CN209107582U - A kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument - Google Patents
A kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument Download PDFInfo
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- CN209107582U CN209107582U CN201820917704.9U CN201820917704U CN209107582U CN 209107582 U CN209107582 U CN 209107582U CN 201820917704 U CN201820917704 U CN 201820917704U CN 209107582 U CN209107582 U CN 209107582U
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- wirerope
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- minimally invasive
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Abstract
The utility model discloses a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instruments, including the first wirerope, the second wirerope, operation handle and hollow operating stick, the operation handle includes lower case and upper housing, the lower case is equipped with runing rest, steering engine and the operating handle being rotatably arranged, the operating stick head end is rotatably provided on runing rest by bearing, and steering engine arm is connected on the output shaft of the steering engine；The operating stick end is connected with a wrist compliant section, and first wirerope one end and steering engine arm are affixed, and second wirerope one end and operating handle are affixed, and the other end of first wirerope and the second wirerope passes through operating stick and connect with wrist compliant section；Operating scissors fixing seat is connected on the flexible block of wrist compliant section end, the operating scissors fixing seat is equipped with the second through-hole and fixing axle, and the fixing axle is equipped with operating scissors.It is convenient for carrying, and occupies little space, while easy to operate, is easy to operate.
Description
Technical field
The utility model relates to Minimally Invasive Surgery equipment technology field, in particular to a kind of Portable flexible electromechanical integration is micro-
Invasive procedures instrument.
Background technique
Increasingly mature with robot technology, robot technology has also been introduced in Minimally Invasive Surgery instrument.Traditional Minimally Invasive Surgery
The combination of instrument and robot forms a comprehensive very strong scientific and technological point.Micro-wound operation robot instrument can be accomplished to pass
Unite manual Minimally Invasive Surgery instrument cannot and motion mode, allow doctor more quickly and easily to complete to perform the operation, mention simultaneously
The accuracy and success rate of height operation, further give full play to the advantage of micro-wound surgical operation, have furthermore expanded traditional minimally invasive hand
Art technology uses scope, so that Minimally Invasive Surgery is can be used for accuracy rate and requires higher operation.Along with people to body illness
With the attention of quality of medical care, while under nowadays social fast pace, the postoperative rehabilitation period is also included in patient and selects modus operandi
The research and development of the considerations of selecting factor, micro-wound operation robot have just obtained paying close attention to for many people.
Currently, more micro-wound operation robot instrument is master-slave mode on the market, figure is huge, expensive, doctor
By master operating station, control is performed the operation from manipulator's instrument, the available good medical services of patient.But due to
Its figure is huge, and patient can only arrive several lower treatments of fixed point, and the micro-wound operation robot instrument of master-slave mode includes multiple systems
System, results in that it is expensive, this expense is also just transferred to patient, and patient needs to pay expensive medical expense ability
This medical services is enough experienced, this also results in it and can not promote in very big range.
Utility model content
To solve the above problems, the purpose of this utility model is to provide one kind portable, maneuverable electromechanical one
Body makeup is set, i.e., a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument.
The technical solution adopted by the utility model to solve the problem is as follows:
A kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument,
Including the first wirerope, the second wirerope, operation handle and hollow operating stick, the operation handle includes lower casing
Body and upper housing, the lower case are equipped with runing rest, steering engine and the operating handle being rotatably arranged, the operating stick head end
It is rotatably provided on runing rest by bearing, the operating stick periphery is socketed with a rotating wheel, the rotating wheel and operation
Bar interference fit；Steering engine arm is connected on the output shaft of the steering engine；The operating stick end is connected with a wrist compliant section, institute
It states first wirerope one end and steering engine arm is affixed, second wirerope one end and operating handle are affixed, first wirerope
And second wirerope the other end pass through operating stick connect with wrist compliant section；
The wrist compliant section includes several flexible blocks, and the flexible block is equipped with several first through hole, the flexible block
Front be equipped with convex block, the back side be equipped with the matched groove of convex block, first wirerope and the second wirerope sequentially pass through phase
First through hole on adjacent flexible block, by groove and the convex block rotation connection to match between adjacent flexible block, the wrist is flexible
It is connected with operating scissors fixing seat on the flexible block of section end, first wirerope and operating scissors fixing seat are affixed；
The operating scissors fixing seat is equipped with the second through-hole and fixing axle, and the fixing axle is equipped with operating scissors, the hand
The dynamic sword that art is cut the quiet sword including being fixed in fixing axle and is rotatably connected in fixing axle, second steel wire penetrating
Two through-holes and dynamic sword are affixed.
