CN107361727A - A kind of controllable apparatus of rigidity and its application process for natural cavity operation - Google Patents
A kind of controllable apparatus of rigidity and its application process for natural cavity operation Download PDFInfo
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- CN107361727A CN107361727A CN201710583674.2A CN201710583674A CN107361727A CN 107361727 A CN107361727 A CN 107361727A CN 201710583674 A CN201710583674 A CN 201710583674A CN 107361727 A CN107361727 A CN 107361727A
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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
- A61B1/00064—Constructional details of the endoscope body
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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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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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
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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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
- A61B2017/00831—Material properties
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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
- A61B2017/00831—Material properties
- A61B2017/00867—Material properties shape memory effect
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Abstract
The invention discloses a kind of controllable apparatus of rigidity and its application process for natural cavity operation, the apparatus is based on a flexible silica gel skeleton structure, using low-melting alloy phase change technique, there is very high rigidity under firm state, it disclosure satisfy that the demand of operation technique, there is enough flexibilities under soft state, natural cavity can be passed through and enter human body, and hard and soft State Transferring is rapid, the controllable apparatus of rigidity rigidity sufficiently large under firm state, the stability of flexible operation tool and the precision of operation technique are guaranteed.
Description
Technical field
The present invention relates to a kind of apparatus for Minimally Invasive Surgery, more particularly to a kind of rigidity for natural cavity operation can
Control apparatus and its application process.
Background technology
With the development of science and technology, modern medicine has come into the minimally invasive surgery epoch.Wherein natural cavity is performed the operation
(natural orifice transluminal endoscopic surgery, NOTES) as modem surgical pattern first
Highly, have the advantages that pain is light, the hospital stays is short, postoperative no scar, turn into the study hotspot of modern medicine.So-called natural chamber
Road is performed the operation, and refers to that operation tool is performed the operation by the natural aperture (such as esophagus, vagina, navel) of human body into inside of human body
Operation.Because the bending of human body natural's cavity is long and narrow, traditional rigid straight-bar class Minimally Invasive Surgery apparatus is difficult to reach focal area, nothing
Method meets the requirement of natural cavity operation, therefore in natural cavity surgical procedure, doctor is generally required by soft and thin
Long operation tool completes operation technique task.As a rule, although flexible operation tool have to human body natural's cavity it is good
Good compliance, focal area can be smoothly reached, but on the one hand, long range transmission accuracy and control be present in flexible operation tool
The problem of precision processed is low, on the other hand, due to the insufficient rigidity of flexible operation tool, (such as stitched carrying out some operation techniques
Close, pull etc.) when, there can be the problem of operation tool deformation.These problems have had a strong impact on the availability of flexible operating theater instruments,
The difficulty and risk of operation are increased, also seriously constrains the development of natural cavity operation.
For this problem, scientific research personnel starts the flexible hand with rigidity controllable function that conception is used for natural cavity operation
Art apparatus：Operation tool enters human body with soft state, reaches focal area；Before being operated, flexible operation tool leads to
Cross certain mode and change stiffness by itself, improve rigidity, then start operation technique.This method for changing operating theater instruments rigidity was both
It ensure that apparatus smoothly reaches focal area, in turn ensure that performance accuracy and stability of the operation tool in operation.
For at present, the most widely used method for realizing variation rigidity function is to be tensioned the driving wire inside flexible instrument
To increase the frictional force between two neighboring part so as to realize operating theater instruments from soft state to the transformation of firm state, referring to US
20060058582 A1.But the problem of lifting of apparatus rigidity is insufficient be present in this method, and due to larger on driving wire
Power, there is fracture of wire, therefore this method has certain security risk.Therefore, a kind of safety and variation rigidity are invented
The apparatus for being used for natural cavity operation of positive effect has great importance.
The content of the invention
(1) technical problems to be solved
For in the prior art the defects of, be used for nature chamber it is an object of the invention to provide a kind of variation rigidity positive effect
The controllable apparatus of rigidity and its application process of road operation, to solve the above problems.
