WO2023092652A1 - Dispositif de propulsion automatique pour endoscope médical - Google Patents

Dispositif de propulsion automatique pour endoscope médical Download PDF

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Publication number
WO2023092652A1
WO2023092652A1 PCT/CN2021/136307 CN2021136307W WO2023092652A1 WO 2023092652 A1 WO2023092652 A1 WO 2023092652A1 CN 2021136307 W CN2021136307 W CN 2021136307W WO 2023092652 A1 WO2023092652 A1 WO 2023092652A1
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WO
WIPO (PCT)
Prior art keywords
slider
propulsion device
coil winding
guide rail
medical endoscope
Prior art date
Application number
PCT/CN2021/136307
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English (en)
Chinese (zh)
Inventor
李璐
孟思源
朱军辉
Original Assignee
江苏集萃微纳自动化系统与装备技术研究所有限公司
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Publication of WO2023092652A1 publication Critical patent/WO2023092652A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00156—Holding or positioning arrangements using self propulsion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00154—Holding or positioning arrangements using guiding arrangements for insertion
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00158—Holding or positioning arrangements using magnetic field

Definitions

  • the invention relates to the technical field of medical instruments, in particular to an automatic propulsion device for a medical endoscope.
  • Endoscope is a kind of medical equipment. By inserting the flexible catheter of the endoscope into the natural cavity of the human body, the changes of relevant parts in the natural cavity of the human body can be directly observed.
  • the propulsion methods of the endoscope in the natural cavity of the human body are generally divided into manual propulsion and automatic propulsion.
  • the manual propulsion method requires the operator to hold the rear end of the endoscope, apply a suitable force in the proper direction, constantly adjust the direction and size of the thrust during the propulsion process, and advance and retreat at the right time, rotate the mirror body, etc., in order to successfully complete the endoscope.
  • the introduction and manual advancement of the speculum largely depend on the experience and technique of the endoscopic surgery operator. If the operator is inexperienced, it is easy to make the endoscope enter the dead corner of the cavity, which will cause obvious damage to the cavity wall or even Lead to cavity perforation, therefore, the manual propulsion method is difficult to operate and the propulsion efficiency is low;
  • the automatic propulsion method can reduce the operation difficulty of the endoscope.
  • the traction force is provided near the front end of the endoscope to ensure the correct direction of the traction force, and the peristaltic propulsion of the endoscope adapting to the cavity structure can be realized.
  • the U.S. Patent No. US4735501 proposes an endoscope structure that discharges fluid backwards to generate a reaction force, thereby impelling the endoscope to automatically advance to the depth of the cavity; but the fluid discharged by this propulsion scheme will Entering and remaining in the lumen, the presence of excess fluid in the surgical field can negatively affect the surgical procedure, thus also requiring the use of suction devices to aspirate the fluid, which adds unnecessary effort.
  • some existing automatic propulsion methods also have the problems of low propulsion efficiency and failure to obtain expected traction.
  • the existing automatic propulsion method of the endoscope has the problems that it is easy to cause adverse effects on the operation area, the propulsion efficiency is low, and the expected traction force cannot be guaranteed, so it cannot meet the needs of use.
  • the technical problem to be solved by the present invention is to overcome the disadvantages of the automatic propulsion method of the endoscope in the prior art, which is easy to cause adverse effects on the operation area, has low propulsion efficiency and cannot guarantee the expected traction force.
  • the present invention provides an automatic propulsion device for a medical endoscope, which includes a flexible conduit, the two ends of the flexible conduit are respectively a handle end and an introduction end, the handle end is connected with a handle, and A wire interface is provided, and the wire interface is connected with the controller.
  • a drive chamber is formed inside the introduction end, a slider is movably connected to the inside of the drive chamber, and a coil winding is connected to the inner wall of the drive chamber.
  • the coil winding is electrically connected to the controller through the wire interface, and the coil winding generates a traveling wave magnetic field after being energized, and the slider moves along the driving cavity under the action of the traveling wave magnetic field.