Further, the quantity of first wirerope is two, is set on the steering engine arm there are two the first screw hole, described the
It is equipped with first in one screw hole and pre-tightens screw, two first wirerope are by being fastened respectively in two first preload screws
Upper realization is affixed with steering engine arm.
Further, the quantity of second wirerope is two, and the lower case is equipped with spill spin block, on the spill spin block
If being equipped with second there are two the second screw hole, in second screw hole pre-tightens screw, two second wirerope are first wound respectively
It is fixed on two second preload screws, then realizes affixed with operating handle.
Further, further include pawl, the rotating wheel be with the matched ratchet of the pawl, the pawl is connected with one can
Stretch out the needle handle on the outside of lower case.
Further, the flexible block is a silica gel annulus, and the convex block and number of recesses on the flexible block are two, institute
It states first through hole and is divided into two groups of settings between two convex blocks, every group of quantity is two, and every group of two first through hole are worn respectively
Cross the first wirerope and the second wirerope.
Further, the dynamic sword is equipped with a square groove, and the square groove is embedded in a limited block, is each passed through two the
Two second wirerope of two through-holes are affixed with limited block both ends respectively.
Further, the lower case is equipped with wire column, and the wire column is arranged between operating stick head end and spill spin block, institute
It states wire column periphery to set there are two annular groove, the second wirerope on the spill spin block penetrates operating stick across the annular groove
It is interior.
Further, the lower case edge is equipped with buckle, and the upper housing corresponds to snapped-in position and is equipped with the card slot to match,
The upper housing and lower case are interlocked connection by the buckle and card slot.
Further, the upper housing corresponds to rotating wheel position and is equipped with the rotating wheel opening stretched out for rotating wheel, the lower casing
Body corresponds to needle handling position and is equipped with the needle handle opening stretched out for needle handle, the lower case and lower case respective operations handle position
Install the operating handle opening stretched out for operating handle.
Further, the diameter of the first through hole is 0.8mm.
The beneficial effects of the utility model are: a kind of minimally invasive hand of Portable flexible electromechanical integration that the utility model uses
Art instrument, using steering engine control and traditional Mechanical course, steering engine is dynamic by the bending that the first wirerope controls wrist compliant section
Make, operating handle controls operating scissors movement by the second wirerope, in addition control rotating wheel drives operating stick rotation, wrist is flexible
Section can be bent to four direction, and the described Portable flexible electromechanical integrated device has 3 freedom degrees.Guaranteeing to control
Under the premise of stable accuracy, very big possible its volume of diminution is convenient for carrying it, occupies little space, while is easy to operate, holds
Easy to get started, doctor, which only needs to lead to too small amount of training, can easily grasp its application method, when not needing to put into a large amount of
Between go to learn, reduce the expenditure of manpower and material resources, while price is relatively cheap, be conducive to small city promote, push Minimally Invasive Surgery
Development.
Detailed description of the invention
The utility model is described in further detail with example with reference to the accompanying drawing.
Fig. 1 is a kind of structural schematic diagram of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model；
Fig. 2 is a kind of partial structural diagram of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model；
Fig. 3 is a kind of another partial structurtes signal of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model
Figure；
Fig. 4 is a kind of partial structurtes exploded view of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model；
Fig. 5 is that a kind of wrist flexibility segment structure of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model shows
It is intended to；
Fig. 6 is a kind of operating scissors structural representation of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model
Figure；
Fig. 7 is a kind of operating scissors STRUCTURE DECOMPOSITION of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model
Figure；
Fig. 8 is a kind of positive structure of flexible block of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model
Schematic diagram；
Fig. 9 is a kind of structural representation at the back side of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model
Figure；
In figure, 1- operation handle, 11- upper housing, 12- lower case, 13- rotating wheel opening, 14- substrate, 15- card
Button, 2- operating stick, 3- wrist compliant section, 31- flexible block, 32- convex block, 33- groove, 34- first through hole, 4- operation
It cuts, 41- operating scissors fixing seat, 42- fixing axle, 43- move sword, the quiet sword of 44-, 45- square groove, 46- limited block, 47-
Second through-hole, 5- rotating wheel, 51- needle handle, 52- pawl, 53- spring, 54- mounting base, 6- steering engine, 61- steering engine
Arm, 62- first pre-tighten screw, 7- operating handle, 71- spill spin block, 72- second and pre-tighten screw, 73- wire column, 81- the
One wirerope, the second wirerope of 82-.