(2) technical scheme
A kind of rigidity controllable apparatus in the operation for natural cavity, including：Flexible skeletal structure, for hollow channel
Cylindrical structure, the hollow channel axially penetrates through cylindrical structure；It is provided with the annulus end face at flexible skeletal structure both ends
Bottoming hole, the bottoming hole are equipped with heater strip axially through whole flexible skeletal structure, the bottoming hole；Flexible back bone knot
Multiple grooves are uniformly offered on the external cylindrical surface of structure, the groove is connected with bottoming hole, and low melting point is filled with the groove
Alloy, the heater strip contact with low-melting alloy.
In some exemplary embodiments of the invention, the through hole for leading to hollow channel, institute are offered in the bottom portion of groove
State through hole and be equipped with heat conductive filament, heat conductive filament is extended in hollow channel from groove, and heat conductive filament contacts with low-melting alloy.
In some exemplary embodiments of the invention, driving silk hole, institute are also provided with the annulus end face of flexible skeletal structure
Driving silk hole is stated axially through whole flexible skeletal structure, the driving silk hole is equipped with driving silk, described soft for bending
Property skeleton structure.
In some exemplary embodiments of the invention, crust is coated with outside the flexible skeletal structure, it is low for sealing
Melting alloy, and play insulation and thermal insulation.
In some exemplary embodiments of the invention, end cap is provided with the annulus end face of the flexible skeletal structure, institute
State end cap and offer aperture in the position in corresponding driving silk hole and heater strip hole, for sealing low-melting alloy and guiding the drive
Dynamic silk and heater strip penetrate flexible skeletal structure.
In some exemplary embodiments of the invention, the bottoming hole and driving silk hole number are four, four bottoming holes
Circumferentially uniformly it is alternately distributed with four driving silk holes.
In some of the invention exemplary embodiments, the multiple groove is circumferentially uniformly divided into four row, recessed in each column
Groove is uniformly distributed vertically, and each groove connects with two bottoming holes.
In some of the invention exemplary embodiments, groove is elliptical slot, and its length circumferentially is more than vertically
Length, become narrow gradually from flexible skeletal structure external cylindrical surface to the width of axis.
A kind of method that the above-mentioned controllable apparatus of rigidity is used for natural cavity operation, comprises the following steps：S1：Using adding
Low-melting alloy in heated filament heating flexible skeletal structure groove, low-melting alloy melt, and the controllable apparatus of rigidity is in soft state；
S2：The flexible skeletal structure is stretched into natural cavity；S3：Low-melting alloy in cooling groove, the controllable apparatus of rigidity
It is transformed into firm state；S4：Operation tool reaches specified location by hollow channel and is operated；S5：After operation is completed, profit
With the low-melting alloy in heater strip heating groove, the controllable apparatus of rigidity reverts to soft state, taken out from natural cavity.
In some exemplary embodiments of the invention, step S3 includes：S31：Cryogenic freezing spray is sprayed into hollow channel
Agent；S32：Conduction At Low Temperature to low-melting alloy, low-melting alloy solidification, the controllable apparatus of rigidity are transformed into just by heat conductive filament
State.
(3) beneficial effect
Compared with prior art, beneficial effect caused by technical scheme is：
1. the controllable apparatus of rigidity of the present invention has good compliance under soft state, it is possible to achieve deep camber is bent, and is fitted
Answer complicated body cavities environment capacity stronger；
2. the present invention changes the rigidity of structure of apparatus using low-melting alloy phase change technique, the controllable device of rigidity can be ensured
Tool has larger stiffness variation scope, ensures the performance accuracy and stability of apparatus in operation technique；
3. carbon fiber electrical heating silk and cool rapid cryogenic freezing spray of the present invention using high electric conversion efficiency,
The hard and soft conversion of apparatus can be realized in a short period of time, and there is very high efficiency.
4. the present invention drives apparatus to bend using 4 90 degree equally distributed driving silks, there is very high flexibility.
