CN102813498A - Endoscopic bending angle control handle controlled by one hand - Google Patents
Endoscopic bending angle control handle controlled by one hand Download PDFInfo
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- CN102813498A CN102813498A CN2012103326297A CN201210332629A CN102813498A CN 102813498 A CN102813498 A CN 102813498A CN 2012103326297 A CN2012103326297 A CN 2012103326297A CN 201210332629 A CN201210332629 A CN 201210332629A CN 102813498 A CN102813498 A CN 102813498A
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Abstract
The invention belongs to the technical field of medical instruments and relates to an endoscopic bending angle control handle which comprises a handle casing (31) and a bending angle control mechanism (32), wherein the bending angle control mechanism (32) is arranged in the handle casing (31). By means of the endoscopic bending angle control handle, an operator can use one hand to adjust angles of a bending portion of an endoscope in two directions. In addition, due to the introduction of a worm and gear mechanism, the whole angle control mechanism has the self-locking characteristic, operation for fixing the angle control mechanism is removed, and the endoscope can be operated by one person flexibly.
Description
Technical field
The invention belongs to technical field of medical, relate to a kind of endoscope bent angle joystick.
Background technology
Endoscopic technique has been widely used in the middle of the fields such as industrial nondestructive testing, medical apparatus and instruments.Especially, in the middle of medical apparatus and instruments, electronic colonoscope is the main diagnosis and treatment means of human body large intestine disease as one of modal endoscope.
Two kinds of methods of electronic colonoscopy, i.e. " double method " and " single method ".Colonoscope " double method " originates from the fibro-colonoscope epoch.Because the doctor need observe the inner situation of intestinal through the eyepiece on the handle, needs an assistant to assist in its body that is inserted into patient with colonoscope usually.In the course of time, this " double method " becomes classical colonoscope maneuver.The shortcoming of " double method " is that the doctor needs assistant's cooperation, and two people's experience and level and the tacit degree that they cooperate have determined the quality and the efficient of whole colonoscopy.Therefore, this method is eliminated by colonoscope " single method " gradually.Colonoscope " single method " is by single independent completion of doctor.Doctor's left-handed endoscopic technic handle, lower knob or left and right sides knob on thumb and the nameless Collaborative Control, right hand control advance and retreat shank reaches auxiliary rotation scope and accomplishes colonoscopy.The scope doctor situation such as change in resistance of perception scope advance and retreat, rotation better during the one man operation; Can operate more in phase; And can bring into play the motility of scope itself more fully; Scope doctor's technical merit can be brought into play more fully, thereby be more conducive to observe carefully and carry out various meticulous treatments operation.
Yet because colonoscope " single method " is popular, the doctor is changed one hand into by both hands manipulation operation handle and is controlled, and the change of control mode has produced two problems: the one, and, can not control two angulation knobs on the endoscopic procedure handle simultaneously.The 2nd,, can not lock two angulation knobs.
Therefore; In order effectively to solve the relevant issues of one-handed performance endoscope bent angle joystick; It is compatible, simple to operate mutually that this area presses for a kind of and original endoscopic apparatus of exploitation, the endoscope's bent angle joystick that can control two angulation knobs simultaneously and its one hand of locking is controlled.
Summary of the invention
The objective of the invention is to provide a kind of endoscope's bent angle joystick of singlehanded control for the defective that overcomes prior art; This handle is when one man operation endoscope; Can control the bending on the curved part of endoscope both direction simultaneously through one hand, and can carry out fixed angle to curved part of endoscope through one hand.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
A kind of endoscope's bent angle joystick of singlehanded control, comprising: handle casing and angle of bend controlling organization, described angle of bend controlling organization is arranged in the shell.
Described handle casing comprises cuboid shell and pyramid type handle housing.
Described cuboid shell two adjacent surfaces is extruded with first control handle and second control handle respectively; Wherein said first control handle is partly given prominence to the surface at handle casing.
Described angle of bend controlling organization comprises framework, goes up lower angle control unit, left and right sides angle control unit and main shaft.
Described framework comprises top board, base, first gripper shoe, second gripper shoe, clutch shaft bearing seat and second bearing block.
Described first gripper shoe and second gripper shoe are individually fixed in the both sides of base upper surface.
Described top board is fixed in the top of said base, is formed with the frame structure of hollow.
