WO2013005919A2 - Appareil d'administration de médicament pour un endoscope - Google Patents

Appareil d'administration de médicament pour un endoscope Download PDF

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Publication number
WO2013005919A2
WO2013005919A2 PCT/KR2012/003565 KR2012003565W WO2013005919A2 WO 2013005919 A2 WO2013005919 A2 WO 2013005919A2 KR 2012003565 W KR2012003565 W KR 2012003565W WO 2013005919 A2 WO2013005919 A2 WO 2013005919A2
Authority
WO
WIPO (PCT)
Prior art keywords
cannula
drug
affected part
injector
injection
Prior art date
Application number
PCT/KR2012/003565
Other languages
English (en)
Korean (ko)
Other versions
WO2013005919A3 (fr
Inventor
박종은
Original Assignee
Park Jong-Eun
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Park Jong-Eun filed Critical Park Jong-Eun
Publication of WO2013005919A2 publication Critical patent/WO2013005919A2/fr
Publication of WO2013005919A3 publication Critical patent/WO2013005919A3/fr

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/142—Pressure infusion, e.g. using pumps
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/015—Control of fluid supply or evacuation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M11/00—Sprayers or atomisers specially adapted for therapeutic purposes
    • A61M11/006—Sprayers or atomisers specially adapted for therapeutic purposes operated by applying mechanical pressure to the liquid to be sprayed or atomised
    • A61M11/007—Syringe-type or piston-type sprayers or atomisers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M11/00—Sprayers or atomisers specially adapted for therapeutic purposes
    • A61M11/06—Sprayers or atomisers specially adapted for therapeutic purposes of the injector type

