WO2016115918A1 - 一种控弯机构及具有控弯机构的外科器械 - Google Patents
一种控弯机构及具有控弯机构的外科器械 Download PDFInfo
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- WO2016115918A1 WO2016115918A1 PCT/CN2015/090208 CN2015090208W WO2016115918A1 WO 2016115918 A1 WO2016115918 A1 WO 2016115918A1 CN 2015090208 W CN2015090208 W CN 2015090208W WO 2016115918 A1 WO2016115918 A1 WO 2016115918A1
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- Prior art keywords
- angle
- wrench
- steering
- cam lock
- power input
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00407—Ratchet means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B2017/07214—Stapler heads
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2923—Toothed members, e.g. rack and pinion
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
- A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
- A61B2090/035—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself preventing further rotation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
- A61B2090/036—Abutting means, stops, e.g. abutting on tissue or skin abutting on tissue or skin
Definitions
- the present invention relates to a bending mechanism for a surgical stapler, and more particularly to a mechanism for controlling the turning and locking of a jaw of a mirror stapler.
- the principle of the surgical stapler is to close the tissue by two corresponding jaws (commonly referred to as the anvil assembly and the cartridge assembly), and then push the metal staples in the stapler cartridge to form the tissue. Together.
- a cutting knife is also provided for cutting the stitched tissue.
- Endoscopic surgery is to make a small incision of 5 to 12 mm in diameter in different parts of the abdomen or chest. Through these small incisions, the camera lens and various special surgical instruments are inserted into the abdominal cavity of the camera inserted into the abdominal cavity. The image of the organ is transmitted to the TV screen, and the surgeon manipulates various surgical instruments to complete the operation by observing the image.
- the endoscopic stapler plays the most important role in the operation. Due to the limitation of the space in the abdominal cavity or the thoracic cavity, the conventional linear endoscopic stapler can not effectively reach the surgical site for clamping, transection, and anastomosis in some extreme cases, so a stapler jaw (including an anvil component) is required. And staple cartridge assembly) a bendable elbow stapler. In the straight state, the bendable elbow stapler enters the thoracic cavity or the abdominal cavity through the puncturing device, and the jaw is controlled by the external bending mechanism of the handle to bend a certain angle, and the surgical site is clamped, traversed and anastomosed. Wait for a series of operations. After the operation is completed, it will return to a straight line and exit the body.
- a bending control mechanism includes: a wrench constituting the steering power input mechanism A and a lifting ring accompanying the synchronous rotation of the wrench; a central shaft constituting the steering transmission mechanism B; a cam lock and a compression spring constituting the locking mechanism C, a rotary head; and, the cam lock is engaged with the steering transmission mechanism B; a rack constituting the linear power output mechanism D; wherein the rack meshes with a gear provided on the central shaft; further: a coaxially disposed steering power input mechanism A And the steering transmission mechanism B have a relative rotatable angle range in the circumferential direction; in the process of the steering power input mechanism A rotating from one end angle of the relative rotatable angle range to the other end angle relative to the steering transmission mechanism B, the steering power input The mechanism A passes through the relative angles in sequence: angle I, angle range II, angle III; when the steering power input mechanism A is in the angle range II, the cam lock meshes with the rotating head to lock the steering transmission mechanism under the driving of the compression spring B, so
- the range of angles between the angle I and the angle III constitutes the angle range II.
- the rotating head opening is provided with a plurality of meshing locking positions in the circumferential direction, and the cam lock can engage the rotating head in the corresponding meshing locking position as the cam lock rotates.
- the pin hole of the wrench and the fan hole of the central shaft are matched by the pin; the angle of the fan hole constitutes the range of the relative rotatable angle; the wrench extends downwardly out of the boss, the lifting ring is provided with a wrench matching groove, and the boss engages The wrench fits in the slot.
- the wrench when the pin is at one end of the scalloped hole, the wrench is at an angle I; when the pin is at the other end of the scalloped hole, the wrench is at an angle III; when the pin is located at an area between one end and the other end of the scalloped hole The wrench is in the angular range II.
- the lifting ring is provided with a driving inclined surface
- the cam lock is provided with a passive inclined surface
- the passive inclined surface is matched with the driving inclined surface
- the wrench is provided with a cover plate
- the cam lock is provided with a compression spring support surface
- the compression spring is connected to the cover plate and the compression spring support Between the faces.
- the opening of the rotating head is provided with a finite position boss, and the wrench is provided with an angular limiting groove that cooperates with the limiting boss.
- a surgical instrument having a bending mechanism according to the present invention includes the above-described bending mechanism.
- the surgical instrument is a surgical stapler
- the linear power output mechanism D of the bend control mechanism is connected to the jaw of the stapler.