  • a mount is connected to the inner wall of the driving cavity, and the coil winding is wound on the mount.
  • a winding slot is provided on the mounting base, and the coil winding is wound in the winding slot.
  • a guide rod is connected to the middle of the driving chamber, and the slider is slidably connected to the guide rod.
  • the slider is provided with a through hole, the guide rod is passed through the through hole, and there is a gap between the guide rod and the through hole to form a first line cable channel.
  • grooves are formed on the inner wall of the driving cavity, and the grooves form the second cable channel.
  • a first guide rail and a second guide rail parallel to each other are connected inside the drive chamber, a guide channel is formed between the first guide rail and the second guide rail, and the slider is slidably connected in the guide channel.
  • the first guide rail, the second guide rail and the slider are all made of conductive materials, and the first guide rail and the second guide rail are electrically connected to the controller through wires.
  • At least one slider is movably connected inside the driving cavity.
  • the controller is connected to the coil winding through a frequency converter.
  • the automatic propulsion device of the medical endoscope of the present invention does not cause adverse effects on the operation area, improves the propulsion efficiency and can ensure that the traction force reaches the expected level.
  • Fig. 1 is the structural representation of the automatic propulsion device of medical endoscope of the present invention
  • Fig. 2 is a schematic structural view of the first embodiment of the internal structure of the introduction end in Fig. 1;
  • Fig. 3 is the sectional view of structure in Fig. 2 in A-A direction;
  • Fig. 4 is the stroke-velocity diagram of slide block in Fig. 2;
  • Fig. 5 is a schematic structural view of a second embodiment of the internal structure of the introduction end in Fig. 1;
  • Fig. 6 is the sectional view of structure in Fig. 5 in B-B direction;
  • Fig. 7 is a structural schematic diagram of a third embodiment of the internal structure of the introduction end in Fig. 1 .
  • the present embodiment discloses an automatic propulsion device for a medical endoscope, comprising a flexible conduit 3, the two ends of the flexible conduit 3 are respectively a handle end 31 and an introduction end 32, and the handle end 31 is connected with a handle 4 , the handle 4 is provided with a wire interface 41, the wire interface 41 is connected with the controller 1, a drive chamber 321 is formed inside the introduction end 32, a slider 322 is movably connected to the inside of the drive chamber 321, and a drive chamber 321 is connected on the inner wall
  • the coil winding 323, the coil winding 323 is electrically connected to the controller 1 through the wire interface 41, that is, the lead-out end of the coil winding 323 protrudes from the handle 4 through the wire interface 41 and is connected to the external controller 1, and the coil winding 323 is energized Afterwards, a traveling wave magnetic field is generated, and the slider 322 is moved forward or backward along the drive chamber 321 by the action of the traveling wave magnetic field. Since there is an interaction force between the
  • a guide rod 325 is connected to the middle of the drive chamber 321 , and the slider 322 is slidably connected to the guide rod 325 .
  • the introduction end 32 is an end for directly inserting into the internal cavity of the human body, and the end of the introduction end 32 needs to be equipped with conventional components 35 of the endoscope, such as an image sensor for collecting images inside the cavity and water. Nozzles, gas nozzles, etc.
  • the above-mentioned controller 1 is used to control the change of the phase sequence of the coil winding 323. Changing the phase sequence of the coil winding 323 will cause the traveling wave magnetic field to move in the opposite direction, so that the slider 322 will move in the opposite direction accordingly, and then realize the movement of the slider 322. reciprocating motion.
  • the controller 1 can also be used to change the frequency of the current passing through the coil winding 323 so as to achieve the purpose of controlling the moving speed of the slider 322 .
  • a traveling wave magnetic field is a time-varying moving magnetic field produced by a multi-turn coil passed through a multi-phase alternating current.
