CN1575744A - Bend operating apparatus for endoscope - Google Patents
Bend operating apparatus for endoscope Download PDFInfo
- Publication number
- CN1575744A CN1575744A CN 200410062153 CN200410062153A CN1575744A CN 1575744 A CN1575744 A CN 1575744A CN 200410062153 CN200410062153 CN 200410062153 CN 200410062153 A CN200410062153 A CN 200410062153A CN 1575744 A CN1575744 A CN 1575744A
- Authority
- CN
- China
- Prior art keywords
- backguy
- pulley
- groove
- line
- afterturn
- Prior art date
- Legal status (The legal status 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 status listed.)
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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
Abstract
The curving operation device of an endoscope is provided with the pulley 26 to be turned by an angle knob 24 and a groove 46 in a helical shape is formed on the outer peripheral surface of the pulley 26. The proximal end parts of a pair of traction wires 28a and 28b are wound from the end parts 46a and 46b of the groove 46 to the groove 46. The distal parts of the traction wires 28a and 28b are extended from the pulley 26 and connected via connecting members 32a and 32b to angle wires 34a and 34b. The traction wires 28a and 28b are constituted by twisting the plurality of wires 56 in the same direction as the winding direction of the groove 46.
Description
Technical field
The present invention relates to be used for the bend operating apparatus of endoscope, relate in particular to the bend operating apparatus that is used for the sweep of the insertion parts of endoscope being bent to desired orientation along with the rotating operation of angulation knob.
Background technology
Medical endoscope is provided with and inserts endoceliac insertion parts, and sweep be arranged on this insertion portion vertical near.The rotating operation of the angulation knob of sweep by being arranged on hand operated parts place is by crooked or bend right and left up and down.That is, endoscope is provided with the bend operating apparatus that is used for making along with the rotating operation of angulation knob the sweep bending.
Bend operating apparatus is made of a pair of backguy of reeling along the groove of pulley by pulley and its bottom part of angulation knob operation rotationally.The top of backguy is connected to the angle line that inserts by insertion parts.In the bend operating apparatus that as above constitutes, pulley rotates by the rotating operation of carrying out angulation knob, and backguy is operated so that be pushed and spur.The angle line that is connected to backguy is pushed and spurs, and sweep is handled with bending thus.
The bend operating apparatus of the groove of its middle pulley with helical form formation described among the Japanese Patent Application Publication No.2002-291686.The bottom of a pair of backguy partly is fixed to the two end portions of helical groove, and this a pair of backguy is reeled along common helical groove.The top of backguy emits and is connected to sweep from helical groove.According to this bend operating apparatus, a pair of backguy is reeled along public helical groove, can make the pulley structure compactness thus.
Yet, when pull wire coil around pulley be operated when rotating, backguy is stuck in the pulley, the worry of operation failure occurs causing.
Summary of the invention
Consider that these situations have developed the present invention, and the purpose of this invention is to provide a kind of bend operating apparatus that is used for endoscope, this bend operating apparatus does not cause the worry of operation failure.
To achieve these goals, the invention provides a kind of bend operating apparatus that is used for endoscope, the described bend operating apparatus that is used for endoscope comprises: be arranged on hand operated parts place rotationally and have the pulley that is formed on the helical groove on the outer surface; And a pair of line, the bottom part of described line is reeled and the head portion of described line extends out from described helical groove from the end of described helical groove separately along described helical groove, it is characterized in that described line is by constituting along a plurality of wire rods of the direction afterturn identical with the coil direction of described helical groove.Promptly the invention is characterized in,, when described helical groove forms along counterclockwise coil direction, utilize S shape afterturn line, and when described helical groove forms along clockwise afterturn direction, utilize Z-shaped afterturn line as described line.
According to the bend operating apparatus that is used for endoscope of the present invention, when pulley was strained the line of relaxed state, the afterturn direction of the wire rod of line was the direction of cardinal principle perpendicular to the pulley radial direction, can prevent that thus the wire rod of principal vertical line is stuck in the helical groove ground opening portion.Therefore as a result, helical groove is elastic threads reposefully, can prevent that principal vertical line departs from and is stuck from helical groove.Thereby, can prevent that line loss is bad, and can strengthen the curved portions operability.
