CN104605805A - Endoscope bending mechanism free of rivet connection - Google Patents
Endoscope bending mechanism free of rivet connection Download PDFInfo
- Publication number
- CN104605805A CN104605805A CN201510006278.4A CN201510006278A CN104605805A CN 104605805 A CN104605805 A CN 104605805A CN 201510006278 A CN201510006278 A CN 201510006278A CN 104605805 A CN104605805 A CN 104605805A
- Authority
- CN
- China
- Prior art keywords
- bending mechanism
- circle
- angle
- ear
- circular
- 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.)
- Pending
Links
Classifications
-
- 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
-
- 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
- A61B1/008—Articulations
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Optics & Photonics (AREA)
- Pathology (AREA)
- Radiology & Medical Imaging (AREA)
- Physics & Mathematics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Biophysics (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Rehabilitation Therapy (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses an endoscope bending mechanism free of rivet connection. The mechanism comprises a main frame (1), a net, laminated rubber (2) and pull wires (3), wherein the main frame (1) is wrapped in the net and the laminated rubber (2), the multiple pull wires (3) are arranged in the main frame (1) in a penetrating mode, and then the endoscope bending mechanism free of rivet connection is formed. A round connecting lug on a connecting ring is connected with an incomplete round hole of an adjacent connecting ring to form a rotary pair, each connecting ring is formed by cutting a thin-walled round tube, connecting lug punching and riveting assembly adopted in the traditional connecting method are omitted, rotation is flexible, size precision and matching precision are high, designing, machining and assembly are convenient, and remarkable effect is realized during manufacturing of small-pipe-diameter and multi-bending-direction bending mechanisms.
Description
Technical field
The present invention relates to a kind of endoscope bending mechanism without rivet joint, belong to medical treatment/industrial endoscope technical field.
Background technology
At present, the bending mechanism of endoscope's end of probe is by bending coupling ring, rivet, draught line, netting, rubber overlay film composition, and by rivet joint between coupling ring, under the control of draught line, adjacent segment relatively rotates around rivet axis.Because amount of articulation is many, physical dimension is little, need a large amount of mould, fixture, complex process when processing, assembling, be difficult to prepare high-precision bending mechanism by lower cost.
Summary of the invention
The object of the invention is: a kind of endoscope bending mechanism without rivet joint is provided, remove the punching press of connection ear and the riveted joint assembly work of traditional connecting mode from, this bending mechanism rotates flexibly, dimensional accuracy, quality of fit are high, design, processing, assembling facility, the manufacturing process solving existing bending mechanism is numerous and diverse, precision is difficult to problems such as ensureing, production cost is high, is especially convenient to the bending mechanism manufacturing pipe with small pipe diameter, many bending directions.
The technical solution adopted for the present invention to solve the technical problems is: this endoscope bending mechanism comprises main body framework, netting and rubber overlay film, draught line, one deck netting of main body framework outer cladding and overlay film rubber, cross-under some draught lines in main body framework, the overall endoscope bending mechanism formed without rivet joint.
Wherein, main body framework cuts into some coupling rings connecting successively by a thin-wall circular tube, and coupling ring comprises some pull rings of the front end circle at two ends, rear end circle and centre; The left end wall of front end circle distributes some circular holes, radially symmetrical two of the right-hand member of front end circle circular connects ears or two imperfect circular holes, and there is the composition surface that forms an angle with the normal plane of axis the right side of front end circle connects ear or imperfect circular hole symmetry about circle; The right-hand member internal face of rear end circle distributes some guiding ribs, radially symmetrical two the imperfect circular holes of left end of rear end circle or two circular connect ears, and there is the composition surface that forms an angle with the normal plane of axis the left side of rear end circle connects ear or imperfect circular hole symmetry about circle; Radially symmetrical two the imperfect circular holes of left end of pull ring or two circular connection ears, radially symmetrical two the circular connection ears of right-hand member of pull ring or imperfect circular hole, the left side of pull ring and right side have the composition surface that forms an angle with the normal plane of axis respectively and connect ear about the circle of respective side edge or imperfect circular hole is symmetrical, and the internal face of pull ring distributes some guiding ribs; Front end circle, rear end circle and centre some pull rings connect ear by circle, imperfect circular hole is interconnected integrally, draught line through rear end circle and centre some pull rings guiding rib the circular hole that front end enclose pass and be welded on front end enclose on.