Brief description of the drawings
Fig. 1 is the controllable apparatus overall structure diagram of rigidity for being used for natural cavity operation of the embodiment of the present invention；
Fig. 2 is the controllable apparatus overall structure exploded perspective view of rigidity for being used for natural cavity operation of the embodiment of the present invention；
Fig. 3 is that the controllable apparatus flexibility silica gel skeleton structure of rigidity for being used for natural cavity operation of the embodiment of the present invention is faced
Figure；
Fig. 4 is that the controllable apparatus flexibility silica gel skeleton structure of rigidity for being used for natural cavity operation of the embodiment of the present invention is overlooked
Figure；
Fig. 5 is the controllable apparatus heat conductive filament structural representation of rigidity for being used for natural cavity operation of the embodiment of the present invention；
Fig. 6 is the controllable apparatus end cover structure schematic diagram of rigidity for being used for natural cavity operation of the embodiment of the present invention；
Fig. 7 is the controllable apparatus heater active configuration signal of the rigidity for being used for natural cavity operation of the embodiment of the present invention
Figure；
Fig. 8 is the controllable apparatus cooling device active configuration signal of the rigidity for being used for natural cavity operation of the embodiment of the present invention
Figure.
Fig. 9 is the method flow diagram that the controllable apparatus of rigidity is used for natural cavity operation of the embodiment of the present invention.
【Symbol description】
1- flexibility silica gel skeleton structures；2- insulation and thermal insulation crusts；3- end caps；4- heat conductive filaments；5- drives silk；6- electrical heating
Silk；7- through holes；8- driving silks hole；81- first drives silk hole；82- second drives silk hole；83- the 3rd drives silk hole；84- the 4th
Drive silk hole；9- electrical heating wires hole；The first electrical heating wires of 91- hole；The second electrical heating wires of 92- hole；The electrical heating wire holes of 93- the 3rd；
The electrical heating wire holes of 94- the 4th；10- power supplys；11- cryogenic freezing sprays；12- hollow channels；The grooves of 131- first；132- second is recessed
Groove；The grooves of 133- the 3rd；The grooves of 134- the 4th.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in further detail.
First embodiment of the invention provides the controllable apparatus of rigidity in a kind of operation for natural cavity, mainly by flexible silicon
Glue skeleton structure, low-melting alloy and the state converter for changing the hard and soft state of apparatus are formed, and wherein State Transferring fills
Put including heater and cooling device.
Fig. 1 is the controllable apparatus overall structure diagram of rigidity being used in natural cavity operation of the present invention, and Fig. 2 is this hair
The controllable apparatus overall structure exploded perspective view of rigidity for being used for natural cavity operation of bright embodiment.As depicted in figs. 1 and 2, use
The controllable apparatus of rigidity in natural cavity operation includes flexible silicon glue skeleton structure 1, insulation and thermal insulation crust 2, end cap 3, eutectic
Point alloy, apparatus driving structure and the state converter for changing the hard and soft state of apparatus, state converter include adding
Thermal and cooling device.Apparatus driving structure includes four driving silks 5, and heater (heats including four electrical heating wires 6
Silk), cooling device includes multiple heat conductive filaments 4 and cryogenic freezing spray, and the heat conductive filament 4 is U-shaped blister copper silk.