Description of drawings
Fig. 1 is the side view of using according to the endoscope of the bend operating apparatus that is used for endoscope of the present invention;
Fig. 2 is a decomposition diagram of describing the supporting construction of pulley;
Fig. 3 is a side view of describing pulley;
Fig. 4 is a sectional view of describing pulley;
Fig. 5 is the cutaway view along the line A-A among Fig. 3;
Fig. 6 is the expanded view of the groove of pulley;
Fig. 7 A to 7C is the key diagram according to the operation of groove shapes;
Fig. 8 A to 8C is the key diagram according to the operation of groove shapes;
Fig. 9 is a side view of describing the structure of backguy;
Figure 10 A and 10B are the key diagrams of describing operation of the present invention; And
Figure 11 A and 11B are the key diagrams of describing operation of the present invention.
The specific embodiment
The preferred embodiment that is used for the bend operating apparatus of endoscope according to of the present invention is described below with reference to accompanying drawings.
Fig. 1 is the sketch map of using according to the endoscope of bend operating apparatus of the present invention.
As shown in fig. 1, endoscope mainly comprises: insert the insertion parts 12 in the fluid chamber, be arranged on and be connected to the hand operated parts 14 of the bottom part of this insertion portion 12, and the universal cord parts 16 that extend and be connected to light source and processor (not shown) from hand operated parts 14.
Bend operating apparatus mainly is made of pulley 26 and a pair of backguy 28a and 28b.Pulley 26 is supported on the inside of hand operated parts 14 rotationally, and is connected to angulation knob 24 by pulley rotating shaft 30.Therefore, pulley 26 rotates by work angle knob 24.The bottom part of a pair of backguy 28a and 28b is reeled around pulley 26, and connector 32a and 32b are emitted and be connected to head portion from pulley 26.Each forms connector 32a and 32b with the shape of square bar, and is supported by the guide (not shown) that is arranged on hand operated parts 14 inside, moving back and forth along the left and right directions among Fig. 1.The bottom part of angle line 34a and 34b is connected to connector 32a and 32b, and the head portion of angle line 34a and 34b is fixed to the top cover 36 of sweep 20.
In the bend operating apparatus of above-mentioned structure, pulley 26 rotates by work angle knob 24, and a rotation with pulley 26 among backguy 28a and the 28b is corresponding is strained by pulley 26, and among backguy 28a and the 28b another emitted from pulley 26.As a result, angle line 34a and 34b are operated being pushed or spurring, and sweep 20 is operated with bending.For example, when pulling angle line 34a and promotion angle line 34b, sweep 20 is bent downwardly as shown in fig. 1.The securing rod of the Reference numeral 38 expression angulation knobs 24 among Fig. 1.
Fig. 2 is a decomposition diagram of describing the supporting construction of pulley 26.Fig. 3 is the side view of pulley 26, and Fig. 4 is the sectional view of pulley 26.
As shown in Fig. 3 and 4, pulley 26 is installed to the lower end of pulley rotating shaft 30.Pulley rotating shaft 30 forms with cylindrical shape, and the angulation knob among Fig. 2 24 is connected to the upper end of pulley rotating shaft 30.
Pulley 26 is supported in the shell of being made by upper case 40 and lower case 42.In lower case 42, cylindricality bearing 44 vertically is provided with, and bearing 44 inserts in the pulley rotating shaft 30.Thus, support pulley rotating shaft 30 and pulley 26 rotationally.
A pair of recess 40a and 40b are formed in the upper case 40, thereby opening is formed in the side of shell when upper case 40 and lower case 42 assemblings.When shell was assembled, backguy 28a and 28b inserted by this opening (recess 40a and 40b).
The groove 46 of backguy 28a and 28b of being used to reel is formed on the outer surface of pulley 26.Groove 46 forms about spiral type and cuts along the circumferencial direction of pulley 26 continuous.Particularly, groove 46 is by being formed on perpendicular to the first step part 46c on the plane of 26 on pulley, being formed on the second step part 46d on the plane of the axial translation of lower edge pulley 26 and along inclined direction form and allow first step part 46c and second step part 46d mid portion 46e connected to one another abreast with first step part 46c.Therefore, as shown in Figure 6, when launching groove 46, first step part 46c and second step part 46d edge form perpendicular to the direction (above-below direction among Fig. 6) of the axial direction of pulley 26, and, and be used to allow first step part 46c and second step part 46d mid portion 46e connected to one another to form the inclination wire along the axial direction of pulley 26 with linearity configuration axial translation each other.