  • the slider 322 can be a non-magnetic metal or a permanent magnet. If the slider 322 is made of a non-magnetic metal, a traveling wave magnetic field will be generated after the coil winding 323 is energized. And form a current, the interaction between the current and the magnetic field will generate an electromagnetic force, under the action of the electromagnetic force, the slider 322 will move in a straight line along the direction of the traveling wave magnetic field, that is, the slider 322 will move forward/along the drive cavity 321 Moving backward, when the slider 322 is moved by the electromagnetic force, the drive cavity 321 will be subjected to the reaction force of the electromagnetic force, and the reaction force received by the introduction end 32 can overcome the outer wall of the introduction end 32 and the cavity wall (such as the intestinal wall) ), so that the lead-in end 32 can be pushed forward/backward; if the slider 322 adopts a permanent magnet, then the slider 322 will interact with the excitation magnetic field generated by the traveling wave magnetic field and the permanent magnet itself.
  • the coil winding 323 can be connected in a conventional linear motor, and can be connected in a two-phase, three-phase or more-phase manner.
  • the motion principle of the above-mentioned slider 322 is based on the linear motor motion principle and Newton's law of motion.
  • the drive chamber 321 and the coil winding 323 are equivalent to the primary of the motor, and the slider 322 is the secondary of the motor. After the coil winding 323 is energized, the slider 322 starts from the Start to move at rest, and control the stroke and speed of the slider 322 by changing the current of the coil winding 323 , thereby adjusting the movement of the lead-in end 32 .
  • the axes of the driving cavity 321 and the flexible catheter 3 are coincident.
  • the inner wall of the driving cavity 321 is connected with a mount 324 , and the coil winding 323 is wound on the mount 324 to ensure the reliability of the coil winding 323 .
  • a winding slot is provided on the mounting base 324, and the coil winding 323 is wound in the winding slot.
  • the mounting seat 324 can be made of a silicon steel sheet, and the coil winding 323 is embedded on the silicon steel sheet.
  • the mount 324 can also be made of epoxy resin.
  • the installation seat 324 needs to be bent following the bending of the flexible conduit 3. If the installation seat 324 is formed by connecting multiple split parts, and the split parts are all rigid materials, the adjacent split parts There must be a gap between them, or the structure of the mounting seat 324 with snake bone structure is adopted, so that the mounting seat 324 can better follow the bending of the flexible catheter 3 and bend, so as to ensure the flexibility of the flexible catheter 3 and avoid giving the patient a hard time when it is introduced. cause severe discomfort.
  • the slider 322 is provided with a through hole 3221 , the guide rod 325 is passed through the through hole 3221 , and there is a gap between the guide rod 325 and the through hole 3221 to form the first cable channel.
  • 328 used to allow wires and conduits with larger cross-sections in the conventional endoscope assembly 35 to pass through, such as water and air channels with larger cross-sections, working channels, optical fiber cables, and the like.
  • the inner wall of the driving cavity 321 is provided with a groove, and the groove forms a second cable channel 329 for passing the flexible cable in the routine assembly 35 of the endoscope.
  • this gap may also be used for passing wires, conduits, etc. of the conventional assembly 35 .
  • one end of the drive chamber 321 is provided with a front partition 326, and the other end is provided with a rear partition 327, and one end of the guide rod 325 is fixed on the front partition 326, and the other end is fixed on the rear partition 327.
  • Slider 322 moves within drive cavity 321 between front bulkhead 326 and rear bulkhead 327 .
  • the flexible conduit 3 is made of rubber to ensure that the flexible conduit 3 has better flexibility.
  • the controller 1 is connected to the coil winding 323 through a frequency converter.
  • the controller 1 communicates with the frequency converter, so that the controller 1 can exchange data according to the pre-written program to control the frequency converter, thereby realizing the control of the frequency and phase sequence of the current output to the coil winding 323 .
  • the controller 1 is composed of a programmable logic controller (PLC), a frequency converter, a contactor, a protection resistor and other devices.
  • PLC programmable logic controller
  • the handle 4 is provided with a button 42 , the coil winding 323 is connected to the button 42 through a wire, and the lead wire of the button 42 extends from the handle 4 through the wire interface 41 and is connected to the external controller 1 .
  • the controller 1 receives the instruction signal sent by the button 42, thereby starting to control the frequency converter to adjust the frequency and phase sequence of the current output to the coil winding 323 according to a predetermined program. That is to say, after the operator presses the button 42, the slider 322 starts to reciprocate according to the stroke-speed curve set in advance and then drives the lead-in end 32 of the flexible catheter 3 to move forward; Block 322 stops moving and lead-in end 32 stays in place.