Specific embodiment
- Fig. 9 referring to Fig.1, a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument of the utility model,
Including the first wirerope 81, the second wirerope 82, operation handle 1 and hollow operating stick 2, the operation handle 1
Including lower case 12 and upper housing 11, the lower case 12 is equipped with runing rest, steering engine 6 and the operating handle being rotatably arranged
7, the lower case 12 is equipped with substrate 14, and the steering engine 6 is installed on substrate 14, and 2 head end of operating stick can by bearing
It is rotatably arranged on runing rest, 2 periphery of operating stick is socketed with a rotating wheel 5, the rotating wheel 5 and 2 interference of operating stick
Cooperation；Steering engine arm 61 is connected on the output shaft of the steering engine 6, steering engine arm 61 passes through the output axis connection of spline and steering engine 6；Institute
It states 2 end of operating stick and is connected with a wrist compliant section 3, described first wirerope, 81 one end and steering engine arm 61 are affixed, and described second
82 one end of wirerope and operating handle 7 are affixed, and the other end of first wirerope 81 and the second wirerope 82 passes through operation
Bar 2 is connect with wrist compliant section 3；
The wrist compliant section 3 includes several flexible blocks 31, and the flexible block 31 is equipped with several first through hole 34, described
31 front of flexible block is equipped with convex block 32, and the convex block 32 is in semi-cylindrical, and the back side is equipped with and the matched groove 33 of convex block 32, institute
Groove 33 is stated also in semi-cylindrical.First wirerope 81 and the second wirerope 82 sequentially pass through on adjacent flexible block 31
First through hole 34, each first through hole 34 is corresponding across steel cable, and the positive convex block 32 of flexible block 31 is embedded in adjacent soft
Property 31 back side of block groove 33 in, be rotatablely connected between adjacent flexible block 31 by the groove 33 that matches and convex block 32.The wrist
Operating scissors fixing seat 41, first wirerope 81 and operating scissors fixing seat are connected on the flexible block 31 of 3 end of portion's compliant section
41 is affixed.When steering engine 6 drives steering engine arm 61 to rotate, the length that is located in wrist compliant section 3 due to two first wirerope 81
It is inconsistent, wrist compliant section 3 towards shorter 81 curving of the first wirerope, and due to groove 33 and convex block 32 be in semicolumn
Shape, therefore the flexible block 31 (i.e. wrist compliant section 3) be connected in series by wirerope can only allow to swing towards both direction.Pass through
Stirring rotating wheel 5 with hand drives operating stick 2 to rotate, and operating stick 2 will drive wrist compliant section 3 and and then rotate when rotating, thus real
The multiple directions of existing wrist compliant section 3 are swung.
The operating scissors fixing seat 41 is equipped with the second through-hole 47 and fixing axle 42, and the fixing axle 42 is equipped with operating scissors
4, the operating scissors 4 include the quiet sword 44 being fixed in fixing axle 42 and the dynamic sword 43 being rotatably connected in fixing axle 42, from
The second wirerope 82 that first through hole 34 passes through is then passed through the second through-hole 47 and dynamic sword 43 is affixed.By stirring 7 turns of operating handle
Dynamic, two second wirerope, 82 relative motions, so that driving is moved, sword 43 is rotated around fixing axle 42 and quiet sword 44 is completed to shear and be moved
Make.The control signal of steering engine 6 is a kind of pulsewidth straightening signal, can change the output angle of steering engine 6 by changing pulse width,
Therefore can control the movement of steering engine 6 with the system of output pulse signal, the present embodiment using 51 single-chip microcontrollers to steering engine 6 into
Row control, thus using steering engine 6 control wrist compliant section 3 scheme is low in cost, structure is simple, and since steering engine 6 can be with
The feedback of output shaft is received, guarantees the movement of wrist compliant section 3 in place, there is higher precision.
For above-described embodiment, the quantity of first wirerope 81 is two, sets that there are two the on the steering engine arm 61
One screw hole, first screw hole are M3 threaded hole, and first is equipped in first screw hole and pre-tightens screw 62, described first pre-tightens spiral shell
Silk 62 is the round end Philip's head screw of M3x6, shortens torque arm length, provides bigger torque, two first wirerope 81 pass through
Being fastened respectively, it is affixed with steering engine arm 61 to realize on two first preload screws 62.Setting first pre-tightens screw 62, can
The first wirerope 81 is pre-tightened with realizing during installation, simultaneously as the first wirerope 81 during long-time service
It may fluff, first wirerope 81 is tightened again without reinstalling first by directly turning the first preload screw 62
Wirerope 81 facilitates maintenance, reduces costs.