As shown in Fig. 2 and 5, cylindraceous catch state that hole 48a and 48b penetrate with the axial direction along pulley 26 be formed on groove 46 end 46a and 46b near.Recess 50a and 50b are formed on the end 46a and the 46b of groove 46, with catch hole 48a and 48b and be communicated with.Recess 50a forms from the top surface of pulley 26, and recess 50b forms from the basal surface of pulley 26.
The bottom that spherical capture pieces 52a among hole 48a and the 48b and 52b are respectively installed to backguy 28a and 28b is caught in insertion.Capture pieces 52a insert from the top surface of pulley 26 catch in the 48a of hole after, backguy 28a reels by recess 50a and the end 46a along the first step part 46c of groove 46 from groove 46.Capture pieces 52b insert from the basal surface of pulley 26 catch the 48a of hole after, backguy 28b reels by recess 50b and the second step part 46d from the end 46b of groove 46 along groove 46.By this way, 46 backguy 28a and the 28b that reel emitted from pulley 26 before they overlap each other from two end 46a and 46b around groove.
Above-mentioned backguy 28a and the 28b that reels along groove 46 reels along opposite directions, and when the dotted line direction of pulley 26 in Fig. 5 rotated, backguy 28a was strained by pulley 26, and the 28b of backguy simultaneously emits from pulley 26.On the other hand, when the solid line direction of pulley 26 in Fig. 5 rotated, backguy 28b is strained by pulley 26 and backguy 28a emits from pulley 26.By this way, be connected to angle line 34a and the 34b shown in Fig. 1 of backguy 28a and 28b and be operated, being pushed and spurring, and sweep 20 is bent.
Below with reference to Fig. 7 A to 7C and Fig. 8 A to 8C explanation operation at this moment.Fig. 8 A to 8C is the expanded view of the situation low groove 46 shown in Fig. 7 A to 7C, and is shown the part of backguy 28a and 28b coiling by hacures.The part that the part that backguy 28a reels is set at ax and backguy 28b coiling is set at bx.
State shown in Fig. 7 B is that the sweep 10 shown in Fig. 1 does not have bending and two backguy 28a and 28b to extend the state of equal length from pulley 26.Promptly shown in Fig. 8 B, the part bx that part ax that backguy 28a reels and backguy 28b reel equates.
When pulley 26 rotated from this state along the solid line direction, backguy 28b was strained by pulley 26 as shown in Figure 7A, and backguy 28a emits from pulley 26.Promptly as shown in Fig. 8 A, it is big that the part bx that backguy 28b reels becomes, and the part ax that backguy 28a reels diminishes.Thus, the angle line 34a that is connected to backguy 28a shown in Fig. 1 is emitted, and the angle line 34b that is connected to backguy 28b is pulled, and sweep 20 is bent upwards.
When pulley 26 rotated from the state shown in Fig. 7 B along the dotted line direction, backguy 28a was strained by pulley 26, and backguy 28b emits from pulley 26, shown in Fig. 7 C.Promptly as shown in Fig. 8 C, it is big that the part ax that backguy 28a reels becomes, and the part bx that backguy 28b reels diminishes.Thus, the angle line 34a that is connected to backguy 28a shown in Fig. 1 is pulled, and the angle line 34b that is connected to backguy 28b emits, and sweep 20 is bent downwardly.
When backguy 28a and 28b are configured to when public groove 46 is reeled by rotary pulley 26, be tightened up along with one among backguy 28a and the 28b, backguy 28a or 28b utilize the groove 46 of pulley 26 gradually, and another backguy 28b or 28a emit gradually and do not use groove 46 gradually.Therefore, backguy 28a and 28b do not overlap each other, and the major part of groove 46 is always effectively utilized.As a result, can make pulley 26 compact conformations, fully guarantee the stroke of backguy 28a and 28b simultaneously.
Line structure as feature of the present invention will be described below.
As shown in Figure 9, backguy 28a is by centering on heart yearn 54 afterturns a plurality of (for example six) wire rod 56,56 ... constitute.The afterturn direction of wire rod 56 is identical with the coil direction of the helical groove 46 of pulley 26.In this embodiment, as shown in Figure 3, groove 46 is along coil direction formation counterclockwise, so wire rod 56,56 ... afterturn in the counterclockwise direction.Promptly use S shape afterturn backguy 28a.