  • the above-mentioned button 42 plays a role of controlling the on-off of the current in the coil winding 323 .
  • controller 1 is connected to the power source 2 so as to use the power source 2 to supply power to the controller 1 .
  • the working process of the automatic propulsion device of the above-mentioned medical endoscope is: use the controller 1 to control the coil winding 323 to be energized and reach the set current mode.
  • the current magnitude and/or phase sequence of different current modes are different, and the coil winding 323 is energized
  • the slider 322 will move along the drive chamber 321 under the action of the traveling wave magnetic field. Since there is an interaction force between the slider 322 and the drive chamber 321, the slider 322 will drive the drive chamber 321 when it moves.
  • the introduction end 32 of the body moves, so that the introduction end 32 continuously advances to the depth of the cavity inside the human body.
  • the first direction in Fig. 2 is the direction of advancing to the depth of the natural orifice of the human body.
  • Controlling the speed of the slider 322 can be achieved by controlling the current of the coil winding 323 .
  • the stroke-speed relationship of the slider 322 is referred to FIG. 4
  • the first direction in FIG. 4 is the first direction in FIG. 2
  • the second direction in FIG. 4 is the second direction in FIG. 2 .
  • the stroke refers to the distance between O and O'. distance between.
  • the motion situation of the slide block represented by the first route 5 is: in the initial state, the slide block 322 is in contact with the rear bulkhead 327, and the speed is zero; subsequently, the slide block 322 starts to accelerate forward (along the first direction) until the speed reaches the maximum value, during this process the speed of the slider 322 is in the same direction as the first direction, and the acceleration is in the same direction as the first direction; then, the slider 322 starts to decelerate forward, and the speed decreases to zero when it contacts the front partition 326. During the process, the velocity of the slider 322 is in the same direction as the first direction, and the acceleration is in the same direction as the second direction.
  • the forward acceleration process of the slide block 322 represented by the second route 6 is the same as that of the first route 5, except that the deceleration of the slide block 322 is realized by hitting the front partition 326, while the deceleration of the first route 5 is achieved by changing the coil The current of winding 323 is realized.
  • the deceleration of the sliding block 322 hitting the front bulkhead 326 is shown as a straight line decline in the second half of the second route 6 in FIG. 4 .
  • the movement of the slider represented by the third route 7 is: in the initial state, the slider 322 is in contact with the front bulkhead 326, and the speed is zero; then, the slider 322 starts to accelerate backward until the speed reaches the maximum value, during this process
  • the speed of the slider 322 is in the same direction as the second direction, and the acceleration is in the same direction as the second direction; then, the slider 322 starts to decelerate backward, and the speed decreases to zero when it contacts the rear partition 327.
  • the speed of the slider 322 In the same direction as the second direction, the acceleration is in the same direction as the first direction.
  • the movement speed and acceleration direction of each segment of the slider 322 represented by the fourth route 8 are the same as those of the third route 7 , the difference is that the acceleration of each segment of the fourth route 8 is relatively small.
  • the power to change the motion state of the slider is the electromagnetic force applied by the driving cavity 321, the coil winding 323 and the mounting seat 324 as a whole, and the driving cavity 321 is located at the front end of the flexible conduit 3, thus the lead-in end 32 will be subjected to a contact with the slider.
  • 322 inertial forces are equal in magnitude and opposite in direction.
  • the corresponding acceleration of the slider 322 is in the same direction as the first direction.
  • the end 32 is subjected to a backward force; the section of the first route 5, the second route 6, the third route 7 and the fourth route 8 away from the origin of the coordinate system, the corresponding acceleration of the slider 322 is in the same direction as the second direction , at this time the endoscope is subjected to a forward force.
  • the forward force on the introduction end 32 In order to push the introduction end 32 forward, the forward force on the introduction end 32 must be greater than the maximum static friction force between the outer wall of the flexible catheter 3 and the lumen wall, and the backward force on the introduction end 32 must It is smaller than the maximum static friction between the outer wall of the flexible catheter 3 and the cavity wall to prevent the introduction end 32 from retreating. Therefore, in Fig.