Fig. 3 is the flexible silica gel skeleton structure front view of the embodiment of the present invention, and Fig. 4 is the flexible silica gel of the embodiment of the present invention
Skeleton structure top view, (a) are overall top view, and (b) is through hole details top view.As shown in Fig. 3 and Fig. 4 (a), flexible silicon
For glue skeleton structure 1 based on a hollow cylindrical structure, hollow structure inside is hollow channel, and hand can be worn in hollow channel
Art instrument is performed the operation, and cylindrical structure includes inner cylinder face, external cylindrical surface and upper and lower annular end face, the annular end face at both ends
On be provided with four driving silk holes 8, four driving silk holes 8 are uniformly distributed circumferentially centered on the center of circle of annular end face, and edge
Cylindrical structure axially penetrates through whole flexible silica gel skeleton structure, and driving silk 5 is arranged in four driving silk holes 8, by outer
The motor driving in portion, apparatus can realize the bending motion in both direction.On the annular end face at cylindrical structure both ends also
It is provided with four electrical heating wire holes 9, is provided with an electrical heating wire hole 9 (i.e. bottoming hole) between two neighboring driving silk hole 8, four
Electrical heating wire hole 9 is equally uniformly distributed circumferentially, and axially penetrates through whole flexible silica gel skeleton structure along cylindrical structure,
Heater strip 6 is arranged in four electrical heating wire holes 9.It is provided with the external cylindrical surface of flexible silica gel skeleton structure multiple along cylinder knot
Structure radial direction has the groove of certain depth, and it includes equally distributed multiple row groove, and each column groove is along cylindrical structure axle
To being uniformly distributed, and each groove connects with one or more electrical heating wire holes 9, in each bottom portion of groove along cylinder knot
Structure radial direction is provided with two through holes for leading to internal hollow channel 7, and the through hole 7 is U-shaped blister copper silk mounting hole.Heat conductive filament 4 wears
The through hole 7 crossed on groove, extend in the internal hollow channel of flexible silica gel skeleton structure.The groove of flexible silica gel skeleton structure
In be filled with low-melting alloy, low-melting alloy can be flowed freely in liquid by electrical heating wire hole 9 in each groove.
Electrical heating wire 6 and low-melting alloy are in close contact, by the driving of external power source, can make low-melting alloy from Solid State Transformation into
Liquid.Heat conductive filament 4 is in close contact with low-melting alloy, is ejected into by cryogenic freezing spray in hollow channel, low temperature is by leading
Heated filament is transmitted to low-melting alloy, can change from liquid to solid low-melting alloy.
As shown in Fig. 3 and Fig. 4 (b), in the present embodiment, four driving silk holes 8 include the first driving silk hole 81, second and driven
Dynamic silk hole the 82, the 3rd drives the driving silk hole 84 of silk hole 83 and the 4th；Electrical heating wire hole 9 includes the first electrical heating wire hole 91, second
Electrical heating wire hole 92, the 3rd electrical heating wire hole 93 and the 4th electrical heating wire hole 94；Along up time since the first electrical heating wire hole 91
Pin sets gradually the first electrical heating wire hole 91, first driving silk hole 81, the second electrical heating wire hole 92, second driving silk hole 82, the
Three electrical heating wire holes the 93, the 3rd driving silk hole 83, the 4th electrical heating wire hole 94 and the 4th driving silk hole 84；
As shown in Fig. 3 and Fig. 4 (b), in the present embodiment, groove is seen as elliptical slot from front, elliptical slot along circle
The circumferential length of column structure is more than along cylindrical structure axial length, and groove is from external cylindrical surface to cylindrical structure central axis
Width becomes narrow gradually, and groove is in class triangle from the side.Each groove circumferentially connects two electrical heating wires along cylindrical structure
Hole 9 and a driving silk hole 8.Groove includes the first groove 131, the second groove 132, the 3rd groove 133 and the 4th groove 134
Four kinds of (not shown), the first groove 131 are circumferentially sequentially communicated the driving of the first electrical heating wire hole 91, first along cylindrical structure
The silk electrical heating wire hole 92 of hole 81 and second, in terms of top view, the second groove 132, the 3rd groove 133 and the 4th groove 134 are distinguished
It is the first groove along rotating clockwise 90 degree, 180 degree and 270 degree.But the first groove and the 3rd groove are arranged symmetrically in same height
Degree, the second groove and the 4th groove are arranged symmetrically in sustained height, and two pair of a groove is axially handed over along cylindrical structure in external cylindrical surface
For being intervally arranged, this groove shapes and arrangement mode can be by driving silk to obtain preferable bending effect.It above are only recessed
A kind of embodiment of groove, in other embodiments of the present invention, groove is alternatively other shapes and arrangement mode.