Wherein, front end circle, rear end circle and centre some pull rings connect ear by circle, imperfect circular hole is interconnected and forms revolute pair, by the quantity of the structure of coupling ring, compound mode, draught line change obtain compound bending, four-way bending, six to bending, eight to bending bending mechanism, alternate angle a=360 °/n of coupling ring both sides revolute pair axis
1, n
1for the flexible direction number of bending mechanism.
Wherein, the flexible direction number n of bending mechanism
1relevant with the alternate angle of revolute pair axis; All turns auxiliary shaft line parallels of compound bending mechanism, the adjacent rotated secondary axis alternate angle of four-way bending mechanism is 90
°, six is 120 to the adjacent rotated secondary axis alternate angle of bending mechanism
°, eight is 45 to the adjacent rotated secondary axis alternate angle of bending mechanism
°; The inclination angle sum of adjacent coupling ring end face determines the maximum one-sided of adjacent coupling ring and relatively rotates angle.
Wherein, the thin-wall circular tube diameter range 0.6mm-20mm that coupling ring is used, wall thickness range 0.05mm-2mm.
Advantage of the present invention is: form revolute pair by construction itself between the adjacent coupling ring of main body framework, they are formed by the cutting of a thin-wall circular tube, automatically the revolute pair between adjacent coupling ring is defined while cutting, instead of the rivet joint mode of existing bending mechanism, processing and assembly technology are greatly simplified, and precision is able to significant increase simultaneously.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of four-way bending mechanism main body framework.
Fig. 2 is the axonometric drawing (in order to express clearly, the overlay film rubber at two ends is cut, and netting is hidden, and overlay film rubber and netting are all hidden in following view) of four-way bending mechanism.
Fig. 3 is the front view of Fig. 2 bending mechanism.
Fig. 4 is the right view of Fig. 2 bending mechanism.
Fig. 5 is the revolute pair structural map of the adjacent coupling ring of Fig. 2 bending mechanism.
Fig. 6 is the partial enlarged drawing of front end circle and adjacent pull ring in Fig. 2.
Fig. 7 is the partial enlarged drawing that in Fig. 2, adjacent two pull rings connect.
Fig. 8 is that in Fig. 2, the partial enlarged drawing connected with adjacent pull ring is enclosed in rear end.
Fig. 9 is the bending mechanism semi-finished product figure of Fig. 1 bending mechanism thin-wall circular tube after the cutting of laser hollow out.
Figure 10 is the partial enlarged drawing of guiding rib both sides joint-cutting in Fig. 9.
Figure 11 is six to the axonometric drawing of bending mechanism.
Figure 12 is the revolute pair structural map of adjacent two coupling rings in Figure 11.
In figure: 1. main body framework, 2. netting and overlay film rubber, 3. draught line, 4. front end circle, 5. pull ring, 6. rear end circle, 7. circular hole, 8. circular connection ear, 9. composition surface, 10. guiding rib, 11. imperfect circular holes.
Detailed description of the invention
Below in conjunction with drawings and Examples, the present invention is further described.
As Figure 1-10 shows, be four-way bending mechanism; This endoscope bending mechanism comprises main body framework 1, netting and rubber overlay film 2, draught line 3, one deck netting of main body framework 1 outer cladding and overlay film rubber 2, cross-under some draught lines 3 in main body framework 1, the overall endoscope bending mechanism formed without rivet joint.
Wherein, the some coupling rings that main body framework 1 is cut into by a thin-wall circular tube connect and form, and coupling ring comprises some pull rings 5 of the front end circle 4 at two ends, rear end circle 6 and centre; The left end wall of front end circle 4 distributes some circular holes 7, and radially symmetrical two of the right-hand member of front end circle 4 circularly connects ears 8, and there is the composition surface 9 that forms an angle with the normal plane of axis the right side of front end circle 4 connects ear 8 symmetry about circle; The right-hand member internal face of rear end circle 6 distributes some guiding ribs 10, radially symmetrical two of the left end of rear end circle 6 circular connects ears 8, and there is the composition surface 9 that forms an angle with the normal plane of axis the left side of rear end circle 6 connects ear 8 or imperfect circular hole 11 symmetry about circle; Radially symmetrical two the circular connection ears 8 of left end of pull ring 5, radially symmetrical two the circular connection ears 8 of right-hand member of pull ring 5, the left side of pull ring 5 and right side have the composition surface 9 that forms an angle with the normal plane of axis respectively and to connect ear 8 about the circle of respective side edge symmetrical, and the internal face of pull ring 5 distributes some guiding ribs 10; Some pull rings 5 of front end circle 4, rear end circle 6 and centre connect ear 8, imperfect circular hole 11 by circle and are interconnected integrally, the guiding rib 10 that draught line 3 passes some pull rings 5 of rear end circle 6 and centre passes at the circular hole 7 of front end circle 4 and is welded on front end circle 4, and the alternate angle of coupling ring both sides revolute pair axis is 180 °.