Definitions

  • the present invention relates to an endoscope drug administration device, and more particularly to an endoscope drug administration device that can be inserted into the body along with the endoscope to inject the drug into the affected area in a needleless manner.
  • the endoscope is used to directly view the inner surface of the hollow growth phase, such as the stomach or esophagus, or the inside of the body such as the chest cavity or the abdominal cavity, and according to the purpose of use, the bronchoscopy, laryngoscope, esophagus, It is subdivided into many different types such as gastrointestinal endoscopy, cervix, urethra, arthroscopy, cystoscope, laparoscopic, etc., and it is easy to observe the state inside the human body and to easily remove tissue and collect secretions. It is a medical device that helps to find, diagnose, and cure diseases.
  • the gas injector, electric cauterizer, forceps, cutter, etc. are used to perform incision and closure of the affected part of the body for the purpose of treating a disease occurring in the chest cavity, the abdominal cavity, or a specific part of the body.
  • the same surgical instrument is inserted into the body along with the endoscope, and the endoscope is used to observe the affected part and to perform the procedure through the surgical instrument.
  • the injection needle (ND) is introduced into the body through the endoscope channel and the injection needle (ND) is circulated around the affected area. Because the injection directly into the body to inject the drug directly into the body, the procedure is cumbersome and the procedure time increases.
  • the supply tube (TB) for supplying medicine while advancing the needle (ND) back and forth is made of a single-use plastic, but in some cases it is reused after disinfection with EO gas due to realistic problems such as limited number of health insurance. .
  • the supply tube (TB) is made of a plastic material, it is easily deformed and frequently needs to be replaced, thereby increasing the procedure cost.
  • the needle (ND) is bleeding as it is directly inserted into the body tissue, and there is a risk of infection, and because the supply tube (TB) is made of plastic, it cannot be recycled by autoclaving and is used once. If you do so, there is a problem that increases the medical cost accordingly.
  • the present invention has been made to solve the above-mentioned problems of the prior art, is inserted into the body with the endoscope to inject the drug at a high pressure without the injection of a needle around the affected area, it can be injected around the affected area
  • the drug can be injected at the same time around the affected area, or the drug can be injected around the affected area according to the size of the affected area. Purpose.
  • the endoscope drug administration device of the present invention for achieving the above object, in the endoscope drug administration device for administering the drug to the affected area is inserted into the body through the channel of the endoscope tube is inserted into the human body, the endoscope A cannula in the form of a tubular body inserted into a channel of the tube to be released from inside the human body; An injection unit for injecting the drug around the affected part from the front of the cannula to inject the drug into the affected part; And a pump unit for pumping and supplying the drug to the injection unit, wherein the injection unit is formed in a tube shape, is inserted into the cannula, and a supply unit for supplying the drug from the pump unit; And a tubular injector which extends in the same part as the supply part and protrudes toward the front of the cannula and has injection holes for injecting the drug around the affected part.
  • a snare-type injector protruding forward of the cannula and being bent in a snare shape, the end of which is inserted into the cannula so that the injection holes are formed in a snare shape around the affected part.
  • the present invention in the endoscope drug administration device is inserted into the body through the channel of the endoscope to be injected into the human body to administer the drug to the affected area, inserted into the channel of the endoscope tube and emerged from the inside of the human body Tubular cannula; An injection unit for injecting the drug around the affected part from the front of the cannula to inject the drug into the affected part; And a pump unit for pumping and supplying the drug to the injection unit, wherein the injection unit is formed in a tube shape, is inserted into the cannula, and a supply unit for supplying the drug from the pump unit; And a tubular injector which extends in the same part as the supply part and protrudes toward the front of the cannula and has injection holes for injecting the drug around the affected part.
  • a coil-type injector protruding forward of the cannula and being bent in a coil shape, the injection holes being formed at a lower portion thereof, and the injection holes being disposed around one side of the affected part while being stretched by pressing on both sides; And stretching means for stretching the coiled injector while pressing both sides of the coiled injector.
  • the drug supplied by the pump unit is sprayed around the affected part by the injection unit can be injected without pain or bleeding without inserting an injection needle,
  • the drug can be injected into several places at once, so that the procedure time can be shortened, and since the injection unit is not directly injected into the body tissue, the deformation does not occur, thereby improving durability and recycling through autoclaving. Therefore, the medical cost is reduced.
  • the injection unit of the injection unit is formed in a noose shape and is disposed in a noose form around the affected part, the drug can be injected at the same time around the affected part. Therefore, it is possible to inject the drug around the affected area while stretching the coil-type injector according to the size of the affected part.
  • FIG. 1 is a state diagram showing a conventional endoscope drug administration device.
  • Figure 2 is a front view showing the endoscope drug administration device according to the present invention.
  • Figure 3 is a longitudinal sectional view showing an endoscope drug administration device according to the present invention.
  • Figure 4 is a longitudinal sectional view showing another embodiment of the injection unit according to the present invention.
