CN102008326A - Ureteroscope system with color Doppler ultrasonic scanning function - Google Patents
Ureteroscope system with color Doppler ultrasonic scanning function Download PDFInfo
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- CN102008326A CN102008326A CN 201010613757 CN201010613757A CN102008326A CN 102008326 A CN102008326 A CN 102008326A CN 201010613757 CN201010613757 CN 201010613757 CN 201010613757 A CN201010613757 A CN 201010613757A CN 102008326 A CN102008326 A CN 102008326A
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- ureteroscope
- color doppler
- doppler ultrasonography
- probe
- instrument channel
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- 238000009552 doppler ultrasonography Methods 0.000 claims description 60
- 230000003287 optical effect Effects 0.000 claims description 31
- 239000000523 sample Substances 0.000 claims description 28
- 238000002604 ultrasonography Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 13
- 210000000626 ureter Anatomy 0.000 abstract description 17
- 210000004204 blood vessel Anatomy 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 abstract description 5
- 230000002093 peripheral effect Effects 0.000 abstract 2
- 239000008280 blood Substances 0.000 abstract 1
- 210000004369 blood Anatomy 0.000 abstract 1
- 201000010099 disease Diseases 0.000 abstract 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 abstract 1
- 230000017531 blood circulation Effects 0.000 description 18
- 230000000694 effects Effects 0.000 description 6
- 239000000835 fiber Substances 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000004458 analytical method Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000008520 organization Effects 0.000 description 2
- 231100000915 pathological change Toxicity 0.000 description 2
- 230000036285 pathological change Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000007920 subcutaneous administration Methods 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 231100000216 vascular lesion Toxicity 0.000 description 2
- FAPWRFPIFSIZLT-UHFFFAOYSA-M Sodium chloride Chemical compound [Na+].[Cl-] FAPWRFPIFSIZLT-UHFFFAOYSA-M 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000003745 diagnosis Methods 0.000 description 1
- 210000003743 erythrocyte Anatomy 0.000 description 1
- 230000000004 hemodynamic effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003447 ipsilateral effect Effects 0.000 description 1
- 230000010412 perfusion Effects 0.000 description 1
- 238000004445 quantitative analysis Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 210000003708 urethra Anatomy 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
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Abstract
The invention belongs to the field of medical instruments, in particular disclosing an ureteroscope system with a color Doppler ultrasonic scanning function. The system comprises a ureteroscope, a camera host, an endoscope monitor and a cold light source host, wherein the camera host, the endoscope monitor and the cold light source host are connected with the ureteroscope; the ureteroscope is provided with a color Doppler ultrasonic system; the color Doppler ultrasonic system comprises a color Doppler ultrasonic prober, a color Doppler ultrasonic system host and an operation keyboard or a handheld operational device and a color Doppler ultrasonic system monitor. In the invention, the color Doppler ultrasonic prober enters into a ureter through the ureteroscope as a platform, so that the color Doppler ultrasonic scanning is carried out on the ureter and tissues thereof, thus obtaining a blood vessel flow dynamic diagram in the ureter walls and peripheral tissues thereof; and the color Doppler ultrasonic system host obtains a flow rate and flow diagram of the blood by calculation, thus doctors analyze and compare the diagram to diagnose diseases of the ureter and peripheral tissues thereof.
Description
Technical field
The invention belongs to field of medical appliances, be specifically related to have the ureteroscope system of color doppler ultrasonography scan function.
Prior art
The present medical domain of doppler technique is widely used, its principle is to utilize Doppler effect, produce the change of audio frequency when being sound source and testee relative motion, the hemodynamics that tissue and internal organs were observed and measured to doppler technique according to the change of this ultrasonic frequency changes.The color doppler ultrasonography technology is to utilize doppler principle, radiation source can drift about because of motion causes radiation frequency, survey the blood flow velocity of blood vessel and calculate the blood flow flow, the color doppler ultrasonography technology can not only be seen the organization ultrasonic image that human body is subcutaneous, can also carry out colour to subcutaneous endovascular blood flow shows, different colors shows the friction speed of representing blood flow, can detect the low speed blood flow of endovascular blood flow information of diameter 0.2mm and 0.2cm/s at present.