- the present invention has the following beneficial effects:
- one or more positions can be locked during surgery, the stapler jaws can be bent and fixed to a desired position to complete the procedure.
- the mechanism of the invention is simple, the parts are few, and most of the parts are manufactured by an injection molding process, which is simple in manufacture and low in cost.
- the bending control mechanism provided by the invention can be widely applied to other mechanical operating parts, and is easy to control and transfer.
- Figure 1 is a front view of a surgical stapler including a bending mechanism
- Figure 2 is a subjective view of the bending mechanism
- Figure 3 is a detailed view of the split structure of the bending mechanism
- Figure 4 is a plan view of the rotating head portion of the bending mechanism
- the present invention provides a surgical instrument having a bend control mechanism, including a bend control mechanism.
- the surgical instrument is a surgical stapler, and the linear power output mechanism D of the bend control mechanism is connected to the jaw of the stapler.
- the present invention provides a surgical stapler for a laparoscopic with a bend control mechanism.
- the endoscopic surgical stapler includes a tubular structure, the distal end of the tubular structure has a stapler jaw, and the proximal end is connected to the bend control mechanism.
- the bending control mechanism of the present invention comprises: a wrench 1, a rotating head upper portion 7, wherein the wrench 1 is mounted on the rotating head upper portion 7.
- the bending control mechanism includes: a wrench that constitutes the steering power input mechanism A and a lifting ring that rotates with the wrench; a central shaft 3 that constitutes the steering transmission mechanism B; a cam lock 9 that constitutes the locking mechanism C, and the compression spring 10 Rotating the upper portion 7 of the head; and, the cam lock 9 is engaged with the steering transmission mechanism B; and the linear power output mechanism D is constructed a rack 5; wherein the rack 5 is engaged with a gear 301 disposed on the center shaft 3; further: the coaxially disposed steering power input mechanism A and the steering transmission mechanism B have a range of relative rotational angles in the circumferential direction; During the rotation of the power input mechanism A from one end angle of the relative rotatable angle range to the other end angle relative to the steering transmission mechanism B, the steering power input mechanism A sequentially passes the relative angles: angle I, angle range II, angle III; When the steering power input mechanism A is in the angular range II, under the driving of the compression spring 10, the cam lock 9 is engaged and locked to the
- a bending control mechanism includes: a wrench 1, a center shaft 3, a lifting ring 8, a cam lock 9, a rotating head upper portion 7, and a compression spring 10;
- the upper portion 7 has an opening 701 having a series of positioning grooves 702 therein;
- a central shaft 3 having a gear 301 on the shaft, and connecting the racks 5, and further connecting the stapler jaws through a connecting device disposed inside the tubular structure;
- the lifting ring 8 is disposed coaxially with the central shaft 3 and includes a driving ramp 802.
- the cam lock 9 is disposed coaxially with the central shaft 3 and includes a connecting boss 901 connected to the central shaft 3 and containing a passive inclined surface 904 and a lifting ring.
- the driving ramp 802 of the 8 is matched, and further comprises a positioning tooth 902; the wrench 1 is engaged with the lifting ring 8 through the boss 105 and connected to the central shaft 3 through the pin 6; the compression spring 10 is placed between the wrench 1 and the lifting ring 8 .
- the range of angles between the angle I and the angle III constitutes the angle range II.
- a plurality of engagement locking positions are provided in the circumferential direction at the opening of the rotary head, and as the cam lock 9 rotates, the cam lock 9 can engage the rotary head in the corresponding engagement locking position.
- the surgical instrument is a surgical stapler
- the linear power output mechanism D of the bend control mechanism connects the jaws of the stapler.
- the positioning groove 702 on the rotating head has an intermediate position, so that the stapler jaws are in a straight line state.
- the pin hole 102 of the wrench 1 and the sector hole 303 of the central shaft 3 are engaged by the pin 6; the angle of the sector hole 303 constitutes the range of the relative rotatable angle; the wrench 1 extends downwardly out of the boss 105, and the lifting ring 8 is disposed The wrench is engaged with the groove 801, and the boss 105 is engaged in the wrench fitting groove 801.
- the wrench 1 when the pin 6 is located at one end of the sector hole 303, the wrench 1 is at an angle I; when the pin 6 is located at the other end of the sector hole 303, the wrench 1 is at an angle III; when the pin 6 is located at the sector hole 303 The wrench 1 is in the angular range II when the area between one end and the other end.