The structure of backguy 28a has been described in the superincumbent explanation, and backguy 28b constructs in an identical manner also.Be that backguy 28b is also by centering on a heart yearn 54 a plurality of wire rods 56,56 of afterturn in the counterclockwise direction ... constitute.
To the operation of the bend operating apparatus of said structure be described by utilizing Figure 10 A and 10B and Figure 11 A and 11B below.Figure 10 A and 10B and Figure 11 A and 11B are the views that the direction of the direction of the arrow from Fig. 7 A 10 respectively and the arrow 11 among Fig. 7 C is watched.Figure 10 A and Figure 11 A show this embodiment that utilizes S shape afterturn backguy 28a and 28b, and Figure 10 B and Figure 11 B show the comparative example of utilizing Z-shaped afterturn (i.e. afterturn along clockwise direction) backguy 58a and 58b.
Figure 10 A and Figure 10 B show the state that backguy 28a emits.As shown in these figures, backguy 28a emits from first step part 46c.Therefore, (be backguy 28a from position that pulley 26 is emitted) forms than large space from position that backguy 28a emits at downside.
Equally, Figure 11 A and Figure 11 B show the state that backguy 28b emits.As shown in these figures, backguy 28b emits from second step part 46d.Therefore, form than large space from the position that backguy 28b emits at upside.
When the position that emits with respect to backguy 28a and 28b as mentioned above when upper space or lower space exist than large space, backguy 28a and 28b extend to this space and lax significantly sometimes.Because groove 46 forms with helical form especially in this embodiment, so move and move down on the position that emits of backguy 28a and 28b, form than large space thus.As a result, backguy 28a and 28b occur and be tending towards significantly lax problem.
As significantly lax backguy 28a and 28b during, occur owing to interfere with each other the problem that the operability that causes reduces according to the afterturn direction backguy 28a of wire rod 56 and 28b by pulley 26 tensions.Below the reason that irregular working occurs will be described.
As shown in Figure 10 B, when significantly lax Z-shaped afterturn backguy 58a was strained by pulley 26, the afterturn direction of wire rod 56 approximately was parallel to the radial direction of pulley 26 in backguy 58a and pulley 26 position contacting.When backguy 58a and 58b were tightened up by rotary pulley 26 in this state, the marginal portion 46f that groove 46 occurs was stuck in the problem in the gap between wire rod 56 and the wire rod 56.When operating line 58a and 58b when pulley 26 is emitted, operating line 58a and 58b especially accept the active force that gap between material 56 along the line and 56 is added general orientation, therefore exist the marginal portion 46f of groove 46 to be clipped in problem in the gap between wire rod 56 and 56 easily.As a result, there are the following problems: backguy 58a and 58b do not enter in the groove 46 reposefully, and the part of backguy 58a and 58b is stuck between the outer surface of the inside surface 42a of shell 42 and 42b and pulley 26, cause operation failure.
On the other hand, in this embodiment, S shape afterturn backguy 28a and 28b have been utilized.Therefore, as shown in Figure 10 A, with pulley 26 position contacting, the afterturn direction of wire rod 56 keeps than wide-angle with respect to the radial direction of pulley 26, and approximately perpendicular to the radial direction of pulley 26.Equally, as shown in Figure 11 A, the afterturn direction of the wire rod 56 of backguy 28b keeps than wide-angle with respect to the radial direction of pulley 26, and about radial direction perpendicular to pulley 26.As a result, needn't worry when backguy 28a and 28b during by pulley 26 tensions the marginal portion 46f of groove 46 be not stuck in the gap between wire rod 56 and the wire rod 56.Therefore, backguy 28a and 28b enter in the groove reposefully, can prevent that thus backguy 28a and 28b are stuck between the inner surface of the outer surface of pulley 26 and shell 42.
As mentioned above, bend operating apparatus according to this embodiment, by utilizing backguy 28a and the 28b of wire rod 56 with the direction afterturn identical with the coil direction of the groove 46 of pulley 26, therefore can prevent that backguy 28a and 28b are stuck between pulley 26 and the shell, can prevent that backguy 28a and 28b are damaged and have strengthened crooked operability.