The advantage of doppler technique has: 1. the energy quicklook shows the two dimensional surface distribution of blood flow; 2. the traffic direction that can show blood flow; 3. help distinguishing tremulous pulse and vein; 4. help discerning vascular lesion and non-vascular lesion; 5. help understanding the character of blood flow; 6. can conveniently understand blood flow the time mutually and speed; 7. can find reliably to shunt and backflow; 8. can be to the origin of blood flow bundle, width, length, area carries out quantitative analysis.
Ureteroscope is the apparatus commonly used that carries out the Urology Surgery operation, and ureteroscope is connected with shooting main frame, monitor and cold light source main frame, cooperates various operating theater instruments, and the doctor can go deep in the ureter, carries out the Urology Surgery operation.The medical color ultrasonic Doppler transducer in conjunction with ureteroscope, both bonded endoscopic systems still do not occurred at present.Therefore, a kind of ureteroscope system with color doppler ultrasonography scan function that the color doppler ultrasonography technology is used in combination with ureteroscope of design is extremely urgent.
Summary of the invention
The object of the present invention is to provide a kind of ureteroscope system with color doppler ultrasonography scan function, it is that color doppler ultrasonography probe and system are introduced in the ureteroscope system, by the color doppler ultrasonography probe ureter and tissue thereof are carried out color doppler ultrasonography scanning, for the doctor provides dynamic figure of vascular flow and analysis chart in ureter and the tissue thereof.
In order to realize above-mentioned technical purpose, the present invention is achieved through the following technical solutions:
Ureteroscope system with color doppler ultrasonography scan function of the present invention, comprise ureteroscope and the shooting main frame, scope monitor and the cold light source main frame that are connected with this ureteroscope, also be provided with Flow with Color Doppler Ultrasound System on the described ureteroscope, described Flow with Color Doppler Ultrasound System comprises color doppler ultrasonography probe, Flow with Color Doppler Ultrasound System main frame and operation keyboard or hand-held equipment and Flow with Color Doppler Ultrasound System monitor.
Ureteroscope of the present invention is for adopting the hard ureteroscope of electronics ccd optical system, and it comprises hard scope work end, cold light source joint, data connector, instrument channel, intake tunnel and exhalant canal; Wherein, the shared passage of intake tunnel, exhalant canal and instrument channel; The minimum diameter of described hard scope work end is 3.0mm, and the diameter of instrument channel is 2.0mm.
Ureteroscope of the present invention is for adopting the hard ureteroscope of non-electronics ccd optical system, and it comprises hard scope work end, cold light source joint, eyepiece input, instrument channel, intake tunnel and exhalant canal; Wherein, the shared passage of intake tunnel, exhalant canal and instrument channel; The minimum diameter of described hard scope work end is 3.0mm, and the diameter of instrument channel is 2.0mm.
Ureteroscope of the present invention is for adopting the soft ureteroscope of electronics ccd optical system, and it comprises soft scope work end, data connector and instrument channel; The minimum diameter of described soft scope work end is 3.0mm, and the diameter of instrument channel is 2.0mm.
Ureteroscope of the present invention is for adopting the soft ureteroscope of non-electronics ccd optical system, and it comprises soft scope work end, data connector, instrument channel and eyepiece input; The minimum diameter of described soft scope work end is 3.0mm, and the diameter of instrument channel is 2.0mm.
The present invention adopts the hard ureteroscope of electronics ccd optical system, ccd device busy end front end adopts the CCD optical system of diameter smaller or equal to 1.0 optical lens, and its CCD chip adopts≤1/4 "; the CCD of at least 48 universal effect pixels, 100 ° of the angles of view or more than.
Color doppler ultrasonography probe of the present invention, its structure comprises probe work end, operator handle and data wire; Its working end minister 500～2000mm that pops one's head in, the sweep test that works is the first end part that probe work end front end is less than 50mm, the frequency of color doppler ultrasonography scanning probe is more than or equal to 5.0MHz.