In figure 6, two circular ears 8 that connect that front end circle 4 is distributed by radial symmetric are connected with the imperfect circular hole 11 on the left of pull ring, and form revolute pair, when forwarding extreme position to, fit with the left side of pull ring in the composition surface 9 of front end circle.
In Figure 5, a
2angle represents circular and connects the one-sided angle rotatable of ear in imperfect circular hole, a
1angle represents the one-sided inclination angle on composition surface on front end circle, rear end circle and pull ring, size and a
2equal; a
1, a
2the size of angle determines the crooking ability of bending mechanism, by adjustment a
1, a
2the size of angle and the quantity of coupling ring, axial length can adjust the bent angle size of bending mechanism.
In the figure 7, pull ring is connected with adjacent pull ring by two circular ears that connect that left radial is symmetrical, and two circular the connect ears symmetrical by right radial connect with adjacent pull ring, and structure and the principle on composition surface are consistent with Fig. 5.
In fig. 8, two of enclosing in two imperfect circular holes that pull ring is distributed by radial symmetric and rear end are circular to be connected ear and connects, formation revolute pair, its structure and principle consistent with Fig. 5 Suo Shi.
Structure as shown in Figure 9, for thin-wall circular tube processes through laser hollow out, schematic structure is the semi-finished product of bending mechanism; Figure 10 is the partial enlarged drawing of Fig. 9, and in Fig. 10, the muscle between joint-cutting is the prototype of guiding rib, need through Sheet Metal Forming Technology punch forming.
As shown in Figure 11,12, be six to bending mechanism; Front end circle, some groups of intermediate connecting rings (pull ring A, pull ring B, pull ring C are a group), rear end circles connect formation main body framework successively; Coated one deck netting and overlay film rubber (being concealed in figure) outside main body framework; Main body framework inside is installed with six roots of sensation draught line.
In fig. 12, a
3angle represents that the one-sided maximal phase of adjacent bond circle is to inclination angle, a
4angle represents the one-sided angle rotatable of round ear in hole, size and a
3equal; a
3, a
4the size of angle determines the crooking ability of bending mechanism; The revolute pair axis alternate angle of arbitrary coupling ring both sides is 120 °.
Described embodiment of the present invention is only used to clearly demonstrate example of the present invention, and is not the restriction to embodiment of the present invention.For those of ordinary skill in the field; also can make other changes in different forms on the basis of the above description; here without the need to also giving exhaustive to all embodiments, and these belong to spirit institute's apparent change of amplifying out of the present invention or change and are still in protection scope of the present invention.
Claims (5)
1. without the endoscope bending mechanism of rivet joint, it is characterized in that: this endoscope bending mechanism comprises main body framework (1), netting and rubber overlay film (2), draught line (3), at main body framework (1) outer cladding one deck netting and overlay film rubber (2), main body framework (1) interior cross-under some draught lines (3), the overall endoscope bending mechanism formed without rivet joint.
2. the endoscope bending mechanism without rivet joint according to claim 1, it is characterized in that: some coupling rings that main body framework (1) is cut into by a thin-wall circular tube connect and form, coupling ring comprises some pull rings (5) that (4) are enclosed in front end, (6) and centre are enclosed in rear end at two ends; The left end wall of front end circle (4) distributes some circular holes (7), radially symmetrical two of the right-hand member of front end circle (4) circular connects ear (8) or imperfect circular hole (11), and there is the composition surface (9) that forms an angle with the normal plane of axis the right side of front end circle (4) connects ear (8) or imperfect circular hole (11) symmetry about circle; The right-hand member internal face of rear end circle (6) distributes some guiding ribs (10), radially symmetrical two of the left end of rear end circle (6) circular connects ear (8) or two imperfect circular holes (11), and there is the composition surface (9) that forms an angle with the normal plane of axis the left side of rear end circle (6) about imperfect circular hole (11) or circularly connects ear (8) symmetry; Radially symmetrical two the imperfect circular holes (11) of left end of pull ring (5) or circular connection ear (8), radially symmetrical two circular connections ear (8) of right-hand member of pull ring (5) or imperfect circular hole (11), pull ring (5) left side and right side have the composition surface (9) that forms an angle with the normal plane of axis respectively and connect ear (8) about the circle of respective side edge or imperfect circular hole (11) is symmetrical, and the internal face of pull ring (5) distributes some guiding ribs (10); Front end encloses (4), rear end circle (6) and middle some pull rings (5) connect ear (8) by circle, imperfect circular hole (11) is interconnected integrally, and draught line (3) encloses (6) and middle some pull rings (5) guiding rib (10) through rear end passes at the circular hole (7) of front end circle (4) and is welded on front end circle (4).