End cap 3 is installed on flexible silica gel skeleton structure both ends, and corresponding four driving silks hole 8 and four electrical heating wire holes 9 are opened
Provided with eight apertures, penetrated for sealing low-melting alloy and guiding driving silk and electrical heating wire in flexible silica gel skeleton structure.
Insulation and thermal insulation crust 2 coats the external cylindrical surface of flexible silica gel skeleton structure, for insulation and thermal insulation and sealed groove.
In the present embodiment, low-melting alloy uses fusing point, and for 30 degrees Celsius of gallium alloy, electrical heating wire 6 uses carbon fiber electrically
Heater strip, cryogenic freezing spray use minimum temperature as the bottled Pressurized sprays of subzero 50 degrees Celsius of HFC-134a.
The controllable apparatus heater active configuration of rigidity in being performed the operation for natural cavity as shown in fig. 7, power supply 10 to electricity
Heater strip 6 is powered, and electrical heating wire produces amount of heat to low-melting alloy transmission, and low-melting alloy melts, for natural cavity
The controllable apparatus of rigidity in operation is transformed into soft state from firm state.
The controllable apparatus cooling device active configuration of rigidity in being performed the operation for natural cavity is as shown in figure 8, cryogenic freezing is sprayed
Agent 11 sprays cryogenic gas to the hollow channel 12 of flexible silica gel skeleton structure, and heat conductive filament's ends contact cryogenic gas cools down rapidly
And low temperature is passed into low-melting alloy, low-melting alloy solidification, the controllable apparatus of rigidity for natural cavity operation is from soft state
It is transformed into firm state.
Second embodiment of the invention provides a kind of method that the above-mentioned controllable apparatus of rigidity is used for natural cavity operation, such as
Fig. 9 is the method flow diagram that the controllable apparatus of rigidity is used for natural cavity operation of the embodiment of the present invention, is comprised the following steps：
Step S1：Using the low-melting alloy in heater strip heating flexible skeletal structure groove, low-melting alloy melts, institute
It is in soft state to state the controllable apparatus of rigidity.
When apparatus controllable using the rigidity provided in an embodiment of the present invention performed the operation for natural cavity, filled using heating
Put, the controllable apparatus of rigidity is transformed into soft state by the firm state under normal temperature.
Step S2：The flexible skeletal structure is stretched into natural cavity.
Because the controllable apparatus of rigidity has very big flexibility under soft state, the natural cavity of human body curved narrow can be complied with
Into human body, reach lesions position.
Step S3：Low-melting alloy in cooling groove, the controllable apparatus of rigidity are transformed into firm state.
At a point prior to the surgical procedure, using cooling device, the controllable apparatus of rigidity is transformed into firm state by soft state, step S3 include with
Lower sub-step：
Sub-step S31：Cryogenic freezing spray is sprayed into hollow channel；
Sub-step S32：Heat conductive filament solidifies Conduction At Low Temperature to low-melting alloy, low-melting alloy, the controllable device of rigidity
Tool is transformed into firm state.
Step S4：Operation tool reaches specified location by hollow channel and is operated.
Flexible operation tool reaches lesions position by the hollow channel of the controllable apparatus of rigidity and is operated, due to firm
Controllable apparatus rigidity sufficiently large under firm state is spent, the stability of flexible operation tool and the precision of operation technique are protected
Card.
Step S5：After operation is completed, the low-melting alloy in heater strip heating groove, the controllable apparatus of rigidity are utilized
Soft state is reverted to, is taken out from natural cavity.
After operation is completed, flexible operation tool is taken out first, and then using heater, the controllable apparatus of rigidity is from firm state
It is transformed into soft state, can be taken out easily from human body natural's cavity.
Particular embodiments described above, the purpose of the present invention, technical scheme and beneficial effect are carried out further in detail
Describe in detail bright, it should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., the protection of the present invention should be included in
Within the scope of.