The operator handle of color doppler ultrasonography probe of the present invention, its structure comprises gauge tap, mode selection switch etc.Described data wire is connected with the Flow with Color Doppler Ultrasound System main frame by joint.
The sweep test structure of color doppler ultrasonography probe of the present invention is cylindrical, diameter is smaller or equal to 3.0mm, the color doppler ultrasonography emitter of indoor design, color doppler ultrasonography receptor and process chip, color doppler ultrasonography emitter, color doppler ultrasonography receptor and process chip design are on same block of rotatable carrier, and carrier can rotate and linear movement under color doppler ultrasonography is popped one's head in the driving of driver.
Compared with prior art, the invention has the beneficial effects as follows:
At present, hyperacoustic Doppler effect is widely used in the diagnosis of medical science, is comprising gynecological, and a plurality of fields such as Gastroenterology dept. have adopted color doppler ultrasonography scanning as the foundation of checking and diagnosing at large.Ureteroscope of the present invention is introduced the color doppler ultrasonography probe and is entered in the ureter, ureter and tissue thereof are carried out colour doppler flow imaging, make the doctor according to the ccd image and the color doppler ultrasonography image that obtain simultaneously, by analyzing the flow velocity and the flow diagram picture of ureter and surrounding tissue vascular flow, functional status and pathological changes state, the assisted surgery of understanding ureter and surrounding tissue carry out.
Description of drawings
Fig. 1 is the structural representation that the present invention has the ureteroscope system of color doppler ultrasonography scan function.
Fig. 2 a is the surface structure sketch map of hard ureteroscope of the present invention (adopting the ureteroscope of electronics ccd optical system).
Fig. 2 b is the surface structure sketch map of hard ureteroscope of the present invention (adopting the ureteroscope of non-electronics ccd optical system).
Fig. 2 c is the surface structure sketch map of soft ureteroscope of the present invention (adopting the ureteroscope of electronics ccd optical system).
Fig. 2 d is the surface structure sketch map of soft ureteroscope of the present invention (adopting the ureteroscope of non-electronics ccd optical system).
Fig. 3 a, Fig. 3 b, Fig. 3 c and Fig. 3 d are corresponding to the end construction sketch map of the ureteroscope of above-mentioned Fig. 2 a, Fig. 2 b, Fig. 2 c and Fig. 2 d among the present invention.
Fig. 4 is the surface structure sketch map of color doppler ultrasonography probe of the present invention.
Fig. 5 is the work end structural representation of color doppler ultrasonography probe of the present invention.
Fig. 6 is the operation method sketch map that the present invention has the ureteroscope system of color doppler ultrasonography scan function.
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing:
As shown in Figure 1, ureteroscope system with color doppler ultrasonography scan function of the present invention comprises: ureteroscope 1, cold light source main frame 3, shooting main frame 4 and scope monitor 8, color doppler ultrasonography probe 2, Flow with Color Doppler Ultrasound System main frame 5, operation keyboard or hand-held equipment 6, Flow with Color Doppler Ultrasound System monitor 7.
The operation principle of color doppler ultrasonography probe 2 of the present invention can be expressed as: it is to utilize the erythrocyte of the blood flow in the abundant blood vessel of organization internal and the Doppler effect between the color doppler ultrasonography emitter ultrasonic waves transmitted to realize video picture, process chip by a series of electron process data between the ultrasound wave of handling color doppler ultrasonography emitter ultrasonic waves transmitted and returning after, critical data is transferred to Flow with Color Doppler Ultrasound System main frame 5 carry out image processing and analyzing, obtain the flow velocity figure of the blood flow of tissue blood vessel, flow diagram, and in Flow with Color Doppler Ultrasound System monitor 7, show, by the normal blood flow flow velocity of 5 pairs of same area of Flow with Color Doppler Ultrasound System main frame and the relative analysis of flow, the type that can provide the doctor to judge the pathological changes that ureter takes place helps the doctor to diagnose.
