CN210446976U - Flexible gastroscope of variable rigidity - Google Patents
Flexible gastroscope of variable rigidity Download PDFInfo
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- CN210446976U CN210446976U CN201920120963.3U CN201920120963U CN210446976U CN 210446976 U CN210446976 U CN 210446976U CN 201920120963 U CN201920120963 U CN 201920120963U CN 210446976 U CN210446976 U CN 210446976U
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- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 239000007787 solid Substances 0.000 claims abstract description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 30
- 238000004140 cleaning Methods 0.000 claims description 20
- 239000007921 spray Substances 0.000 claims description 13
- 210000002784 stomach Anatomy 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 6
- 238000005286 illumination Methods 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 3
- 230000008054 signal transmission Effects 0.000 claims 1
- 238000009423 ventilation Methods 0.000 description 3
- 210000003238 esophagus Anatomy 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 210000001035 gastrointestinal tract Anatomy 0.000 description 1
- 238000002575 gastroscopy Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 210000003097 mucus Anatomy 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
A rigidity-variable flexible gastroscope comprises a flexible gastroscope mechanism body, a control circuit and a tail end image acquisition device, wherein the flexible gastroscope mechanism body comprises two soft arms which are connected in front and back, namely a soft arm a and a soft arm b, and the tail end image acquisition device is arranged on the soft arm positioned at the rear end; the solid part of the soft arm comprises a rubber tube, a shell, a front end cover and a rear end cover, wherein an inner cavity is arranged in the center of the rubber tube and is connected to a pneumatic proportional valve through an air tube, the pneumatic proportional valve is connected with a control circuit, and the shell and the rubber tube are fixedly connected between the front end cover and the rear end cover; outer wedge blocks are distributed on the shell at equal intervals, wedge grooves which are approximately in a right trapezoid shape are formed among the outer wedge blocks, and inner wedge blocks are distributed on the outer side of the rubber pipe at equal intervals. The utility model discloses a mode of changing atmospheric pressure size controls the rigidity size of this flexible gastroscope of variable rigidity to the effective control of self-adaptation degree and terminal direction when realizing getting into the alimentary canal.
Description
Technical Field
The utility model belongs to a medical appliance, relating to a gastroscope.
Background
Compared with a rigid robot, the flexible robot has obvious advantages in the scenes of grabbing flexible objects, operating in narrow space and frequent man-machine interaction. When touching personnel, the software robot needs to keep smaller rigidity to guarantee its self-adaptability, guarantee personnel's security. When grabbing an operation object, the soft robot needs to maintain higher rigidity so as to ensure the gripping force and the control performance of the soft robot.
The existing gastroscope is generally a soft endoscope, and although the damage of the tail end of the gastroscope to the esophagus and the stomach can be effectively prevented, the control capability is insufficient while the adaptability is improved. When the gastroscope finds a lesion, the gastroscope cannot align the tip precisely with the position of the lesion due to its greater flexibility.
Chinese patent No. CN201810883664 proposes a gastroscope which can change the hardness and softness based on magnetorheological fluid, but has the danger problem of leakage of the magnetorheological fluid.
Disclosure of Invention
In order to overcome the defects that the rigidity of the prior gastroscope is not changeable or the changeable structure has potential safety hazard, the utility model provides a flexible gastroscope with changeable rigidity. The utility model discloses the accessible changes the mode of atmospheric pressure size, controls the rigidity size of this flexible gastroscope of variable rigidity to the effective control of self-adaptation degree and terminal direction when realizing getting into the alimentary canal. The utility model integrates the advantages of easy control of the hard gastroscope and the safety of the flexible gastroscope, and aims to solve the contradiction between controllability and adaptability.