3. the endoscope bending mechanism without rivet joint according to claim 2, it is characterized in that: front end circle (4), rear end circle (6) and centre some pull rings (5) connect ear (8) by circle, imperfect circular hole (11) is interconnected and forms revolute pair, by the quantity of the structure of coupling ring, compound mode, draught line change obtain compound bending, four-way bending, six to bending, eight to bending bending mechanism, alternate angle a=360 °/n of coupling ring both sides revolute pair axis
1, n
1for the flexible direction number of bending mechanism.
4. the endoscope bending mechanism without rivet joint according to claim 3, is characterized in that: the flexible direction number n of bending mechanism
1relevant with the alternate angle of revolute pair axis; All turns auxiliary shaft line parallels of compound bending mechanism, the adjacent rotated secondary axis alternate angle of four-way bending mechanism is 90
°, six is 120 to the adjacent rotated secondary axis alternate angle of bending mechanism
°, eight is 45 to the adjacent rotated secondary axis alternate angle of bending mechanism
°; The inclination angle sum of adjacent coupling ring end face determines the maximum one-sided of adjacent coupling ring and relatively rotates angle.
5. the endoscope bending mechanism without rivet joint according to claim 2, is characterized in that: the thin-wall circular tube diameter range 0.6mm-20mm that coupling ring is used, wall thickness range 0.05mm-2mm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510006278.4A CN104605805A (en) | 2015-01-07 | 2015-01-07 | Endoscope bending mechanism free of rivet connection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510006278.4A CN104605805A (en) | 2015-01-07 | 2015-01-07 | Endoscope bending mechanism free of rivet connection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104605805A true CN104605805A (en) | 2015-05-13 |
Family
ID=53140668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510006278.4A Pending CN104605805A (en) | 2015-01-07 | 2015-01-07 | Endoscope bending mechanism free of rivet connection |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104605805A (en) |
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105078398A (en) * | 2015-07-01 | 2015-11-25 | 深圳市鹏瑞智能技术应用研究院 | Unit section, snake-bone-shaped pipe and endoscope |
| CN107334449A (en) * | 2017-07-11 | 2017-11-10 | 上海成运医疗器械股份有限公司 | Endoscope-use is without rivet snake bone component |
| CN107520273A (en) * | 2017-06-29 | 2017-12-29 | 杭州无创光电有限公司 | A kind of processing method of snake bone |
| CN107518861A (en) * | 2017-06-29 | 2017-12-29 | 杭州无创光电有限公司 | Snake osteon and snake bone structure |
| CN107518860A (en) * | 2017-06-29 | 2017-12-29 | 杭州无创光电有限公司 | Endoscope snake bone structure and endoscope |
| CN108030460A (en) * | 2017-11-03 | 2018-05-15 | 珠海普生医疗科技有限公司 | A kind of connection structure of snake bone |
| CN108095672A (en) * | 2018-01-23 | 2018-06-01 | 深圳市先赞科技有限公司 | Without using the endoscope snake bone component of rivet interlacement |
| CN108309208A (en) * | 2017-01-16 | 2018-07-24 | 深圳市先赞科技有限公司 | Endoscope equipped with summary snake bone component |
| CN108553069A (en) * | 2018-05-17 | 2018-09-21 | 黄琴 | Controllable bending curved tube structure |
| CN109254395A (en) * | 2018-11-06 | 2019-01-22 | 杭州鑫泽源精密制品有限公司 | A kind of four direction industrial endoscope snake bones of micromation |
| CN109843147A (en) * | 2016-10-17 | 2019-06-04 | 诺华股份有限公司 | Scanning optical probe with flexure mechanism |
| WO2021144542A1 (en) | 2020-01-17 | 2021-07-22 | Axess Vision Technology | Flexing structure with cutouts for a medical device |