The function of Flow with Color Doppler Ultrasound System main frame 5 of the present invention comprises: 1) blood flow information of gained is encoded through phase-detection, auto-correlation processing, color gray rank, the mean blood flow velocity data is shown with colour, and with its combination, stack is presented on the image; 2) blood flow can be shown intuitively, to the character of blood flow with flow velocity is faster than pulse Doppler at ureter and in-house distribution thereof, show more intuitively, and the demonstration of continuous wave Doppler pattern can be carried out; 3) its guidance panel and operation keyboard or hand-held equipment 6 provide abundant control knob; 4) the external operation keyboard of the output port of its rear board or hand-held equipment 6, scope monitor 8 etc.Flow with Color Doppler Ultrasound System main frame 5 of the present invention can carry powerful data base and powerful software test bag, can satisfy the different needs of the different purpose doctors of section.
Fig. 2 a, Fig. 2 b, Fig. 2 c and Fig. 2 d are respectively the surface structure sketch map of dissimilar ureteroscope 1 of the present invention.Ureteroscope 1 can be divided into two types of hard ureteroscope and soft ureteroscopies according to the soft or hard character of its work end.Wherein above-mentioned each type can be divided into the soft or hard matter ureteroscope and four types of the soft or hard matter ureteroscopies that adopts non-electron-optical system that adopt electronics ccd optical system according to the difference of the optical system of its use.
Shown in Fig. 2 a, first kind of form is to adopt the hard ureteroscope 1 of electronics ccd optical system, and its structure comprises hard scope work end 11, cold light source joint 12, data connector 13, instrument channel 14, intake tunnel 15 and exhalant canal 16; Wherein, intake tunnel 15, exhalant canal 16 and instrument channel 14 shared passages.The minimum diameter of described hard scope work end 11 is 3.0mm, and the diameter of instrument channel 14 is 2.0mm.The ccd device is at hard scope work end 11 front ends, adopts the CCD optical system smaller or equal to 1.0 optical lens, and its CCD chip adopts≤1/4 ", the CCD of at least 48 universal effect pixels, 100 ° of the angles of view or more than.
Shown in Fig. 2 b, second kind of form is to adopt the hard ureteroscope 1 of non-electronics ccd optical system, and its structure comprises hard scope work end 11, cold light source joint 12, eyepiece input 17, instrument channel 14, intake tunnel 15 and exhalant canal 16; Intake tunnel 15, exhalant canal 16 and instrument channel 14 shared passages.The minimum diameter of described hard scope work end 11 is 3.0mm, and the diameter of instrument channel 14 is 2.0mm.The diameter of optical lens of hard ureteroscope 1 that adopts non-electron-optical system is smaller or equal to 1.0mm.
Shown in Fig. 2 c, the third form is to adopt the soft ureteroscope 1 of electronics ccd optical system, and its structure comprises soft scope work end 201, data connector 204 and instrument channel 202.The minimum diameter of described soft scope work end 201 is 3.0mm, and the diameter of instrument channel 202 is 2.0mm.The ccd device is at soft scope work end 201 front ends, adopts the CCD optical system of diameter smaller or equal to 1.0 optical lens, and its CCD chip adopts≤1/4 ", the CCD of at least 48 universal effect pixels, 100 ° of the angles of view or more than.
Shown in Fig. 2 d, the 4th kind of form is to adopt the soft ureteroscope 1 of non-electronics ccd optical system, and its structure comprises soft scope work end 201, data connector 204, instrument channel 202 and eyepiece input 205.The minimum diameter of described soft scope work end 201 is 3.0mm, and the diameter of instrument channel 202 is 2.0mm.The optical lens diameter of soft ureteroscope 1 that adopts non-electron-optical system is smaller or equal to 1.0mm.