The utility model provides a technical scheme that its technical problem adopted is:
a flexible gastroscope with variable rigidity comprises a flexible gastroscope mechanism body, a control circuit and a tail end image acquisition device, wherein the flexible gastroscope mechanism body comprises two soft arms which are connected in front and back, namely a soft arm a and a soft arm b, and the tail end image acquisition device is arranged on the soft arm positioned at the rear end;
the solid part of the soft arm comprises a rubber tube, a shell, a front end cover and a rear end cover, wherein an inner cavity is arranged in the center of the rubber tube and is connected to a pneumatic proportional valve through an air tube, the pneumatic proportional valve is connected with a control circuit, and the shell and the rubber tube are fixedly connected between the front end cover and the rear end cover; under the condition of no air supply, the rubber tube is separated from the shell; outer wedge blocks are distributed on the shell at equal intervals, a wedge groove which is approximately in a right trapezoid shape is formed between the outer wedge blocks, inner wedge blocks are distributed on the outer side of the rubber tube at equal intervals, and the inner wedge blocks on the rubber tube are embedded into the wedge groove on the shell during inflation expansion to form a structure with variable rigidity.
Furthermore, the shell is further provided with three air chambers, namely an air chamber a, an air chamber b and a cut-away air chamber, and the air pressure of the three air chambers can be controlled by a user through the pneumatic proportional valve group, so that the soft body arm can be bent towards different directions.
Furthermore, three through holes are distributed on the shell at equal angles, the vent holes a, the vent holes b and the cut through holes are respectively a cable pipeline, a water supply pipeline and an inflation pipeline, the cable pipeline is used for supplying power to the LED lamp and the camera and transmitting signals, and the water supply pipeline is used for supplying cleaning water to the cleaning spray head; the inflation pipeline is used for supplying air to the inflation holes.
Furthermore, the front end cover of the soft arm a is provided with 10 through holes which are respectively a soft arm a vent hole a, a soft arm a vent hole b, a soft arm a vent hole c, a soft arm b vent hole a, a soft arm b vent hole b, a soft arm b vent hole c, a cable pipeline, a water supply pipeline, an inflation pipeline and an inner cavity vent hole, one end of each of the three vent holes of the soft arm a vent hole a, the soft arm a vent hole b and the soft arm a vent hole c is connected to a pneumatic proportional valve, the other end of each vent hole is respectively connected with three air chambers of the soft arm a, and the bending motion of the soft arm a is realized by changing the air pressure of the three air chambers; one end of each of the vent holes a, b and c of the soft arm b is connected to the pneumatic proportional valve, and the other end of each of the vent holes is connected with the three air chambers of the soft arm b; the bending movement of the flexible arm b is realized by changing the air pressure of the three air chambers.
The cable pipeline is used for supplying power to the LED lamp and the camera and transmitting signals; the water supply pipeline is used for supplying clean water for the cleaning spray head; the inflation pipeline is used for supplying air to the inflation holes; the inner cavity inflation holes are used for inflating the inner cavities of the soft body arms a and b so as to realize rigidity control of the soft body arms a and b.
The tail end image acquisition device comprises a camera, a cleaning spray head, a camera, an LED lamp and an inflation hole are arranged on a rear end cover of the soft arm b, and the camera is used for acquiring real-time image signals and transmitting the images back to the industrial personal computer through a cable channel; the direction of the cleaning nozzle needs to be aligned to the camera, the LED lamp provides a light source for image acquisition of the image sensor, and the inflation hole adopts a radial multi-pore-channel output mode.
The control circuit comprises an industrial personal computer, a bus and control circuits of all components, the industrial personal computer is connected with a human-computer interaction interface HMI, image information collected by a camera is observed through the HMI, and the HMI is used for controlling the on-off of the LED lamp, the on-off of the small water pump and the pressure control of the pneumatic proportional valve group.
The industrial personal computer is electrically connected with the switching box through the bus, and signals of the camera are connected through an independent Ethernet interface; the switching box is respectively and electrically connected with analog quantity control signals of 8 pneumatic proportional valves, switching quantity signals of the electromagnet, triggering signals of the electronic switch, a common end and a power supply cathode which are grounded.
In the pneumatic proportional valve group, 3 pneumatic proportional valves are used for controlling the movement of the soft body arm a, 3 pneumatic proportional valves are used for controlling the movement of the soft body arm b, 1 pneumatic proportional valve is used for controlling the amount of the gas filled in the stomach of a patient through an inflation hole, and 1 pneumatic proportional valve is used for controlling the rigidity of the flexible gastroscope; the pneumatic proportional valve group is connected to the flexible gastroscope structure body through an air pipe; the electromagnet is controlled by a switching value, can adsorb or release the armature and is used for switching on and off the small water pump; the small water pump provides a pressure water source for the cleaning spray head; the electronic switch can realize on-off control of the LED lamp so as to realize illumination control of the stomach of the patient.