Described clutch shaft bearing seat, second bearing block are separately fixed on first gripper shoe, second gripper shoe, form symmetrical structure.
The described lower angle control unit of going up comprises first worm shaft, first power transmission shaft and second power transmission shaft.
Described first worm shaft is between said top board and base, and described first worm shaft is provided with first control handle, and described first control handle is fixed on the first worm shaft top through nut.
Described first power transmission shaft through roller bearings, is fixed with first worm gear and bevel gear wheel on described first power transmission shaft between the clutch shaft bearing seat and second bearing block.
Described second power transmission shaft partly passes first and supports; Between first gripper shoe and base, and, be fixed with the bevel pinion and first gear on wherein said second power transmission shaft through roller bearings; Bevel pinion is set in the top of second power transmission shaft, is positioned at the top of first gripper shoe.
Described first worm shaft is meshed with first worm gear, and described bevel gear wheel is meshed with bevel pinion.
Described left and right sides angle control unit comprises second worm shaft and the 3rd power transmission shaft.
Described second worm shaft partly passes second bearing block, and between the said clutch shaft bearing seat and second bearing block, through roller bearings, an end of described worm shaft is provided with second control handle, and second control handle and worm shaft are fixed through nut.
Described the 3rd power transmission shaft through roller bearings, is fixed with second worm gear and second gear on described the 3rd power transmission shaft between top board and base.
Described second worm shaft is meshed with second worm gear.
Described main shaft is fixed on the base, between first worm shaft, second power transmission shaft and the 3rd power transmission shaft.
Described main shaft is provided with left and right sides drum axle.
Described left and right sides drum axle is provided with left and right sides sleeve.
Described left and right sides sleeve is provided with drum axle up and down.
Described drum axle up and down is provided with sleeve up and down.
Described drum axle up and down comprises boot pulley and last lower rotary shaft.
Described left and right sides drum axle comprises left and right sides drum and left and right sides rotating shaft.
Described going up on boot pulley and the left and right sides drum is respectively equipped with steel wire rope groove, is used for the connection of angle steel wire rope in endoscope's insertion tube.
A described end of going up lower rotary shaft and left and right sides rotating shaft is fixed with the 3rd gear and the 4th gear respectively.
Described first gear and second gear are meshed with the 3rd gear and the 4th gear respectively.
The described lower angle self-locking unit of going up comprises first worm shaft and first worm gear, and its self-lock mechanism is the reverse stroke self-locking action of worm gear pair.
Angle self-locking unit, the described left and right sides comprises second worm shaft and second worm gear, and its self-lock mechanism is the reverse stroke self-locking action of worm gear pair.
The present invention has following beneficial effect:
1, arranged the position of two knobs again, changed the deflection angle of endoscope head on both direction thereby can use one hand (left hand) to control two knobs simultaneously.Be specially adapted to the situation of single method operation colonoscope.
2, through the cooperating of worm shaft and turbine in lock unit, utilize the automatic angle of reverse stroke self-locking effect of worm gear pair to lock, simplified the operation that conventional endoscope handle angle knob is locked.
Description of drawings
Fig. 1 is the structural representation of endoscope's bent angle joystick of singlehanded control in the embodiment of the invention.
Fig. 2 a is the structure chart of the angle of bend controlling organization of endoscope's bent angle joystick of singlehanded control in the embodiment of the invention.
Fig. 2 b is the partial enlarged drawing of accompanying drawing shown in Fig. 2 a.
Fig. 3 is the sketch map of Fig. 2 a illustrated embodiment.
Fig. 4 is the vertical view cutaway drawing of the angle of bend controlling organization of endoscope's bent angle joystick of singlehanded control in the embodiment of the invention.
Fig. 5 is the explosive view of the angle of bend controlling organization main axle unit part of endoscope's bent angle joystick of singlehanded control in the embodiment of the invention.
Fig. 6 is the cutaway view of the angle of bend controlling organization main axle unit part of endoscope's bent angle joystick of singlehanded control in the embodiment of the invention.
Fig. 7 is the part sectioned view of endoscope's bent angle joystick of singlehanded control in the embodiment of the invention.
The specific embodiment
Further specify the present invention below in conjunction with the accompanying drawing illustrated embodiment.
As Fig. 1-4, shown in Figure 7 be endoscope's bent angle joystick, comprise handle casing 31 and angle of bend controlling organization 32, wherein angle of bend controlling organization 32 is arranged in the shell 31.