The shape of groove 46 is not limited to the foregoing description, and it can be Any shape, as long as it is along the successive about spiral type of pulley 26 moral circumferencial directions.Therefore, for example, groove 46 can be by the axial direction translation formation gradually along pulley 26.Promptly when groove 46 launched in the plane, groove 46 can form the straight line of inclination.
In the above-described embodiments, form the example of the groove 46 of pulley 26 along counterclockwise coil direction, and when forming groove 46, use clockwise afterturn wire rod 56,56 with clockwise coil direction ... the backguy 58a and the 58b that make.
The present invention is effectively during situation that the groove 46 that is applied to pulley 26 as the present invention forms with helical form, but the present invention can also be used for groove that backguy 28a and 28b reel each independently around situation.In this case, the kind of backguy is selected according to the direction that forms this spatial direction and backguy tension, and utilizes the line that is stuck in the edge part office of groove when the backguy lax in this space is tightened up hardly.Promptly when along the clockwise direction tension backguy watched from angulation knob one side and space when being formed on the downside of backguy, or when straining backguy in the counterclockwise direction and space when being formed on the upside of backguy, be fit to use S shape afterturn line.When straining backguy along clockwise direction and space when being formed on the upside of backguy, or when straining backguy in the counterclockwise direction and space when being formed on the downside of backguy, be fit to use Z-shaped afterturn line.In this case, when being tightened up, this space and lax backguy can prevent also that when entering the wire rod of backguy is stuck in the groove ground opening portion.
The foregoing description shows execution along the endoscope of two upper and lowers to bending operation, but the invention is not restricted to this, for example, the present invention can be used for carrying out along the upper and lower, left and right four direction endoscope of bending operation, and comprise two sections along upper and lower to or the endoscope of the sweep of left and right direction bending.
Claims (2)
1. bend operating apparatus that is used for endoscope, comprising: pulley, described pulley are arranged on hand operated parts place rotationally and have the helical groove that is formed on the outer surface; And a pair of line, the bottom part of described line is reeled along described helical groove from the end of helical groove separately, and the head portion of described line extends out from described helical groove,
Wherein said line is by constituting along a plurality of wire rods of the direction afterturn identical with the coil direction of described helical groove.
2. the bend operating apparatus that is used for endoscope according to claim 1, wherein, when described helical groove forms along counterclockwise coil direction, use S shape afterturn line as described line, and when described helical groove forms along clockwise afterturn direction, use Z-shaped afterturn line.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2003270988A JP4399708B2 (en) | 2003-07-04 | 2003-07-04 | Endoscope bending operation device |
| JP2003270988 | 2003-07-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1575744A true CN1575744A (en) | 2005-02-09 |
| CN100382742C CN100382742C (en) | 2008-04-23 |
Family
ID=33549945
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004100621535A Expired - Fee Related CN100382742C (en) | 2003-07-04 | 2004-07-05 | Bend operating apparatus for endoscope |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP4399708B2 (en) |
| CN (1) | CN100382742C (en) |
| DE (1) | DE102004032003B4 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101370419B (en) * | 2006-01-13 | 2011-06-15 | 奥林巴斯医疗株式会社 | Endoscope and rotary self-propelled endoscope |
