setting in 3, needs to carry out the switching between function according to using.And it is permissible only to arrange a Multi-use pipeline
Reduce the diameter of insertion tube 3 further, conveniently any trickle position is checked.
When being embodied as, when insertion tube 3 enters the position needing to check, camera can play guide effect, guiding
The position that insertion tube 3 is observed needed for entering into.After insertion tube 3 reaches look-out station, led using control device 41 tractive
Draw silk 2, so that insertion tube 3 is bent, now the observation visual angle of camera also changes therewith, thus position to be checked is all
The all angles enclosed all are checked, realize the effect of indagation on a large scale.
In sum, the utility model structure is simple, easy to use, substantially increases the bending reliability of crooked position,
Reduce cost, appearance and size is compact, is easy to carry simultaneously, do not have precision component to be hardly damaged, realize checking no dead angle simultaneously,
And the insertion end external diameter of this endoscope is less, patient or article to be checked will not be caused damage, be worth carrying out extensively
Popularization and application.
Above-described embodiment only illustrative principle of the present utility model and its effect are new not for limiting this practicality
Type.Any person skilled in the art all can be carried out to above-described embodiment without prejudice under spirit and the scope of the present utility model
Modifications and changes.Therefore, such as those of ordinary skill in the art without departing from the essence disclosed in the utility model
All equivalent modifications being completed under god and technological thought or change, must be covered by claim of the present utility model.
Claims (9)
1. a kind of controlled deflection device is it is characterised in that comprise multiple joints being serially connected, and be used for controlling described mutually
The control device that the joint of series connection bends, described joint is cylindrical structure, and the one end of the barrel in described joint is formed with
Multiple protuberances extending in the axial direction, it is corresponding that the other end of the tube wall in described joint is formed with multiple and described protuberance
, the recess extending along described axis direction, after the series connection of the plurality of joint, the institute in the protuberance in described joint and adjacent joint
State recess to fasten, the recess in described joint is fastened with the protuberance in another adjacent joint, after engaging, described protuberance can be in institute
State in recess and move reciprocatingly, described control device comprises one or more traction fiber, described traction fiber is serially connected from described
Joint one end penetrate, and be connected with the described arthrodesis of the other end positioned at the described joint being serially connected.
2. controlled deflection device as claimed in claim 1 is it is characterised in that described protuberance is distributed in the end in described joint,
Described recess is distributed in the end of the other end in described joint.
3. controlled deflection device as claimed in claim 1 it is characterised in that be additionally provided with described joint one or more for
The fixed part of fixing described traction fiber.
4. controlled deflection device as described in claim 3 is it is characterised in that the plurality of fixed part is distributed in described joint
On.
5. controlled deflection device as claimed in claim 3 is it is characterised in that described fixed part is to be opened in described internal knuckle walls
On wire casing.
6. controlled deflection device as claimed in claim 3 is it is characterised in that described fixed part is to be fixedly connected on described joint
Pipe on inwall.
7. a kind of endoscope of controlled deflection, it is characterised in that including insertion tube, described insertion tube can enter inside of human body
Partly be provided with the controlled deflection device as described in claim 1 to 6, the insertion end of described insertion tube is additionally provided with camera with
And one or more light source, described camera is connected with display.
8. the endoscope of controlled deflection as claimed in claim 7 is it is characterised in that the non-intrusive end of described insertion tube is provided with hand
Handle, described control device is arranged on described handle.
9. the endoscope of controlled deflection as claimed in claim 8 is it is characterised in that be provided with instrument channel in described insertion tube,
The entrance of described instrument channel is arranged on described handle, and the outlet of described instrument channel is arranged at the insertion end of described insertion tube
On face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620163098.7U CN205947765U (en) | 2016-03-03 | 2016-03-03 | Endoscope of controllable bending apparatus and controllable bending |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620163098.7U CN205947765U (en) | 2016-03-03 | 2016-03-03 | Endoscope of controllable bending apparatus and controllable bending |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205947765U true CN205947765U (en) | 2017-02-15 |
Family
ID=57966449
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620163098.7U Active CN205947765U (en) | 2016-03-03 | 2016-03-03 | Endoscope of controllable bending apparatus and controllable bending |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205947765U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106923902A (en) * | 2017-03-30 | 2017-07-07 | 微创（上海）医疗机器人有限公司 | Operating robot snakelike joint, operating theater instruments and endoscope |
| CN108836235A (en) * | 2018-05-17 | 2018-11-20 | 上海安清医疗器械有限公司 | Controllable bending curved tube structure |
| CN109846453A (en) * | 2019-03-08 | 2019-06-07 | 湖州市妇幼保健院 | A kind of enteroscopy positioning device |
| CN110475501A (en) * | 2018-03-13 | 2019-11-19 | 库克医学技术有限责任公司 | Miniature mirror device and system and its application method |
-
2016
- 2016-03-03 CN CN201620163098.7U patent/CN205947765U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106923902A (en) * | 2017-03-30 | 2017-07-07 | 微创（上海）医疗机器人有限公司 | Operating robot snakelike joint, operating theater instruments and endoscope |
| WO2018177039A1 (en) * | 2017-03-30 | 2018-10-04 | 微创（上海）医疗机器人有限公司 | Snake-like joint for surgical robot, surgical instrument, and endoscope |
| CN110475501A (en) * | 2018-03-13 | 2019-11-19 | 库克医学技术有限责任公司 | Miniature mirror device and system and its application method |
| CN108836235A (en) * | 2018-05-17 | 2018-11-20 | 上海安清医疗器械有限公司 | Controllable bending curved tube structure |
| CN108836235B (en) * | 2018-05-17 | 2024-02-09 | 上海安清医疗器械有限公司 | Controllable bending pipe structure |
| CN109846453A (en) * | 2019-03-08 | 2019-06-07 | 湖州市妇幼保健院 | A kind of enteroscopy positioning device |
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| C14 | Grant of patent or utility model | ||
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