As shown in Figure 1, handle casing 31 comprises cuboid shell 311 and pyramid type handle housing 312; Cuboid shell 311 two adjacent surfaces are extruded with first control handle 1 and second control handle 2 respectively; First control handle, 1 part is given prominence to the surface at handle casing 1.
Shown in Fig. 2 a, angle of bend controlling organization 32 comprises framework, goes up lower angle control unit, left and right sides angle control unit and main shaft 20;
Framework comprises top board 3, base 4, first gripper shoe 5, second gripper shoe 6, clutch shaft bearing seat 7 and second bearing block 8.
First gripper shoe 5 and second gripper shoe 6 are individually fixed in the both sides of base 4 upper surfaces;
Top board 3 is fixed in the top of base 4, is formed with the frame structure of hollow;
Clutch shaft bearing seat 7, second bearing block 8 are separately fixed on first gripper shoe 5, second gripper shoe 6, form symmetrical structure.
Last lower angle control unit comprises first worm shaft 9, first power transmission shaft 10 and second power transmission shaft 11.
First power transmission shaft 10 through roller bearings, is fixed with first worm gear 12 and bevel gear wheel 13 on first power transmission shaft 10 between the clutch shaft bearing seat 7 and second bearing block 8;
Second power transmission shaft, 11 parts are passed first gripper shoe 5; Between first gripper shoe 5 and base 4, and, be fixed with the bevel pinion 14 and first gear 15 on second power transmission shaft 11 through roller bearings; Bevel pinion 14 is set in the top of second power transmission shaft 11, is positioned at the top of first gripper shoe 5;
Left and right sides angle control unit comprises second worm shaft 16 and the 3rd power transmission shaft 17.
Like Fig. 3 and shown in Figure 4; Second worm shaft, 16 parts are passed second bearing block 8, between the clutch shaft bearing seat 7 and second bearing block 8, through roller bearings; One end of worm shaft 16 is provided with second control handle, 2, the second control handles 2 and worm shaft 16 and fixes through nut;
The 3rd power transmission shaft 17 through roller bearings, is fixed with second worm gear 18 and second gear 19 on the 3rd power transmission shaft 17 between top board 3 and base 4;
Like Fig. 5 and shown in Figure 6, main shaft 20 is provided with left and right sides drum axle 22; Left and right sides drum axle 22 is provided with left and right sides sleeve 23; Left and right sides sleeve 23 is provided with drum axle 21 up and down; Drum axle 21 is provided with sleeve 24 up and down up and down.
Left and right sides drum axle 22 comprises left and right sides drum 27 and left and right sides rotating shaft 28;
Be respectively equipped with steel wire rope groove 251,271 on last boot pulley 25 and the left and right sides drum 27, be used for the connection of angle steel wire rope in endoscope's insertion tube;
One end of last lower rotary shaft 26 and left and right sides rotating shaft 28 is fixed with the 3rd gear 29 and the 4th gear 30 respectively.
As shown in Figure 1, the present invention mainly comprises shell 31 and an angle control mechanism 32 that has two angle control handles 1,2.As shown in Figure 2, the frame structure of angle control mechanism 32 is made up of top board 3, base 4, two gripper shoes 5 and 6, on gripper shoe 5 and 6, is fixed with two bearing blocks 7 and 8 respectively.Angle control mechanism 32 has comprised last lower angle control unit and left and right sides angle control unit.Wherein, the structure of last lower angle control unit is: be fixed in the worm shaft 9 between top board 3 and the base 4, and be fixed in the last lower angle control handle 1 on the worm shaft 9; Be fixed in the power transmission shaft 10 between two bearing blocks 7 and 8, and the worm gear 12 and bevel gear wheel 13 that are fixed in power transmission shaft 10, worm shaft 9 and worm gear 12 engagements; Be fixed in the power transmission shaft 11 between gripper shoe 5 and the base 4, and be fixed on bevel pinion 14 and gear 15 on the power transmission shaft 11, bevel gear wheel 13 and bevel pinion 14 engagements; As shown in Figure 4, be fixed in the drum axle up and down 21 between sleeve 23 and 24, and be fixed on the gear 29 that is positioned at the last lower rotary shaft 26 on the drum axle 21 up and down, gear 15 meshes with gear 29.Wherein, the structure of left and right sides angle control unit is: as shown in Figure 3, and be fixed in the worm shaft 16 between two bearing blocks 7 and 8, and be fixed in the last lower angle control handle 2 on the worm shaft 16; Be fixed in the power transmission shaft 17 between top board 3 and the base 4, and the worm gear 18 and gear 19 that are fixed in power transmission shaft 17, worm shaft 16 and worm gear 18 engagements; As shown in Figure 4, be fixed in the left and right sides drum axle 22 between main shaft 20 and the sleeve 23, and the gear 30 that is fixed on the left and right sides rotating shaft 28 that is positioned on the left and right sides drum axle 22, gear 19 and gear 30 engagements.