  • FIG. 5 is a front view showing another embodiment of the forceps shown in FIG.
  • Endoscopic drug administration device is inserted into the body through the channel (1a) of the endoscope tube 1 is inserted into the human body as shown in Figure 2 to inject the drug into the affected part cannula (10) , Including the injection unit 20 and the pump unit 30.
  • the endoscope tube 1 is a conventional member for operating the lesion site while observing the body through a camera (CA) installed at the end, as shown in Figure 2 is provided with a plurality of channels (1a) gas injector or It is inserted into the body along with surgical instruments such as electric cauterizers.
  • CA camera
  • the cannula 10 is a hollow tubular member, which is inserted into the rear end of the channel 1a and drawn out to the front end of the channel 1a as shown in FIG. 2.
  • Injection unit 20 is a means for injecting the drug around the affected part in front of the cannula 10, as shown in Figures 2 and 3 is inserted into the cannula 10 and pumped from the pump unit 30 to be described later Consists of the injection tube 21 for injecting the drug around the affected area by receiving the supplied drug, the injection tube 21 protrudes in front of the supply unit 22 and the cannula 10 is inserted into the cannula (10) It consists of the injection part 24 which becomes.
  • the supply unit 22 is inserted into the cannula 10 as shown in FIG. 3, and is connected to the pump unit 30 to be described later to provide a passage for the supply of the pumped drug.
  • the injection part 24 extends in the same manner to the supply part 22 and protrudes toward the front of the cannula 10, and a plurality of injection holes 25 are formed at the bottom to form the injection holes 25.
  • the drug is injected through the affected area.
  • the injection part 24 may be formed as a snare-type injector 24a in which an end is inserted into the cannula 10 while being bent in a snare shape in a state protruding in front of the cannula 10 as shown in FIG. 3. .
  • the injection part 24 is formed as a snare-type injector 24a, the injection holes 25 may be disposed along the circumference of the affected part, and thus the drug may be simultaneously injected around the affected part with only one injection.
  • the injection part 24 may be configured to further include an adjuster 26 for arranging the injection holes 25 to match the size of the affected area by adjusting the inner diameter of the snare-type injector 24a according to the size of the affected part.
  • the adjuster 26 may comprise, for example, a moving wire 26a and a handle 26b as shown in FIG. 3.
  • the moving wire 26a is inserted into the cannula 10 together with the supply part 22 of the injection tube 21 and moves inside the cannula 10 as shown in FIG. 3, and ends of the snare-type injector 24a. One side is connected to and the other side protrudes behind the cannula 10.
  • the moving wire 26a is formed of a steel wire of fine thickness and has flexibility in the longitudinal direction. Therefore, the moving wire 26a moves forward and backward through the end of the snare-type injector 24a while moving inside the cannula 10 by the pressure of one side.
  • the handle 26b is coupled to the other end of the moving wire 26a protruding to the rear of the cannula 10 as shown in FIG. 3 to advance or reverse the moving wire 26a.
  • Such a handle 26b is composed of a syringe type cylinder SL and a piston PS, as shown in FIG. 3, so that the moving wire 26a can be moved back and forth by the reciprocating motion of the piston PS.
  • the handle 26b may be any structure as long as the handle 26b is coupled to the moving wire 26a to move the moving wire 26a forward and backward.
  • the snare-type injector 24a has a smaller inner diameter as the end portion is introduced into the rear of the cannula 10 as the end of the moving wire 26a moves forward and backward by the adjustment of the handle 26b, or in front of the cannula 10.
  • the inner diameter is extended while being drawn out, and the injection holes 25 are disposed around the affected part to match the size of the affected part.
  • the injection unit 24 may be configured to include a coil-type injector 24b and expansion means as shown in FIG.
  • the coil injector 24b extends to the supply part 22 constituting the injection tube 21 and protrudes in front of the cannula 10 to be bent into a coil shape, and has an injection hole at a lower portion thereof. 25) are formed. That is, the coil injector 24b may be stretched in length as it is bent in a coil form.
  • the stretching means is a means for stretching the length of the coil injector 24b by pressing both sides of the coil injector 24b, and is inserted into the cannula 10 together with the injection tube 21 as shown in FIG.
  • Forceps in front of the (10) may be composed of forceps (27).
  • Forceps 27 is a member that is inserted into the body through the endoscope tube 1 to move the forceps, can be manufactured by applying the structure of a conventional forceps cutter, as shown in Figure 4, in front of the cannula 10 Tongs protruding portion 27a, tongs wire 27b connected to the tongs 27a through the cannula 10 and tongs handle 27c for advancing and retracting the tongs wire 27b from the rear of the cannula 10. It is composed.
  • the tongs 27 are centered on the hinge shaft 27d by the tongs 27a by the tong wires 27b which move forward and backward in accordance with the operation of the tongs grip 27c as in the operation of the adjuster 26 described above. Stretch the coil injector (24b) while moving the forceps.
  • the tong portion 27a is coupled to the hinge shaft 27d to the housing 27e fixed to the tip of the cannula 10 as shown by the broken line in FIG.
  • the coil-type injector 24b is coupled to the free end of the tong portion 27a as shown in Figure 4, the center is supported in a state caught on the hinge shaft 27d, the forceps of the tong portion 27a Stretching in a substantially semi-circular shape by the movement, the injection holes 25 are arranged in a form surrounding the one side of the affected part.
  • the coil injector 24b is sequentially disposed around both sides of the affected area by the forceps 27a to inject the drug through the injection holes 25.
  • the tongs 27a may be connected to the tongs wire 27b by the link 27f to move the tongs as shown in FIG. 5, or may be retracted in a streamline as shown on the right side of FIG. 5. . Therefore, the forceps 27a may be inserted into the channel 1a of the endoscope tube 1 together with the cannula 10 in front of the cannula 10.