The technical conception of the utility model is as follows: when the rubber tube is not inflated, the inner wedge block on the outer side of the rubber tube is not meshed with the outer wedge block on the inner side of the shell, the whole structure is small in rigidity and large in flexibility, and the device can be bent or even extended. When the rubber tube is gradually inflated, the rubber tube expands. During expansion, the middle part of the rubber pipe is radially expanded firstly, the wedge-shaped block is not contacted with the wedge-shaped groove at the beginning, at the moment, the rigidity of the overall structure is not changed by inflation, the inflation is continuously carried out, the inner wedge-shaped block and the outer wedge-shaped groove of the middle part are driven to be meshed, and the structural rigidity of the middle part of the device is improved. At the moment, the expansion ratio of the two ends of the rubber pipe is low, the wedge block and the wedge groove are not meshed, and the device has certain flexibility. Along with the increase of the ventilation air pressure, the engagement degree of the wedge-shaped blocks in the middle part is continuously increased, the wedge-shaped blocks at the two ends are gradually engaged, and the integral rigidity of the structure is continuously increased. The structural stiffness peaks until the air pressure reaches a rated value or the integral wedge is fully engaged. Therefore, the device can freely adjust the structural rigidity within a certain range as long as the ventilation air pressure is changed, and can maintain certain structural rigidity as long as the ventilation air pressure is fixed, so that the function of a common rigid material is realized.
The beneficial effects of the utility model are that: the rigidity of the flexible gastroscope with variable rigidity is controlled by changing the air pressure so as to realize the effective control of the self-adaption degree and the tail end direction when entering the alimentary canal; the utility model integrates the advantages of easy control of the hard gastroscope and the safety of the flexible gastroscope, and aims to solve the contradiction between controllability and adaptability.
Drawings
FIG. 1 is a schematic view of a variable stiffness flexible structure;
FIG. 2 is a view of the flexible gastroscope body from the inflated end view;
FIG. 3 is a view of the flexible gastroscope body from a distal viewing angle;
FIG. 4 is an exploded view of the flexible gastroscope;
FIG. 5 is a control diagram of the flexible gastroscope.
In the figure, 1, an inner wedge block; 2. an outer wedge block; 3. a through hole a; 4. a housing; 5. a rubber tube; 6. an inner cavity; 7. an air chamber a; 8. a through hole b; 9. an air chamber b; 10. a cavity; 11. a soft body arm a; 12. a rear end cover of the soft body arm a; 13. a front end cover of the soft body arm b; 14. a soft body arm b; 15. a rear end cover of the soft body arm b; 16. a front end cover of the soft body arm a; 17. an inner cavity vent hole; 18. cleaning the spray head; 19. a camera; 20, an LED lamp; 21. an inflation hole; 22. an air chamber c; 23. an air chamber d; HMI; 25. an industrial personal computer; 26. a flexible gastroscope body; 27. a pneumatic proportional valve bank; 28. a junction box; 29. a bus; 30. an electronic switch; 31. an electromagnet; 32. a ground resistor; 33. an armature; 34. a small-sized water pump; 35. an air tube; soft arm a vent hole a; 51b, a soft arm a vent hole b; 51c, soft arm a vent hole c; 52a, a soft arm b vent hole a; 52b, a soft arm b vent hole b; 52c, soft arm b vent hole c; 53a. cable duct; 53b water supply pipe; inflation duct 53c.