In force; Operator's left-handed handle, left hand thumb and fourth finger are stirred angulation knob 1 and left and right sides angulation knob 2 up and down respectively, and knob 1 drives worm shaft 9 respectively with knob 2 and rotates with worm shaft 16; And then go up boot pulley 21 and 22 rotations of left and right sides drum through last drive of transmission successively; Thereby make two pairs of traction steel wires being located on these two drums move back and forth, reach the purpose of regulating angle of bend, in adjustment process; As long as unclamping fingers stop, the operator stirs knob; The worm gear pair self-locking effect of worm shaft and worm gear will make the reverse stroke motion self-locking of whole drive mechanism, thereby makes the position of drum automatically lock, and reaches the purpose of auto lock angle of bend.
The above-mentioned description to embodiment is can understand and use the present invention for ease of the those of ordinary skill of this technical field.The personnel of skilled obviously can easily make various modifications to these embodiment, and needn't pass through performing creative labour being applied in the General Principle of this explanation among other embodiment.Therefore, the invention is not restricted to the embodiment here, those skilled in the art are according to announcement of the present invention, and not breaking away from the improvement that category of the present invention makes and revise all should be within protection scope of the present invention.
Claims (10)
1. endoscope's bent angle joystick, it is characterized in that: comprise handle casing (31) and angle of bend controlling organization (32), wherein said angle of bend controlling organization (32) is arranged in the shell (31).
2. endoscope according to claim 1 bent angle joystick is characterized in that: described angle of bend controlling organization (32) comprises framework, goes up lower angle control unit, left and right sides angle control unit and main shaft (20);
Or described handle casing (31) comprises cuboid shell (311) and pyramid type handle housing (312); Described cuboid shell (311) two adjacent surfaces is extruded with first control handle (1) and second control handle (2) respectively; Wherein said first control handle (1) part is given prominence to the surface in handle casing (1).
3. endoscope according to claim 2 bent angle joystick is characterized in that: described framework comprises top board (3), base (4), first gripper shoe (5), second gripper shoe (6), clutch shaft bearing seat (7) and second bearing block (8).
4. endoscope according to claim 3 bent angle joystick is characterized in that: described first gripper shoe (5) and second gripper shoe (6) are individually fixed in the both sides of base (4) upper surface;
Or described top board (3) is fixed in the top of said base (4), is formed with the frame structure of hollow;
Or described clutch shaft bearing seat (7), second bearing block (8) be separately fixed on first gripper shoe (5), second gripper shoe (6), forms symmetrical structure.
5. endoscope according to claim 2 bent angle joystick is characterized in that: the described lower angle control unit of going up comprises first worm shaft (9), first power transmission shaft (10) and second power transmission shaft (11).
6. endoscope according to claim 5 bent angle joystick; It is characterized in that: described first worm shaft (9) is positioned between said top board (3) and the base (4); Described first worm shaft (9) is provided with first control handle (1), and described first control handle (1) is fixed on first worm shaft (9) top through nut;
Or described first power transmission shaft (10) is positioned between clutch shaft bearing seat (7) and second bearing block (8), through roller bearings, is fixed with first worm gear (12) and bevel gear wheel (13) on described first power transmission shaft (10);
Or described second power transmission shaft (11) part is passed first gripper shoe (5); Be positioned between first gripper shoe (5) and the base; And pass through roller bearings; Be fixed with bevel pinion (14) and first gear (15) on wherein said second power transmission shaft (11), bevel pinion (14) is set in the top of second power transmission shaft (11), is positioned at the top of first gripper shoe (5);
Or described first worm shaft (9) is meshed with first worm gear (12), and described bevel gear wheel (13) is meshed with bevel pinion (14).