  • the injection portion 24 is composed of a coil-type injector 24b
  • the injection tube 21 and the forceps 27 are different from the channel of the endoscope tube 1 without the configuration of the cannula 10, as shown in FIG. It may also be inserted directly into (1a).
  • the pump unit 30 is connected to the supply part 22 of the injection tube 21 constituting the injection unit 20 as shown in FIGS. 3 and 4 to pump the drug to inject the injection hole of the injection part 24 (
  • a conventional pump member for pumping drugs such as hemostatic agent, vasoconstrictor or physiological saline to high pressure by pneumatic or hydraulic pressure may be used.
  • the injection unit 20 is supplied to the supply unit 22 by the pump unit 30, the drug is injected at a high pressure through the injection hole 25 of the injection unit 24, thus the injected drug is body tissue It can be injected into the
  • the injection tube 21 constituting the injection unit 20 is formed of a conductive material, while the current is energized by the current-carrying means not shown while the above-described injection unit 24 provides a current around the affected part affected by the affected part You can also restrain.
  • the injection unit 24 is energized by an energized switch not shown connected to the supply unit 22
  • the affected part is excised through the current provided to the injection part 24.
  • the affected portion is ablation at once by the current provided along the snare injector 24a.
  • the endoscope drug administration device of the present invention is inserted into the body through the channel (1a) of the endoscope tube 1 is inserted into the hollow growth phase such as the stomach or esophagus or the thoracic or abdominal cavity.
  • a drug is injected into a polyp for treatment or resection of an affected area, such as a polyp
  • the operator observes the polyp through a camera (CA) mounted on the endoscope tube (1) and the injection unit 20 and the pump unit. Operate (30) to high pressure spray the drug around the polyp.
  • CA camera mounted on the endoscope tube (1) and the injection unit 20 and the pump unit. Operate (30) to high pressure spray the drug around the polyp.
  • the injection unit 24 constituting the injection unit 20 is composed of a snare-type injector (24a)
  • the practitioner polyp while advancing the moving wire (26a) through the handle (26b) of the adjuster (26)
  • the injection hole 25 is arranged around the polyp by adjusting the inner diameter of the snare-type injector 24a according to the size of.
  • the operator operates the pump unit 30 to supply the quantitative drug to the supply unit 22 of the injection unit 20 at high pressure. Accordingly, the supplied drug is injected into the body tissue while being injected at high pressure simultaneously around the polyp through the injection holes 25 of the injection part 24.
  • the polyp injected with the drug is expanded as shown in Fig. 1 (b).
  • the operator adjusts the inner diameter of the snare-type injector 24a through the adjustment of the adjuster 26 to capture the polyp, and operates the energizing means not shown to supply the supply unit 22 and the injection unit 24 of the injection unit 20.
  • the polyp is cut by supplying an electric current to the snare-type injector 24a of the injection part 24 while energizing ().
  • a hemostatic device such as a hemostatic clip
  • another channel 1a of the endoscope tube 1 as needed to hemostatic the ablation site, and then through another channel 1a of the endoscope tube 1.
  • a surgical instrument such as a forceps or inhaler, is added to remove the polyp.
  • the injection unit 24 constituting the injection unit 20 is composed of a coil-type injector (24b)
  • the operator to move the forceps wire 27b back and forth through the forceps handle (27c) of the forceps 27 Spread the portion 27a to place the coil injector 24b around one side of the polyp, and inject the high pressure drug into the injection hole 25 of the coil injector 24b through the operation of the pump unit 30 described above. Inject into the body tissues.
  • the operator places the coil-type injector 24b around the other side of the polyp through high-pressure injection of the drug by adjusting the endoscope tube 1 or the cannula 10.
  • the operator may remove the expanded polyp by inserting another purposeful resection tool other than the noose into the other channel 1a of the endoscope 1, and forceps through another channel 1a of the endoscope 1 Inject a surgical instrument such as an inhaler to remove the polyp.
  • the drug of the high pressure supplied by the pump unit 30 is sprayed around the affected part by the injection unit 20, the drug does not have pain or bleeding even without inserting an injection needle. Since the injection unit 20 is not directly injected into the body tissue, the deformation does not occur, so the durability is improved, as well as it is possible to recycle through autoclaving, thereby reducing the medical cost.
  • the injection unit 20 is formed in the form of a tube and the supply unit 22 and the injection unit 24 so that the injection unit 24 protrudes in front of the cannula 10, the injection unit 24 in the form of the affected part Can be produced in various ways.
  • the injection portion 24 is composed of a snare-type injector 24a so that the injection holes 25 can be disposed at the periphery of the affected portion, the drug can be injected simultaneously around the affected portion with only one injection of the drug. have.
  • the injection holes 25 may be arranged to match the size of the affected part.
  • the injection part 24 is comprised by the coil type
  • the coil-type injector 24b can be expanded and contracted in a semicircle to arrange the injection holes 25 around the affected part.
  • the supply part 22 and the injection part 24 of the injection unit 20 are constituted by a conductor, it is possible to ablate the affected part through the current provided to the injection part 24 by energization.
  • the present invention is inserted into the body through the endoscope can be injected into the human tissue without the needle, it can be applied to the medical device medical device industry.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Vascular Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)
  • Endoscopes (AREA)