Detailed Description
The present invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 to 5, a flexible gastroscope with variable rigidity comprises a flexible gastroscope mechanism body, a control circuit and a tail end image acquisition device, wherein the flexible gastroscope mechanism body comprises two soft arms connected in front and back, namely a soft arm a and a soft arm b, and the tail end image acquisition device is arranged on the soft arm positioned at the rear end;
the solid part of the soft arm comprises a rubber tube, a shell, a front end cover and a rear end cover, wherein an inner cavity is arranged in the center of the rubber tube and is connected to a pneumatic proportional valve through an air tube, the pneumatic proportional valve is connected with a control circuit, and the shell and the rubber tube are fixedly connected between the front end cover and the rear end cover; under the condition of no air supply, the rubber tube is separated from the shell; outer wedge blocks are distributed on the shell at equal intervals, a wedge groove which is approximately in a right trapezoid shape is formed between the outer wedge blocks, inner wedge blocks are distributed on the outer side of the rubber tube at equal intervals, and the inner wedge blocks on the rubber tube are embedded into the wedge groove on the shell during inflation expansion to form a structure with variable rigidity.
Furthermore, the shell is further provided with three air chambers, namely an air chamber a, an air chamber b and a cut-away air chamber, and the air pressure of the three air chambers can be controlled by a user through the pneumatic proportional valve group, so that the soft body arm can be bent towards different directions.
Furthermore, three through holes are distributed on the shell at equal angles, the vent holes a, the vent holes b and the cut through holes are respectively a cable pipeline, a water supply pipeline and an inflation pipeline, the cable pipeline is used for supplying power to the LED lamp and the camera and transmitting signals, and the water supply pipeline is used for supplying cleaning water to the cleaning spray head; the inflation pipeline is used for supplying air to the inflation holes. It is noted that the inflation port is used to inflate the patient's stomach, which is a routine procedure in gastroscopy. After the stomach is inflated, the medical staff can better realize the examination of the stomach
Furthermore, the front end cover of the soft arm a is provided with 10 through holes which are respectively a soft arm a vent hole a, a soft arm a vent hole b, a soft arm a vent hole c, a soft arm b vent hole a, a soft arm b vent hole b, a soft arm b vent hole c, a cable pipeline, a water supply pipeline, an inflation pipeline and an inner cavity vent hole, one end of each of the three vent holes of the soft arm a vent hole a, the soft arm a vent hole b and the soft arm a vent hole c is connected to a pneumatic proportional valve, the other end of each vent hole is respectively connected with three air chambers of the soft arm a, and the bending motion of the soft arm a is realized by changing the air pressure of the three air chambers; one end of each of the vent holes a, b and c of the soft arm b is connected to the pneumatic proportional valve, and the other end of each of the vent holes is connected with the three air chambers of the soft arm b; the bending movement of the flexible arm b is realized by changing the air pressure of the three air chambers.
The cable pipeline is used for supplying power to the LED lamp and the camera and transmitting signals; the water supply pipeline is used for supplying clean water for the cleaning spray head; the inflation pipeline is used for supplying air to the inflation holes. The inner cavity inflation holes are used for inflating the inner cavities of the soft body arms a and b so as to realize rigidity control of the soft body arms a and b.
The terminal image acquisition device comprises a camera, a cleaning spray head, the camera, an LED lamp and an inflation hole are arranged on a rear end cover of the soft arm b, and the camera is used for acquiring real-time image signals and transmitting the images back to the industrial personal computer through a cable channel. When the flexible gastroscope enters the alimentary canal of a patient, the camera is easily covered by mucus, so the camera needs to be sprayed by the cleaning sprayer when necessary to ensure the definition of images. The direction of the cleaning spray head needs to be aligned to the camera so as to improve the cleaning and spraying efficiency of the camera. The LED lamp provides a light source for image acquisition of the image sensor, the inflation hole adopts a radial multi-hole-channel output mode, and the air outlet mode reduces damage to the stomach and discomfort of a patient caused by impact energy of air through the throttling of the multi-hole channel and the principle of changing the air flowing direction.
The control circuit comprises an industrial personal computer, a bus and control circuits of all components, the industrial personal computer is connected with an HMI (human machine interface), medical workers can observe image information collected by a camera through the HMI, and can control the on-off of the LED lamp, the on-off of the small water pump and the pressure control of the pneumatic proportional valve group through the HMI.
The industrial personal computer is electrically connected with the adapter box through the bus, and signals of the camera are connected through a single Ethernet interface in consideration of large image communication data volume; the switching box is respectively and electrically connected with analog quantity control signals of 8 pneumatic proportional valves, switching quantity signals of the electromagnet, triggering signals of the electronic switch, a common end and a power supply cathode which are grounded.