7. endoscope according to claim 3 bent angle joystick is characterized in that: described left and right sides angle control unit comprises second worm shaft (16) and the 3rd power transmission shaft (17).
8. endoscope according to claim 3 bent angle joystick; It is characterized in that: described second worm shaft (16) part is passed second bearing block (8); Be positioned between said clutch shaft bearing seat (7) and second bearing block (8); Through roller bearings, an end of described worm shaft (16) is provided with second control handle (2), and second control handle (2) is fixed through nut with worm shaft (16);
Or described the 3rd power transmission shaft (17) is positioned between top board (3) and the base (4), through roller bearings, is fixed with second worm gear (18) and second gear (19) on described the 3rd power transmission shaft (17);
Or described first gear (15) and second gear (19) are meshed with the 3rd gear (29) and the 4th gear (30) respectively;
Or described second worm shaft (16) is meshed with second worm gear (18).
9. endoscope according to claim 2 bent angle joystick is characterized in that: described main shaft (20) is fixed on the base (4), is positioned between first worm shaft (9), second power transmission shaft (11) and the 3rd power transmission shaft (17);
Or described main shaft (20) is provided with left and right sides drum axle (22); Described left and right sides drum axle (22) is provided with left and right sides sleeve (23); Described left and right sides sleeve (23) is provided with drum axle (21) up and down; Described drum axle (21) up and down is provided with sleeve (24) up and down.
10. endoscope according to claim 9 bent angle joystick is characterized in that: described drum axle (21) up and down comprises boot pulley (25) and last lower rotary shaft (26);
Or described left and right sides drum axle (22) comprises left and right sides drum (27) and left and right sides rotating shaft (28);
Or described going up on boot pulley (25) and the left and right sides drum (27) is respectively equipped with steel wire rope groove (251,271);
Or a described end of going up lower rotary shaft (26) and left and right sides rotating shaft (28) is fixed with the 3rd gear (29) and the 4th gear (30) respectively;
Or described first gear (15) and second gear (19) are meshed with the 3rd gear (29) and the 4th gear (30) respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2012103326297A CN102813498A (en) | 2012-09-10 | 2012-09-10 | Endoscopic bending angle control handle controlled by one hand |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2012103326297A CN102813498A (en) | 2012-09-10 | 2012-09-10 | Endoscopic bending angle control handle controlled by one hand |
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| CN102813498A true CN102813498A (en) | 2012-12-12 |
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| CN2012103326297A Pending CN102813498A (en) | 2012-09-10 | 2012-09-10 | Endoscopic bending angle control handle controlled by one hand |
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Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103263242A (en) * | 2013-06-03 | 2013-08-28 | 深圳市开立科技有限公司 | Bending section control mechanism and device thereof |
| CN103654695A (en) * | 2013-12-24 | 2014-03-26 | 深圳市开立科技有限公司 | Endoscope curve operation part and endoscope |
| CN103690139A (en) * | 2013-12-25 | 2014-04-02 | 龙刚 | Endoscope with angle adjusting function |
| CN105286773A (en) * | 2015-10-09 | 2016-02-03 | 华东理工大学 | One-hand operated handle of colonoscope |
| CN105361847A (en) * | 2015-11-30 | 2016-03-02 | 李芸 | Adjustable type optical-fiber visual hard laryngoscope for guiding intubation via nose |
| WO2016192033A1 (en) * | 2015-06-02 | 2016-12-08 | 武汉佑康科技有限公司 | Endoscope capable of turning in multiple directions |