Fig. 3 a, Fig. 3 b, Fig. 3 c and Fig. 3 d are corresponding to the end construction sketch map of the ureteroscope 1 of above-mentioned Fig. 2 a, Fig. 2 b, Fig. 2 c and Fig. 2 d among the present invention.Shown in Fig. 3 a, the first end of the hard ureteroscope 1 of first kind of form 111 is integrated has designed following various piece: optical lens 131, light-conductive optic fibre 121, instrument channel outlet 141; Shown in Fig. 3 b, the first end of the hard ureteroscope 1 of second kind of form 111 is integrated has designed following various piece: optical lens 171, light-conductive optic fibre 121, instrument channel outlet 141; Shown in Fig. 3 c, the first end of the soft ureteroscope 1 of the third form 2011 is integrated has designed following various piece: optical lens 2041, light-conductive optic fibre 2031, instrument channel outlet 2021; Shown in Fig. 3 d, the first end of the soft ureteroscope 1 of the 4th kind of form 2011 is integrated has designed following various piece: optical lens 2051, light-conductive optic fibre 2031, instrument channel outlet 2021.
Fig. 4 is in conjunction with surface structure sketch map that Figure 5 shows that the color doppler ultrasonography probe 2 described in the present invention and work end 21 structural representations.The work end 21 long 500～2000mm of described color doppler ultrasonography probe 2, the operator of described color doppler ultrasonography probe 2 is 22, and its structure comprises gauge tap, mode selection switch 221 etc.Described data wire is connected with Flow with Color Doppler Ultrasound System main frame 5 by joint 23.
As shown in Figure 4, color doppler ultrasonography probe 2 sweep tests that work 2111 are first end 211 parts that probe work end 21 front ends are less than 50mm.Pop one's head in sweep test 2111 structures of 2 first ends 211 of color doppler ultrasonography are cylindrical, diameter is smaller or equal to 3.0mm, inside is provided with color doppler ultrasonography emitter 2112, color doppler ultrasonography receptor 2113 and process chip, color doppler ultrasonography emitter 2112, color doppler ultrasonography receptor 2113 and process chip design are on same block of rotatable carrier, carrier can rotate and linear movement under color doppler ultrasonography is popped one's head in the driving of driver, and the frequency of color doppler ultrasonography scanning probe is more than or equal to 5.0MHz.
Figure 6 shows that the present invention has the operation method sketch map of the ureteroscope system of color doppler ultrasonography scan function.Behind patient's sterile drape, insert ureteroscope 1 from urethra 91 and enter bladder 9, under the assistance of hydraulic pump perfusion normal saline, find Ipsilateral ureter opening 101, the work end 21 that feeds color doppler ultrasonography probe 2 through the instrument channel 14 of ureteroscope 1 enters in the ureter 10, start color doppler ultrasonography, the limit is outwards moved back the limit ureter 10 is carried out the color doppler ultrasonography operation, obtains the color doppler ultrasonography image of ureter wall and perienchyma's blood vessel from color doppler ultrasonography monitor 7.
Claims (9)
1. the ureteroscope system that has the color doppler ultrasonography scan function, comprise ureteroscope and the shooting main frame, scope monitor and the cold light source main frame that are connected with this ureteroscope, it is characterized in that: also be provided with Flow with Color Doppler Ultrasound System on the described ureteroscope, described Flow with Color Doppler Ultrasound System comprises color doppler ultrasonography probe, Flow with Color Doppler Ultrasound System main frame and operation keyboard or hand-held equipment and Flow with Color Doppler Ultrasound System monitor.
2. ureteroscope according to claim 1 system, it is characterized in that: described ureteroscope is for adopting the hard ureteroscope of electronics ccd optical system, and it comprises hard scope work end, cold light source joint, data connector, instrument channel, intake tunnel and exhalant canal; Wherein, the shared passage of intake tunnel, exhalant canal and instrument channel.
3. ureteroscope according to claim 1 system, it is characterized in that: described ureteroscope is for adopting the hard ureteroscope of non-electronics ccd optical system, and it comprises hard scope work end, cold light source joint, eyepiece input, instrument channel, intake tunnel and exhalant canal; Wherein, the shared passage of intake tunnel, exhalant canal and instrument channel.
4. ureteroscope according to claim 1 system is characterized in that: described ureteroscope is for adopting the soft ureteroscope of electronics ccd optical system, and it comprises soft scope work end, data connector and instrument channel.