Specifically, in the pneumatic proportional valve group, 3 pneumatic proportional valves are used for controlling the movement of the soft body arm a, 3 pneumatic proportional valves are used for controlling the movement of the soft body arm b, 1 pneumatic proportional valve is used for controlling the fullness of the stomach of a patient through an inflation hole, and 1 pneumatic proportional valve is used for controlling the rigidity of the flexible gastroscope. The pneumatic proportional valve group is connected to the flexible gastroscope structure body through an air pipe. The electromagnet is controlled by a switching value, can adsorb or release the armature and is used for switching on and off the small water pump. The small water pump provides a pressure water source for the cleaning spray head. The electronic switch can realize on-off control of the LED lamp so as to realize illumination control of the stomach of the patient.
The working process of the embodiment is as follows: when the flexible gastroscope is not inflated, the gastroscope tube is in a flexible state. At this time, the throat-in operation can be performed. Considering that the uninflated gastroscope tube is softer, the flexible gastroscope is less harmful to human body when entering the digestive tract. When the flexible gastroscope enters the stomach, the tail end camera of the flexible gastroscope needs to be accurately aligned with the focus, so that the motion control of the gastroscope tube is needed. Given the greater flexibility of flexible mechanism control, there is a need to increase the stiffness of flexible gastroscopes. At the moment, the rigidity of the flexible gastroscope can be slowly increased by increasing the air pressure of the inner cavity so as to meet the requirement of controlling the required rigidity without scratching the esophagus due to the over-hardness of the gastroscope tube and improve the control performance of the gastroscope. When the flexible gastroscope is required to be bent, only six air chambers in total are needed to be inflated by the two soft body arms. The rotation of any angle of the two soft arms can be realized by adjusting the air pressure of the three air chambers.
Claims (9)
1. The flexible gastroscope with variable rigidity is characterized by comprising a flexible gastroscope mechanism body, a control circuit and a tail end image acquisition device, wherein the flexible gastroscope mechanism body comprises two soft arms which are connected in front and back, namely a soft arm a and a soft arm b, and the tail end image acquisition device is arranged on the soft arm positioned at the rear end;
the solid part of the soft arm comprises a rubber tube, a shell, a front end cover and a rear end cover, wherein an inner cavity is arranged in the center of the rubber tube, the inner cavity is connected to a pneumatic proportional valve through an air tube, the pneumatic proportional valve is connected with a control circuit, and the shell and the rubber tube are fixedly connected between the front end cover and the rear end cover; under the condition of no air supply, the rubber tube is separated from the shell; outer wedge blocks are distributed on the shell at equal intervals, a wedge groove which is approximately in a right trapezoid shape is formed between the outer wedge blocks, inner wedge blocks are distributed on the outer side of the rubber tube at equal intervals, and the inner wedge blocks on the rubber tube are embedded into the wedge groove on the shell during inflation expansion to form a structure with variable rigidity.
2. The variable stiffness flexible gastroscope of claim 1, wherein the housing further has three air chambers, air chamber a, air chamber b and one air chamber cut away, the air pressure of the three air chambers can be controlled by the user through the pneumatic proportional valve set, and the flexible arm can be bent towards different directions.
3. The flexible gastroscope of claim 1 or 2, wherein three through holes are further distributed on the shell in an equal angle, and the air vent a, the air vent b and the cut through holes are respectively a cable pipeline, a water supply pipeline and an inflation pipeline, the cable pipeline is used for supplying power and signals for the LED lamp and the camera, and the water supply pipeline is used for supplying cleaning water for the cleaning spray head; the inflation pipeline is used for supplying air to the inflation holes.