| CN106276186A (en) * | 2016-08-31 | 2017-01-04 | 上海东富龙科技股份有限公司 | Adjustable clear bottle plectrum and bottle arranging disk device |
| CN106419818A (en) * | 2016-08-29 | 2017-02-22 | 康福特仪器（杭州）有限公司 | Angle-adjustable endoscope |
| CN107224260A (en) * | 2017-07-28 | 2017-10-03 | 上海视介光电科技有限公司 | Endoscopic procedure portion and endoscope |
| CN107320057A (en) * | 2017-08-12 | 2017-11-07 | 北京华信佳音医疗科技发展有限责任公司 | A kind of endoscope handle and its application method of use rack-driving |
| CN111166275A (en) * | 2019-12-31 | 2020-05-19 | 上海澳华光电内窥镜有限公司 | Endoscope operating handle with four-direction bending angle and endoscope |
| CN111974901A (en) * | 2020-08-03 | 2020-11-24 | 中国一冶集团有限公司 | Labor-saving bending angle-controllable steel bar bending tool and method |
| CN112754403A (en) * | 2020-12-31 | 2021-05-07 | 上海澳华内镜股份有限公司 | Endoscope operation self-locking device and endoscope |
| EP4018912A4 (en) * | 2020-03-12 | 2022-10-19 | Hunan Vathin Medical Instrument Co. Ltd | Self-locking device suitable for endoscope |
| WO2024020777A1 (en) * | 2022-07-25 | 2024-02-01 | 中国科学院深圳先进技术研究院 | Robotic system for respiratory diagnosis and treatment and control method therefor |
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| CN103263242B (en) * | 2013-06-03 | 2015-09-23 | 深圳开立生物医疗科技股份有限公司 | A kind of bending section controlling organization and endoscopic apparatus thereof |
| CN103263242A (en) * | 2013-06-03 | 2013-08-28 | 深圳市开立科技有限公司 | Bending section control mechanism and device thereof |
| CN103654695A (en) * | 2013-12-24 | 2014-03-26 | 深圳市开立科技有限公司 | Endoscope curve operation part and endoscope |
| CN103654695B (en) * | 2013-12-24 | 2015-04-29 | 深圳开立生物医疗科技股份有限公司 | Endoscope curve operation part and endoscope |
| CN103690139A (en) * | 2013-12-25 | 2014-04-02 | 龙刚 | Endoscope with angle adjusting function |
| CN107847104A (en) * | 2015-06-02 | 2018-03-27 | 武汉佑康科技有限公司 | A kind of endoscope of multidirectional turning |
| WO2016192033A1 (en) * | 2015-06-02 | 2016-12-08 | 武汉佑康科技有限公司 | Endoscope capable of turning in multiple directions |
| CN107847104B (en) * | 2015-06-02 | 2019-11-05 | 武汉佑康科技有限公司 | A kind of endoscope of multidirectional turning |
| CN105286773A (en) * | 2015-10-09 | 2016-02-03 | 华东理工大学 | One-hand operated handle of colonoscope |
| CN105361847A (en) * | 2015-11-30 | 2016-03-02 | 李芸 | Adjustable type optical-fiber visual hard laryngoscope for guiding intubation via nose |
| CN106419818A (en) * | 2016-08-29 | 2017-02-22 | 康福特仪器（杭州）有限公司 | Angle-adjustable endoscope |
| CN106276186A (en) * | 2016-08-31 | 2017-01-04 | 上海东富龙科技股份有限公司 | Adjustable clear bottle plectrum and bottle arranging disk device |
| CN107224260A (en) * | 2017-07-28 | 2017-10-03 | 上海视介光电科技有限公司 | Endoscopic procedure portion and endoscope |
| CN107224260B (en) * | 2017-07-28 | 2023-09-08 | 上海视介光电科技有限公司 | Endoscope operation unit and endoscope |
| CN107320057A (en) * | 2017-08-12 | 2017-11-07 | 北京华信佳音医疗科技发展有限责任公司 | A kind of endoscope handle and its application method of use rack-driving |
| CN107320057B (en) * | 2017-08-12 | 2023-04-11 | 北京华信佳音医疗科技发展有限责任公司 | Endoscope handle adopting rack transmission |
| CN111166275A (en) * | 2019-12-31 | 2020-05-19 | 上海澳华光电内窥镜有限公司 | Endoscope operating handle with four-direction bending angle and endoscope |
| EP4018912A4 (en) * | 2020-03-12 | 2022-10-19 | Hunan Vathin Medical Instrument Co. Ltd | Self-locking device suitable for endoscope |
| CN111974901A (en) * | 2020-08-03 | 2020-11-24 | 中国一冶集团有限公司 | Labor-saving bending angle-controllable steel bar bending tool and method |
| CN112754403A (en) * | 2020-12-31 | 2021-05-07 | 上海澳华内镜股份有限公司 | Endoscope operation self-locking device and endoscope |
| WO2024020777A1 (en) * | 2022-07-25 | 2024-02-01 | 中国科学院深圳先进技术研究院 | Robotic system for respiratory diagnosis and treatment and control method therefor |
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