For above-described embodiment, the quantity of second wirerope 82 is two, and the lower case 12, which is equipped with, can be rotated
Spill spin block 71, set on the spill spin block 71 there are two the second screw hole, be equipped with second in second screw hole and pre-tighten screw 72, institute
It states two second wirerope 82 to be first fastened respectively on two second preload screws 72, then realizes and consolidate with operating handle 7
It connects.Setting second pre-tightens screw 72, can realize and pre-tighten to the second wirerope 82 during installation, simultaneously as long-term
The second wirerope 82 may fluff during use, by directly turning the second preload screw 72 to the second wirerope 82 again
Tightening facilitates maintenance, reduces costs without reinstalling the second wirerope 82.
2 direction of operating stick rotates in order to prevent, further includes mounting base 54, and pawl 52 is equipped in the mounting base 54, described
Pawl 52 is connected with the needle handle 51 in extended 12 outside of lower case, and the rotating wheel 5 is and the matched spine of the pawl 52
Wheel, the mounting base 54 is interior to be equipped with one for providing the spring 53 to ratchet direction elastic force, ratchet and pawl 52 to pawl 52
A ratchet mechanism is constituted, ratchet mechanism is a kind of one-way intermittent motion mechanism.It can guarantee to operate by the way that ratchet mechanism is arranged
Bar 2 is stablized after being rotated in corresponding position, avoids occurring to make mistakes and rotate backward.If it is intended to operating stick 2 is allowed to reversely rotate,
Needle handle 51 can be held to pulling pawl 52 on the outside of lower case 12, the elastic force of spring 53 is overcome, make pawl 52 and ratchet
It unclamps, stirring rotating wheel 5 with hand is that operating stick 2 rotates backward.
Preferably, the flexible block 31 is a silica gel annulus, and the convex block 32 and 33 quantity of groove on the flexible block 31 are equal
It is two, the first through hole 34 is divided to for two groups of settings between two convex blocks 32, and every group of quantity is two, two first of every group
Through-hole 34 is each passed through the first wirerope 81 and the second wirerope 82.Every wirerope is each passed through individual first through hole
34, the interference between wirerope can be caused to avoid more wirerope are passed through in same first through hole 34.
Specifically, the dynamic sword 43 is equipped with a square groove 45, and the square groove 45 is embedded in a limited block 46, wears respectively
Two second wirerope 82 for crossing two the second through-holes 47 are affixed with 46 both ends of limited block respectively.When stirring operating handle 7 after,
Cause the relative motion of two second wirerope 82, so that dynamic sword 43 be pulled to rotate around fixing axle 42 and cut with the completion of quiet sword 44
The movement cut.
In order to promote the sensitivity of the second wirerope 82, the lower case 12 is equipped with wire column 73, the wire column 73
It is arranged between 2 head end of operating stick and spill spin block 71,73 periphery of wire column is set there are two annular groove, on the spill spin block 71
The second wirerope 82 penetrated in operating stick 2 across the annular groove.Wire column 73 is equivalent to the effect of fixed pulley, thus it is possible to vary
The direction of transfer of power on second wirerope 82, the second wirerope 82 being fixed on spill spin block 71 penetrate behaviour across fixed pulley again
Make in bar 2, sensitivity can be promoted, while can flexibly adjust rotation to avoid the friction of the second wirerope 82 and operating stick 2
The position of switch block 71 and operating handle 7 facilitates and reduces handle volume.
In order to facilitate the installation of and disassembly, 12 edge of lower case are equipped with buckle 15, the corresponding buckle 15 of the upper housing 11
Position be equipped with the card slot that matches, the upper housing 11 and lower case 12 by it is described buckle 15 and card slot be interlocked connection.
Preferably, corresponding 5 position of rotating wheel of the upper housing 11 is equipped with the opening of rotating wheel 5 13 stretched out for rotating wheel 5, institute
It states corresponding 51 position of needle handle of lower case 12 and is equipped with the opening of needle handle 51 stretched out for needle handle 51, the lower case 12 and lower casing
12 respective operations handle of body, 7 position is equipped with the operating handle 7 stretched out for operating handle 7 and is open.By the way that corresponding opening, side is arranged
Just doctor controls and uses this instrument.
Preferably, the diameter of the first through hole 34 is 0.8mm.
The above, the only preferred embodiment of the utility model, the utility model are not limited to above-mentioned implementation
Mode, as long as its technical effect for reaching the utility model with identical means, all should belong to the protection scope of the utility model.