  • the slope of the first route 5, the second route 6, the third route 7 and the fourth route 8 close to the origin of the coordinates is relatively small, in order to prevent the introduction end 32 from retreating, while the slope far away from the origin of the coordinates
  • One section has a larger slope, which aims to impel the leading end 32 to move forward; the slopes of the two sections of the fourth route 8 are all smaller, and its effect is to make the slider 322 return from the front partition 326 to the rear partition 327 to be the next slider 322. Reciprocating motion propulsion ready.
  • the route of the slider 322 can be any combination of the first route 5 , the second route 6 , the third route 7 and the fourth route 8 .
  • the movement of the slider 322 can also be controlled according to other routes not shown in FIG. The resulting force is less than the maximum static friction force.
  • the difference between the present embodiment and the first embodiment is that: the inner wall of the drive cavity 321 is connected with parallel first guide rails 33 and second guide rails 34, and a gap is formed between the first guide rails 33 and the second guide rails 34.
  • the guide channel, the slider 322 is slidably connected in the guide channel.
  • the slider 322 is placed in the guide channel formed between the first guide rail 33 and the second guide rail 34 , the upper part of the slider 322 is in direct contact with the first guide rail 33 , and the lower part is in direct contact with the second guide rail 34 .
  • first guide rail 33 and the second guide rail 34 are arranged symmetrically with respect to the axis of the flexible conduit 3 .
  • the slider 322 may adopt a solid cylindrical shape, but is not limited to this shape, and may also adopt other shapes.
  • first guide rail 33, the second guide rail 34 and the slider 322 are all made of conductive materials, and the first guide rail 33 and the second guide rail 34 are electrically connected to the controller 1 through wires, that is, the first guide rail 33 and the The wire drawn from the second guide rail 34 protrudes from the wire interface 41 at the rear end of the handle 4 and is connected to the external controller 1 .
  • the first guide rail 33 and the second guide rail 34 can not only play the role of the coil winding 323 in the first embodiment, but also play the role of the guide rod 325 in the first embodiment, realizing the integration.
  • the current passes through the first guide rail 33, the slider 322 and the second guide rail 34 to form a loop, and a traveling magnetic field is generated between the first guide rail 33 and the second guide rail 34 .
  • the electric current in the slider 322 interacts with the magnetic field to generate electromagnetic force, thereby pushing the slider 322 to move.
  • the direction and magnitude of the electromagnetic force received by the slider 322 can be controlled, thereby controlling the movement of the slider 322 .
  • Embodiment 1 The working principle of this embodiment is the same as that of Embodiment 1, and also follows the stroke-speed relationship of the slider shown in FIG. 4 .
  • the difference between the present embodiment and the first embodiment is that the structure of the guide rod 325 is omitted, and at least one slider 322 is movably connected inside the drive cavity 321 .
  • the above-mentioned slider 322 is in a spherical shape, but it is not limited to the above-mentioned shape, and other shapes can also be adopted.
  • the slider 322 in this embodiment can roll forward/backward between the front partition 326 and the rear partition 327 .
  • Embodiment 1 The working principle of this embodiment is the same as that of Embodiment 1, and also follows the stroke-speed relationship of the slider shown in FIG. 4 .
  • the automatic propulsion devices for medical endoscopes in all the above-mentioned embodiments use electromagnetic force to propel the flexible catheter, which will not affect the operation area and greatly improve the propulsion efficiency; it can effectively ensure that the slider moves according to the predetermined stroke and speed , has good sensitivity and accuracy, and can effectively ensure that the traction force reaches the expected level; and the automatic propulsion device generates traction force near the front end of the endoscope, which promotes the endoscope to the depth of the cavity, which can avoid/reduce the impact on the endoscope It can effectively reduce or even eliminate the pain caused by endoscope introduction to patients.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
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  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
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  • Endoscopes (AREA)