- the lifting ring 8 is provided with a driving ramp 802
- the cam lock 9 is provided with a passive inclined surface 904
- the passive inclined surface 904 is fitted with the driving inclined surface 802; when the lifting ring 8 is rotated within the angular range II by the wrench 1, the lifting The ring 8 rotates relative to the cam lock 9; when the lift ring 8 is rotated by the wrench 1 to the angle I and the angle III, the passive ramp 904 is driven by the drive ramp 802 such that the cam lock 9 is moved away from the rotary head to disengage the rotary head. Engagement lock.
- the wrench 1 is provided with a cover plate 104
- the cam lock 9 is provided with a compression spring support surface 903
- the compression spring 10 is connected between the cover plate 104 and the compression spring support surface 903.
- the opening of the rotating head is provided with a finite position boss
- the wrench 1 is provided with an angular limiting groove that cooperates with the limiting boss.
- the positioning grooves 702 on the rotating head are distributed in a circumferential array, and the angular distribution of each positioning groove 702 is not equidistant.
- a limit boss is provided at the opening on the rotary head to ensure that the wrench rotates within a certain angle to prevent excessive rotation.
- the angular distribution of each of the positioning grooves may be equal.
- the present invention is a cavity mirror stapler bending mechanism including a wrench 1, a compression spring 10, a cam lock 9, a lifting ring 8, a center shaft 3, a rotating head upper portion 7, a rack 5, and a pin 6.
- the upper portion 7 of the rotating head has an opening for accommodating the wrench 1, the compression spring 10, the cam lock 9, the lifting ring 8, the central shaft 3, the above-mentioned wrench 1, the compression spring 10, the cam lock 9, the lifting ring 8, the central shaft 3
- the five parts and the opening in the rotating head are arranged coaxially; there is a series of positioning slots 702 in the opening.
- the three parts of the central shaft 3, the lifting ring 8, and the cam lock 9 are arranged from the inside to the outside, and the connecting boss 901 of the cam lock 9 cooperates with the connecting groove 304 of the center shaft 3, and the passive inclined surface 904 and the driving slope 802 of the lifting ring 8 In cooperation, the positioning teeth 902 are placed in a series of positioning slots 702 on the rotating head.
- the boss 105 of the wrench 1 is engaged with the wrench engagement groove 801 of the lift ring 8.
- the compression spring 10 is placed between the compression spring support surface 903 of the cam lock 9 and the cover plate 104 of the wrench 1.
- the pin hole 102 of the wrench 1 is engaged with the sector hole 303 of the center shaft 3 by the pin 6.
- the rack 5 is placed in the upper portion 7 of the rotary head and meshes with the gear 301 of the center shaft 3.
- the boss 105 of the wrench 1 drives the lifting ring 8 to rotate by an angle, and the lifting ring 8 drives the passive slope 904 of the cam lock 9 through the driving ramp 802 to raise the cam lock 9 to position the tooth 902 and the rotating head.
- the positioning groove 702 of the portion 7 is disengaged; when the wrench is continuously rotated, the pin 6 drives the central shaft through the fan-shaped hole 303 3 Rotation, the central shaft 3 drives the cam lock 9 to rotate, and at the same time drives the rack 5 to move back and forth to play a turning role.
- the wrench 1 When the wrench 1 is rotated to the next position, the wrench 1 is released, and the compression spring 10 pushes the cam lock 9 to cause the positioning tooth 902 to snap into the other positioning groove 702 of the upper portion 7 of the rotary head. At this time, the cam lock 9 can be locked.
- the central shaft 3 is such that it cannot rotate freely. Since the positioning tooth 902 of the cam lock 9 is engaged with the linear portion of the positioning groove 702 of the upper portion 7 of the rotary head, the rotation of the gear 301 by the rack 5 does not cause the cam lock 9 to rotate, thereby achieving the purpose of locking.