Claims (10)
1. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument, it is characterised in that:
Including the first wirerope, the second wirerope, operation handle and hollow operating stick, the operation handle include lower case and
Upper housing, the lower case are equipped with runing rest, steering engine and the operating handle being rotatably arranged, and the operating stick head end passes through
Bearing is rotatably provided on runing rest, and the operating stick periphery is socketed with a rotating wheel, the rotating wheel and operating stick mistake
It is full of cooperation；Steering engine arm is connected on the output shaft of the steering engine；The operating stick end is connected with a wrist compliant section, and described
One wirerope one end and steering engine arm are affixed, and second wirerope one end and operating handle are affixed, first wirerope and
The other end of second wirerope passes through operating stick and connect with wrist compliant section；
The wrist compliant section includes several flexible blocks, and the flexible block is equipped with several first through hole, the flexible block front
Equipped with convex block, the back side is equipped with to be sequentially passed through adjacent soft with the matched groove of convex block, first wirerope and the second wirerope
Property block on first through hole, pass through groove and the convex block rotation connection to match, the wrist compliant section end between adjacent flexible block
Operating scissors fixing seat is connected on the flexible block at end, first wirerope and operating scissors fixing seat are affixed；
The operating scissors fixing seat is equipped with the second through-hole and fixing axle, and the fixing axle is equipped with operating scissors, the operating scissors
Including the quiet sword being fixed in fixing axle and the dynamic sword being rotatably connected in fixing axle, second steel wire penetrating second is logical
Kong Yudong sword is affixed.
2. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 1, it is characterised in that: described
The quantity of first wirerope is two, is set on the steering engine arm there are two the first screw hole, and first screw hole is interior to be equipped with first in advance
Tight screw, two first wirerope, which pass through to be fastened to pre-tighten at two first respectively, to be realized on screws and consolidates with steering engine arm
It connects.
3. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 2, it is characterised in that: described
The quantity of second wirerope is two, and the lower case is equipped with spill spin block, sets that there are two the second screw hole, institutes on the spill spin block
It states and is equipped with the second preload screw in the second screw hole, two second wirerope are first fastened respectively in two second preload spiral shells
On silk, then realize affixed with operating handle.
4. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 3, it is characterised in that: also wrap
Pawl is included, the rotating wheel is to be connected with the needle on the outside of an extended lower case with the matched ratchet of the pawl, the pawl
Handle.
5. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 4, it is characterised in that: described
Flexible block is a silica gel annulus, and the convex block and number of recesses on the flexible block are two, and the first through hole is divided into two groups
It is arranged between two convex blocks, every group of quantity is two, and every group of two first through hole are each passed through the first wirerope and second
Wirerope.
6. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 5, it is characterised in that: described
Dynamic sword is equipped with a square groove, and the square groove is embedded in a limited block, is each passed through two second steel of two the second through-holes
Cord is affixed with limited block both ends respectively.
7. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 6, it is characterised in that: described
Lower case is equipped with wire column, and the wire column is arranged between operating stick head end and spill spin block, and the wire column periphery is equipped with two
A annular groove, the second wirerope on the spill spin block penetrate in operating stick across the annular groove.
8. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 7, it is characterised in that: described
Lower case edge is equipped with buckle, and the upper housing corresponds to snapped-in position and is equipped with the card slot to match, the upper housing and lower case
It is interlocked connection by the buckle and card slot.
9. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 8, it is characterised in that: described
Upper housing corresponds to rotating wheel position and is equipped with the rotating wheel opening stretched out for rotating wheel, and the lower case corresponds to needle handling position and is equipped with
For the needle handle opening that needle handle stretches out, the lower case and lower case respective operations handling position are equipped with and stretch out for operating handle
Operating handle opening.
10. a kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument according to claim 9, it is characterised in that: institute
The diameter for stating first through hole is 0.8mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820917704.9U CN209107582U (en) | 2018-06-13 | 2018-06-13 | A kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820917704.9U CN209107582U (en) | 2018-06-13 | 2018-06-13 | A kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209107582U true CN209107582U (en) | 2019-07-16 |
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ID=67195685
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820917704.9U Expired - Fee Related CN209107582U (en) | 2018-06-13 | 2018-06-13 | A kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument |
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| Country | Link |
|---|---|
| CN (1) | CN209107582U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814716A (en) * | 2018-06-13 | 2018-11-16 | 五邑大学 | A kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument |
-
2018
- 2018-06-13 CN CN201820917704.9U patent/CN209107582U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108814716A (en) * | 2018-06-13 | 2018-11-16 | 五邑大学 | A kind of Portable flexible electromechanical integration Minimally Invasive Surgery instrument |
| CN108814716B (en) * | 2018-06-13 | 2024-11-01 | 五邑大学 | Portable flexible electromechanical integrated minimally invasive surgical instrument |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190716 Termination date: 20200613 |
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| CF01 | Termination of patent right due to non-payment of annual fee |