5. ureteroscope according to claim 1 system is characterized in that: described ureteroscope is for adopting the soft ureteroscope of non-electronics ccd optical system, and it comprises soft scope work end, data connector, instrument channel and eyepiece input.
6. ureteroscope according to claim 1 system is characterized in that: described color doppler ultrasonography probe comprises probe work end, operator handle and data wire.
7. ureteroscope according to claim 6 system, it is characterized in that: the working end minister 500～2000mm of described probe, the sweep test that works is the first end part that probe work end front end is less than 50mm, and the frequency of color doppler ultrasonography scanning probe is more than or equal to 5.0MHz.
8. ureteroscope according to claim 7 system is characterized in that: described operator is comprising gauge tap and mode selection switch; Described data wire is connected with the Flow with Color Doppler Ultrasound System main frame by joint.
9. ureteroscope according to claim 7 system, it is characterized in that: the sweep test structure of described color doppler ultrasonography probe is cylindrical, diameter is smaller or equal to 3.0mm, inside is provided with color doppler ultrasonography emitter, color doppler ultrasonography receptor and process chip, color doppler ultrasonography emitter, color doppler ultrasonography receptor and process chip design are on same block of rotatable carrier, and carrier can rotate and linear movement under color doppler ultrasonography is popped one's head in the driving of driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010613757XA CN102008326B (en) | 2010-12-30 | 2010-12-30 | Ureteroscope system with color Doppler ultrasonic scanning function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010613757XA CN102008326B (en) | 2010-12-30 | 2010-12-30 | Ureteroscope system with color Doppler ultrasonic scanning function |
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| Publication Number | Publication Date |
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| CN102008326A true CN102008326A (en) | 2011-04-13 |
| CN102008326B CN102008326B (en) | 2012-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201010613757XA Expired - Fee Related CN102008326B (en) | 2010-12-30 | 2010-12-30 | Ureteroscope system with color Doppler ultrasonic scanning function |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019042166A1 (en) * | 2017-08-28 | 2019-03-07 | 王国华 | Novel gastrointestinal endoscope system |
| CN113349725A (en) * | 2021-06-08 | 2021-09-07 | 湖南中聚内窥镜有限公司 | Abdominal cavity negative pressure centre gripping manipulator and electronic ureteroscope |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6217519B1 (en) * | 1997-03-25 | 2001-04-17 | Dwl Elektronische Systeme Gmbh | Device and method for observing vessels, specially blood vessels |
| CN201558098U (en) * | 2009-12-11 | 2010-08-25 | 广州宝胆医疗器械科技有限公司 | Mini-ultrasound hard multi-channel electronic cystoscope system |
| CN201929986U (en) * | 2010-12-30 | 2011-08-17 | 广州宝胆医疗器械科技有限公司 | Ureteroscope system with color Doppler ultrasonic scanning function |
-
2010
- 2010-12-30 CN CN201010613757XA patent/CN102008326B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6217519B1 (en) * | 1997-03-25 | 2001-04-17 | Dwl Elektronische Systeme Gmbh | Device and method for observing vessels, specially blood vessels |
| CN201558098U (en) * | 2009-12-11 | 2010-08-25 | 广州宝胆医疗器械科技有限公司 | Mini-ultrasound hard multi-channel electronic cystoscope system |
| CN201929986U (en) * | 2010-12-30 | 2011-08-17 | 广州宝胆医疗器械科技有限公司 | Ureteroscope system with color Doppler ultrasonic scanning function |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019042166A1 (en) * | 2017-08-28 | 2019-03-07 | 王国华 | Novel gastrointestinal endoscope system |
| CN113349725A (en) * | 2021-06-08 | 2021-09-07 | 湖南中聚内窥镜有限公司 | Abdominal cavity negative pressure centre gripping manipulator and electronic ureteroscope |
| CN113349725B (en) * | 2021-06-08 | 2022-07-12 | 湖南中聚内窥镜有限公司 | Abdominal cavity negative pressure centre gripping manipulator and electronic ureteroscope |
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| CN102008326B (en) | 2012-07-25 |
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