Claims (10)
1. the controllable apparatus of rigidity in a kind of operation for natural cavity, including：
Flexible skeletal structure, for the cylindrical structure with hollow channel, the hollow channel axially penetrates through cylindrical structure；
Bottoming hole is provided with the annulus end face at flexible skeletal structure both ends, the bottoming hole is axially through whole flexible back bone knot
Structure, the bottoming hole are equipped with heater strip；
Multiple grooves are uniformly offered on the external cylindrical surface of flexible skeletal structure, the groove connects with bottoming hole, the groove
Interior to be filled with low-melting alloy, the heater strip contacts with low-melting alloy.
2. the controllable apparatus of rigidity according to claim 1, wherein, offered in the bottom portion of groove and lead to hollow channel
Through hole, the through hole are equipped with heat conductive filament, and heat conductive filament is extended in hollow channel from groove, and heat conductive filament connects with low-melting alloy
Touch.
3. the controllable apparatus of rigidity according to claim 1 or 2, wherein, also it is provided with the annulus end face of flexible skeletal structure
Silk hole is driven, the driving silk hole is equipped with driving silk, be used for axially through whole flexible skeletal structure, the driving silk hole
Bend the flexible skeletal structure.
4. the controllable apparatus of rigidity according to claim 1, wherein, crust is coated with outside the flexible skeletal structure, is used
In sealing low-melting alloy, and play insulation and thermal insulation.
5. the controllable apparatus of rigidity in the operation according to claim 3 for natural cavity, wherein, the flexible back bone knot
End cap is provided with the annulus end face of structure, the end cap offers aperture in the position in corresponding driving silk hole and heater strip hole, used
In sealing low-melting alloy and the driving silk and heater strip is guided to penetrate flexible skeletal structure.
6. the controllable apparatus of rigidity according to claim 3, wherein, the bottoming hole and driving silk hole number are four, four
Individual bottoming hole and four driving silk holes are circumferentially uniformly alternately distributed.
7. the controllable apparatus of rigidity according to claim 1 or 6, wherein, the multiple groove is circumferentially uniformly divided into four row,
Groove in each column is uniformly distributed vertically, and each groove connects with two bottoming holes.
8. the controllable apparatus of rigidity according to claim 7, wherein, groove is elliptical slot, and its length circumferentially is more than
Length vertically, become narrow gradually from flexible skeletal structure external cylindrical surface to the width of axis.
9. a kind of controllable apparatus of rigidity by any one of claim 1 to 8 is used for the method for natural cavity operation, including
Following steps：
S1：Using the low-melting alloy in heater strip heating flexible skeletal structure groove, low-melting alloy melts, and the rigidity can
It is in soft state to control apparatus；
S2：The flexible skeletal structure is stretched into natural cavity；
S3：Low-melting alloy in cooling groove, the controllable apparatus of rigidity are transformed into firm state；
S4：Operation tool reaches specified location by hollow channel and is operated；
S5：After operation is completed, using the low-melting alloy in heater strip heating groove, the controllable apparatus of rigidity reverts to soft
State, taken out from natural cavity.
10. the method according to claim 11, wherein,
Step S3 includes：
S31：Cryogenic freezing spray is sprayed into hollow channel；
S32：Conduction At Low Temperature to low-melting alloy, low-melting alloy solidification, the controllable apparatus of rigidity are transformed into just by heat conductive filament
State.
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Cited By (6)
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|---|---|---|---|---|
| CN108814722A (en) * | 2018-04-20 | 2018-11-16 | 天津大学 | Variation rigidity natural cavity surgical instrument support construction and application method |
| CN110215240A (en) * | 2019-05-30 | 2019-09-10 | 南开大学 | A kind of end effector mechanism of single-hole laparoscopic surgery |
| CN110354367A (en) * | 2019-07-26 | 2019-10-22 | 王玉峰 | Seal wire |
| CN112587782A (en) * | 2020-12-07 | 2021-04-02 | 上海璞慧医疗器械有限公司 | Medical guide wire |
| CN112587067A (en) * | 2021-03-02 | 2021-04-02 | 岱川医疗(深圳)有限责任公司 | Insertion tube for endoscope and endoscope |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
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