Abstract

La présente invention concerne un appareil d'administration de médicament pour un endoscope, comprenant les éléments suivants : une canule tubulaire insérée dans un canal d'un tuyau d'endoscope, de manière à pouvoir être rétractée à l'intérieur d'un organisme humain ; une unité de vaporisation, destinée à vaporiser des médicaments sur la circonférence de la partie touchée au niveau de la partie antérieure de la canule ; et une unité de pompage, destinée à pomper des médicaments vers l'unité de vaporisation. Ladite unité de vaporisation comprend les éléments suivants : une partie d'alimentation qui présente une forme tubulaire devant être insérée dans la canule et à laquelle des médicaments sont fournis ; et une partie de pulvérisation tubulaire étendue vers la partie d'alimentation utilisant le même corps, qui comprend des trous de pulvérisation faisant saillie vers la partie antérieure de la canule pour vaporiser des médicaments sur la circonférence de la partie touchée. La partie de pulvérisation est un injecteur de type piégeant. Ledit injecteur fait saillie vers la partie antérieure de la canule tout en étant étendu vers la partie d'alimentation, et une extrémité est insérée dans la canule lors de la flexion de l'injecteur pour former un piège, permettant ainsi la disposition des trous de vaporisation en une forme de piège autour de la partie touchée. La présente invention permet l'injection d'un médicament pompé devant être injecté dans la partie touchée au moyen d'un injecteur de type piège sans douleur ni saignement, et l'injection simultanée des médicaments le long de la circonférence de la partie touchée.
PCT/KR2012/003565 2011-07-01 2012-05-07 Appareil d'administration de médicament pour un endoscope WO2013005919A2 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020110065263A KR101157170B1 (ko) 2011-07-01 2011-07-01 내시경용 약물 투여장치
KR10-2011-0065263 2011-07-01

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WO2013005919A2 true WO2013005919A2 (fr) 2013-01-10
WO2013005919A3 WO2013005919A3 (fr) 2013-02-28

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KR101581698B1 (ko) 2014-05-28 2016-01-05 옵티메디주식회사 약물 투약용 내시경 시술기구
KR20170000269A (ko) 2015-06-23 2017-01-02 미라클스코프(주) 내시경을 구비하는 메조건

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010025149A1 (en) * 2000-03-27 2001-09-27 Hiroshi Kobayashi Forceps for endoscope and manufacturing method of forceps
US20010047135A1 (en) * 1996-07-08 2001-11-29 Daniels Douglas J. Diagnosing and performing interventional procedures on tissue in vivo
KR20050104135A (ko) * 2004-04-28 2005-11-02 정하철 영상을 보면서 치료를 동시에 할 수 있는 다중치료기기
US20070185452A1 (en) * 2004-03-04 2007-08-09 Future Medical System S.A. Endoscopy system and a pressure transmitting connector for said system
US20110118757A1 (en) * 2006-03-22 2011-05-19 Pierce Instruments, Inc. Surgical end effector apparatus and method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
RU2008114830A (ru) * 2005-09-16 2009-10-27 ТиТиАй ЭЛЛЕБО, ИНК. (JP) Устройство ионтофореза катетерного типа

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010047135A1 (en) * 1996-07-08 2001-11-29 Daniels Douglas J. Diagnosing and performing interventional procedures on tissue in vivo
US20010025149A1 (en) * 2000-03-27 2001-09-27 Hiroshi Kobayashi Forceps for endoscope and manufacturing method of forceps
US20070185452A1 (en) * 2004-03-04 2007-08-09 Future Medical System S.A. Endoscopy system and a pressure transmitting connector for said system
KR20050104135A (ko) * 2004-04-28 2005-11-02 정하철 영상을 보면서 치료를 동시에 할 수 있는 다중치료기기
US20110118757A1 (en) * 2006-03-22 2011-05-19 Pierce Instruments, Inc. Surgical end effector apparatus and method

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KR101157170B1 (ko) 2012-06-20
WO2013005919A3 (fr) 2013-02-28

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