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Abstract
Description
Claims (10)
- 一种控弯机构,其特征在于,包括:-构成转向动力输入机构A的扳手(1)和伴随扳手(1)同步转动的升降环(8);-构成转向传动机构B的中心轴(3);-构成锁定机构C的凸轮锁(9)、压簧(10)、旋转头(7);其中,凸轮锁(9)啮合于转向传动机构B;-构成直线动力输出机构D的齿条(5);其中,齿条(5)啮合于设置在中心轴(3)上的齿轮(301);进一步地:同轴设置的转向动力输入机构A与转向传动机构B在周向上具有相对可转动角度范围;在转向动力输入机构A从所述相对可转动角度范围的一端角度至另一端角度相对于转向传动机构B转动的过程中,转向动力输入机构A依次经过相对角度:角度I、角度范围II、角度III;当转向动力输入机构A处于所述角度范围II时,在压簧(10)的驱使下,凸轮锁(9)啮合锁定于旋转头(7)以锁定转向传动机构B,使得转向传动机构B与直线动力输出机构D之间保持相对静止;当转向动力输入机构A处于所述角度I时,凸轮锁(9)在升降环(8)的驱使下脱离旋转头(7)以释放转向传动机构B,并且,转向传动机构B能够伴随转向动力输入机构A向远离角度范围II的第一圆周方向转动并驱动直线动力输出机构D发生位移;当转向动力输入机构A处于所述角度III时,凸轮锁(9)在升降环(8)的驱使下脱离旋转头(7)以释放转向传动机构B,并且,转向传动机构B能够伴随转向动力输入机构A向远离角度范围II的第二圆周方向转动并驱动直线动力输出机构D发生位移;其中,第一圆周方向与第二圆周方向相反。
- 根据权利要求1所述的控弯机构,其特征在于,角度I与角度III之间的角度范围构成所述角度范围II。
- 根据权利要求2所述的控弯机构,其特征在于,旋转头(7)开口处沿圆周方向设置有多个啮合锁定位,随着凸轮锁(9)的转动,凸轮锁(9)能够啮合旋转头(7)于对应的啮合锁定位。
- 根据权利要求1所述的控弯机构,其特征在于,扳手(1)的销孔(102)与中 心轴(3)的扇形孔(303)通过销(6)配合;扇形孔(303)的角度构成所述相对可转动角度范围;扳手(1)向下延伸出凸台(105),升降环(8)设置有扳手配合槽(801),凸台(105)啮合于扳手配合槽(801)中。
- 根据权利要求1所述的控弯机构,其特征在于,当销(6)位于扇形孔(303)的一端时,所述扳手(1)处于角度I;当销(6)位于扇形孔(303)的另一端时,所述扳手(1)处于角度III;当销(6)位于扇形孔(303)的一端与另一端之间的区域时,所述扳手(1)处于角度范围II。
- 根据权利要求1所述的控弯机构,其特征在于,升降环(8)上设置有驱动斜面(802),凸轮锁(9)设置有被动斜面(904),被动斜面(904)配合于驱动斜面(802);当升降环(8)在扳手(1)的驱动下在角度范围II内转动时,升降环(8)与凸轮锁(9)发生相对转动;当升降环(8)在扳手(1)的驱动下转动到角度I以及角度III时,通过驱动斜面(802)驱动被动斜面(904)使得凸轮锁(9)远离旋转头(7)以脱离与旋转头(7)的啮合锁定。
- 根据权利要求5所述的控弯机构,其特征在于,扳手(1)设置有盖板(104),凸轮锁(9)设置有压簧支撑面(903),压簧(10)连接在盖板(104)与压簧支撑面(903)之间。
- 根据权利要求1所述的控弯机构,其特征在于,旋转头(7)的开口设置有限位凸台,所述扳手(1)上设置有与限位凸台配合的角度限位槽。
- 一种具有控弯机构的外科器械,其特征在于,包括权利要求1至8中任一项所述的控弯机构。
- 根据权利要求9所述的外科器械,其特征在于,所述外科器械为外科吻合器,所述控弯机构的直线动力输出机构D连接吻合器的钳口。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR112017013665-1A BR112017013665B1 (pt) | 2015-01-19 | 2015-09-22 | Um mecanismo de controle de flexão e um instrumento cirúrgico com mecanismo de controle de flexão |
EP15878587.3A EP3222222B1 (en) | 2015-01-19 | 2015-09-22 | Turning control mechanism and surgical instrument having turning control mechanism |
JP2017548512A JP6403903B2 (ja) | 2015-01-19 | 2015-09-22 | 湾曲制御装置及び湾曲制御装置を有する外科器具 |
US15/324,266 US10383632B2 (en) | 2015-01-19 | 2015-09-22 | Bending control mechanism and surgical instrument with same |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510026528.0 | 2015-01-19 | ||
CN201510026528.0A CN104546043B (zh) | 2015-01-19 | 2015-01-19 | 一种控弯机构及具有控弯机构的外科器械 |
Publications (1)
Publication Number | Publication Date |
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WO2016115918A1 true WO2016115918A1 (zh) | 2016-07-28 |
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EP3222222A1 (en) | 2017-09-27 |
US20170196559A1 (en) | 2017-07-13 |
BR112017013665B1 (pt) | 2022-05-10 |
EP3222222A4 (en) | 2018-01-17 |
JP6403903B2 (ja) | 2018-10-10 |
EP3222222B1 (en) | 2019-03-13 |
CN104546043B (zh) | 2016-08-31 |
CN104546043A (zh) | 2015-04-29 |
JP2017536964A (ja) | 2017-12-14 |
US10383632B2 (en) | 2019-08-20 |
BR112017013665A2 (pt) | 2018-03-13 |
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