Abstract

L'invention concerne un dispositif de propulsion automatique pour un endoscope médical, le dispositif comprenant un cathéter flexible (3), deux extrémités du cathéter flexible (3) étant respectivement une extrémité de poignée (31) et une extrémité d'entrée (32), l'extrémité de poignée (31) est reliée à un dispositif de commande (1), l'extrémité d'entrée (32) est dotée à l'intérieur d'une cavité d'entraînement (321), un bloc coulissant (322) est relié de manière mobile dans la cavité d'entraînement (321), un enroulement de bobine (323) est relié à une paroi interne de la cavité d'entraînement (321), l'enroulement de bobine (323) est électriquement connecté au dispositif de commande (1), l'enroulement de bobine (323) génère un champ magnétique à ondes progressives après avoir été mis sous tension, et le bloc coulissant (322) se déplace le long de la cavité d'entraînement (321) sous l'effet du champ magnétique à ondes progressives. Le dispositif de propulsion automatique n'affecte pas négativement une zone chirurgicale, améliorant ainsi l'efficacité de propulsion, et il peut être garanti qu'une force de traction atteint un niveau attendu.
PCT/CN2021/136307 2021-11-26 2021-12-08 Dispositif de propulsion automatique pour endoscope médical WO2023092652A1 (fr)

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CN202111423768.6 2021-11-26
CN202111423768.6A CN114176480A (zh) 2021-11-26 2021-11-26 一种医用内窥镜的自动推进装置

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117770739A (zh) * 2024-02-27 2024-03-29 北京云力境安科技有限公司 一种器械输送及介入装置
CN117770739B (zh) * 2024-02-27 2024-05-31 北京云力境安科技有限公司 一种器械输送及介入装置

Citations (5)

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Publication number Priority date Publication date Assignee Title
CN101091672A (zh) * 2006-06-23 2007-12-26 富士能株式会社 高频处理器
JP2018082804A (ja) * 2016-11-22 2018-05-31 オリンパス株式会社 内視鏡装置
US20190099238A1 (en) * 2016-03-31 2019-04-04 Sony Corporation Jig-holding device and medical observation device
CN112006647A (zh) * 2020-09-04 2020-12-01 天津大学 一种具有接触力感知能力的螺旋推进式肠道内窥镜装置
CN112771435A (zh) * 2019-03-29 2021-05-07 Hoya株式会社 内窥镜

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101091672A (zh) * 2006-06-23 2007-12-26 富士能株式会社 高频处理器
US20190099238A1 (en) * 2016-03-31 2019-04-04 Sony Corporation Jig-holding device and medical observation device
JP2018082804A (ja) * 2016-11-22 2018-05-31 オリンパス株式会社 内視鏡装置
CN112771435A (zh) * 2019-03-29 2021-05-07 Hoya株式会社 内窥镜
CN112006647A (zh) * 2020-09-04 2020-12-01 天津大学 一种具有接触力感知能力的螺旋推进式肠道内窥镜装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117770739A (zh) * 2024-02-27 2024-03-29 北京云力境安科技有限公司 一种器械输送及介入装置
CN117770739B (zh) * 2024-02-27 2024-05-31 北京云力境安科技有限公司 一种器械输送及介入装置

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