4. The variable-rigidity flexible gastroscope according to claim 3, wherein the front end cover of the soft body arm a is provided with 10 through holes which are respectively a soft body arm a vent hole a, a soft body arm a vent hole b, a soft body arm a vent hole c, a soft body arm b vent hole a, a soft body arm b vent hole b, a soft body arm b vent hole c, a cable pipeline, a water supply pipeline, an inflation pipeline and an inner cavity vent hole, one end of the three vent holes of the soft body arm a vent hole a, the soft body arm a vent hole b and the soft body arm a vent hole c is connected to a pneumatic proportional valve, the other end of the three vent holes is respectively connected with the three air chambers of the soft body arm a, and the bending movement of the soft body arm a is realized by changing the air; one end of each of the vent holes a, b and c of the soft arm b is connected to the pneumatic proportional valve, and the other end of each of the vent holes is connected with the three air chambers of the soft arm b; the bending movement of the flexible arm b is realized by changing the air pressure of the three air chambers.
5. The variable stiffness flexible gastroscope of claim 3, wherein the cable conduit is used for LED light and camera power and signal transmission; the inner cavity inflation holes are used for inflating the inner cavities of the soft body arms a and b so as to realize rigidity control of the soft body arms a and b.
6. The flexible gastroscope of claim 1 or 2, wherein the terminal image acquisition device comprises a camera, a cleaning spray head, a camera, an LED lamp and an inflation hole are arranged on the rear end cover of the flexible arm b, and the camera is used for acquiring real-time image signals and transmitting the images back to the industrial personal computer through a cable channel; the direction of the cleaning nozzle needs to be aligned to the camera, the LED lamp provides a light source for image acquisition of the image sensor, and the inflation hole adopts a radial multi-pore-channel output mode.
7. The flexible gastroscope of claim 1 or 2, wherein the control circuit comprises an industrial personal computer, a bus and control circuits of all components, the industrial personal computer is connected with a human-computer interaction interface HMI, image information collected by the camera is observed through the HMI, and the HMI is used for controlling the on-off of the LED lamp, the small water pump and the pressure control of the pneumatic proportional valve set.
8. The flexible gastroscope of claim 7, wherein the industrial personal computer is electrically connected with the adapter box through the bus, and the signal of the camera is connected by a single Ethernet interface; the switching box is respectively and electrically connected with analog quantity control signals of 8 pneumatic proportional valves, switching quantity signals of the electromagnet, triggering signals of the electronic switch, a common end and a power supply cathode which are grounded.
9. The variable-stiffness flexible gastroscope of claim 7, wherein, in the pneumatic proportional valve group, 3 pneumatic proportional valves are used for controlling the movement of the soft body arm a, 3 pneumatic proportional valves are used for controlling the movement of the soft body arm b, 1 pneumatic proportional valve is used for controlling the inflation quantity of the stomach of the patient through the inflation hole, and 1 pneumatic proportional valve is used for controlling the stiffness of the flexible gastroscope; the pneumatic proportional valve group is connected to the flexible gastroscope structure body through an air pipe; the electromagnet is controlled by a switching value, can adsorb or release the armature and is used for switching on and off the small water pump; the small water pump provides a pressure water source for the cleaning spray head; the electronic switch can realize on-off control of the LED lamp so as to realize illumination control of the stomach of the patient.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201920120963.3U CN210446976U (en) | 2019-01-24 | 2019-01-24 | Flexible gastroscope of variable rigidity |
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| CN201920120963.3U CN210446976U (en) | 2019-01-24 | 2019-01-24 | Flexible gastroscope of variable rigidity |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109770840A (en) * | 2019-01-24 | 2019-05-21 | 浙江工业大学 | A kind of flexible gastroscope of stiffness variable |
| CN113425227A (en) * | 2021-06-24 | 2021-09-24 | 哈尔滨工业大学 | Diagnosis-treatment integrated soft enterogastroscope medical robot |
-
2019
- 2019-01-24 CN CN201920120963.3U patent/CN210446976U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109770840A (en) * | 2019-01-24 | 2019-05-21 | 浙江工业大学 | A kind of flexible gastroscope of stiffness variable |
| CN113425227A (en) * | 2021-06-24 | 2021-09-24 | 哈尔滨工业大学 | Diagnosis-treatment integrated soft enterogastroscope medical robot |
| CN113425227B (en) * | 2021-06-24 | 2022-09-06 | 哈尔滨工业大学 | Diagnosis-treatment integrated soft enterogastroscope medical robot |
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Granted publication date: 20200505 |