| CN102711582A (en) * | 2010-01-13 | 2012-10-03 | 奥林巴斯株式会社 | Endoscope curving device |
| WO2013078846A1 (en) * | 2011-11-30 | 2013-06-06 | 深圳市永恒丰塑胶制品有限公司 | Endoscope hose control mechanism capable of being bent multidirectionally and endoscope thereof |
| CN103330544A (en) * | 2013-06-18 | 2013-10-02 | 深圳市古安泰自动化技术有限公司 | Endoscope bending control mechanism and endoscope |
| WO2015024460A1 (en) * | 2013-08-20 | 2015-02-26 | Jiang Bo | Medical endoscope bending control mechanism |
| CN104510436A (en) * | 2014-12-10 | 2015-04-15 | 张秀英 | Implantation device |
| CN106073688A (en) * | 2016-05-30 | 2016-11-09 | 上海熠达光电科技有限公司 | Modularity insertion section and endoscope |
| CN106455939A (en) * | 2014-06-20 | 2017-02-22 | 库克医学技术有限责任公司 | Mechanism of small drive wire retention on spool |
| CN115316913A (en) * | 2022-06-30 | 2022-11-11 | 中国科学院自动化研究所 | Tension device of flexible controllable instrument stay wire |
| WO2023103909A1 (en) * | 2021-12-07 | 2023-06-15 | 广州瑞派医疗器械有限责任公司 | Endoscope wire pulling wheel, endoscope handle, and endoscope |
| CN116616891A (en) * | 2023-06-13 | 2023-08-22 | 上海玮启医疗器械有限公司 | Ablation catheter and ablation device |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102103261B (en) * | 2011-03-23 | 2012-05-02 | 深圳市亚泰光电技术有限公司 | Endoscope steering control mechanism and endoscope |
| EP2914197B1 (en) * | 2012-11-02 | 2020-12-09 | Intuitive Surgical Operations, Inc. | Self-antagonistic drive for medical instruments |
| CN104545770B (en) * | 2013-10-10 | 2017-08-04 | 上海澳华光电内窥镜有限公司 | A kind of endoscope handwheel retaining mechanism |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4148486B2 (en) * | 1998-11-19 | 2008-09-10 | Ｈｏｙａ株式会社 | Endoscope operation wire |
| JP2001226888A (en) * | 2000-02-10 | 2001-08-21 | Asahi Optical Co Ltd | Miniature rope |
| DE10214174B4 (en) * | 2001-03-30 | 2008-08-28 | Fujinon Corp. | Curvature actuating device for an endoscope |
| JP4681141B2 (en) * | 2001-03-30 | 2011-05-11 | 富士フイルム株式会社 | Endoscope bending operation device |
-
2003
- 2003-07-04 JP JP2003270988A patent/JP4399708B2/en not_active Expired - Fee Related
-
2004
- 2004-07-01 DE DE200410032003 patent/DE102004032003B4/en not_active Expired - Fee Related
- 2004-07-05 CN CNB2004100621535A patent/CN100382742C/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101370419B (en) * | 2006-01-13 | 2011-06-15 | 奥林巴斯医疗株式会社 | Endoscope and rotary self-propelled endoscope |
| CN102711582B (en) * | 2010-01-13 | 2015-03-11 | 奥林巴斯株式会社 | Endoscope curving device |
| CN102711582A (en) * | 2010-01-13 | 2012-10-03 | 奥林巴斯株式会社 | Endoscope curving device |
| WO2013078846A1 (en) * | 2011-11-30 | 2013-06-06 | 深圳市永恒丰塑胶制品有限公司 | Endoscope hose control mechanism capable of being bent multidirectionally and endoscope thereof |
| CN103330544A (en) * | 2013-06-18 | 2013-10-02 | 深圳市古安泰自动化技术有限公司 | Endoscope bending control mechanism and endoscope |
| CN103330544B (en) * | 2013-06-18 | 2015-01-21 | 深圳市亚泰光电技术有限公司 | Endoscope bending control mechanism and endoscope |
| WO2015024460A1 (en) * | 2013-08-20 | 2015-02-26 | Jiang Bo | Medical endoscope bending control mechanism |
| CN106455939A (en) * | 2014-06-20 | 2017-02-22 | 库克医学技术有限责任公司 | Mechanism of small drive wire retention on spool |
| CN104510436A (en) * | 2014-12-10 | 2015-04-15 | 张秀英 | Implantation device |
| CN106073688A (en) * | 2016-05-30 | 2016-11-09 | 上海熠达光电科技有限公司 | Modularity insertion section and endoscope |
| WO2023103909A1 (en) * | 2021-12-07 | 2023-06-15 | 广州瑞派医疗器械有限责任公司 | Endoscope wire pulling wheel, endoscope handle, and endoscope |
| CN115316913A (en) * | 2022-06-30 | 2022-11-11 | 中国科学院自动化研究所 | Tension device of flexible controllable instrument stay wire |
| CN116616891A (en) * | 2023-06-13 | 2023-08-22 | 上海玮启医疗器械有限公司 | Ablation catheter and ablation device |
Also Published As
| Publication number | Publication date |
|---|---|
| DE102004032003A1 (en) | 2005-01-27 |
| DE102004032003B4 (en) | 2008-12-18 |
| CN100382742C (en) | 2008-04-23 |
| JP2005021629A (en) | 2005-01-27 |
| JP4399708B2 (en) | 2010-01-20 |
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