| CN117860384A (en) * | 2023-02-03 | 2024-04-12 | 广州巧捷力医疗机器人有限公司 | Steerable arm with different sized cords and method of producing the same |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07128599A (en) * | 1993-11-01 | 1995-05-19 | Fuji Photo Optical Co Ltd | Structure of curving part of endoscope |
| CN1258826A (en) * | 1998-12-14 | 2000-07-05 | 江刺正喜 | Moving slender pipe and method for producing the same pipe |
| CN101448449A (en) * | 2006-05-17 | 2009-06-03 | 奥林巴斯株式会社 | Node ring coupler for endoscope inserting portion and method for manufacturing the same |
| CN201324228Y (en) * | 2008-12-15 | 2009-10-14 | 金卫忠 | Bending pipe coil |
| CN101632572A (en) * | 2009-08-26 | 2010-01-27 | 哈尔滨工业大学 | Multi-joint endoscope bending mechanism with force sensing function |
| WO2013017875A2 (en) * | 2011-08-04 | 2013-02-07 | Kings College London | Continuum manipulator |
| CN203400119U (en) * | 2013-08-20 | 2014-01-22 | 姜泊 | Medical endoscope insertion assembly |
| CN103764008A (en) * | 2011-12-06 | 2014-04-30 | 奥林巴斯医疗株式会社 | Flexure |
| CN204427990U (en) * | 2015-01-07 | 2015-07-01 | 淮阴工学院 | Without the endoscope bending mechanism of rivet joint |
-
2015
- 2015-01-07 CN CN201510006278.4A patent/CN104605805A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07128599A (en) * | 1993-11-01 | 1995-05-19 | Fuji Photo Optical Co Ltd | Structure of curving part of endoscope |
| CN1258826A (en) * | 1998-12-14 | 2000-07-05 | 江刺正喜 | Moving slender pipe and method for producing the same pipe |
| CN101448449A (en) * | 2006-05-17 | 2009-06-03 | 奥林巴斯株式会社 | Node ring coupler for endoscope inserting portion and method for manufacturing the same |
| CN201324228Y (en) * | 2008-12-15 | 2009-10-14 | 金卫忠 | Bending pipe coil |
| CN101632572A (en) * | 2009-08-26 | 2010-01-27 | 哈尔滨工业大学 | Multi-joint endoscope bending mechanism with force sensing function |
| WO2013017875A2 (en) * | 2011-08-04 | 2013-02-07 | Kings College London | Continuum manipulator |
| CN103764008A (en) * | 2011-12-06 | 2014-04-30 | 奥林巴斯医疗株式会社 | Flexure |
| CN203400119U (en) * | 2013-08-20 | 2014-01-22 | 姜泊 | Medical endoscope insertion assembly |
| CN204427990U (en) * | 2015-01-07 | 2015-07-01 | 淮阴工学院 | Without the endoscope bending mechanism of rivet joint |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105078398A (en) * | 2015-07-01 | 2015-11-25 | 深圳市鹏瑞智能技术应用研究院 | Unit section, snake-bone-shaped pipe and endoscope |
| CN109843147A (en) * | 2016-10-17 | 2019-06-04 | 诺华股份有限公司 | Scanning optical probe with flexure mechanism |
| CN108309208A (en) * | 2017-01-16 | 2018-07-24 | 深圳市先赞科技有限公司 | Endoscope equipped with summary snake bone component |
| CN107520273A (en) * | 2017-06-29 | 2017-12-29 | 杭州无创光电有限公司 | A kind of processing method of snake bone |
| CN107518861A (en) * | 2017-06-29 | 2017-12-29 | 杭州无创光电有限公司 | Snake osteon and snake bone structure |
| CN107518860A (en) * | 2017-06-29 | 2017-12-29 | 杭州无创光电有限公司 | Endoscope snake bone structure and endoscope |
| CN107334449A (en) * | 2017-07-11 | 2017-11-10 | 上海成运医疗器械股份有限公司 | Endoscope-use is without rivet snake bone component |
| CN108030460A (en) * | 2017-11-03 | 2018-05-15 | 珠海普生医疗科技有限公司 | A kind of connection structure of snake bone |
| CN108095672A (en) * | 2018-01-23 | 2018-06-01 | 深圳市先赞科技有限公司 | Without using the endoscope snake bone component of rivet interlacement |
| CN108553069A (en) * | 2018-05-17 | 2018-09-21 | 黄琴 | Controllable bending curved tube structure |
| WO2019218946A1 (en) * | 2018-05-17 | 2019-11-21 | Huang Qin | Controllable curved tube structure |
| CN109254395A (en) * | 2018-11-06 | 2019-01-22 | 杭州鑫泽源精密制品有限公司 | A kind of four direction industrial endoscope snake bones of micromation |
| WO2021144542A1 (en) | 2020-01-17 | 2021-07-22 | Axess Vision Technology | Flexing structure with cutouts for a medical device |
| FR3106266A1 (en) * | 2020-01-17 | 2021-07-23 | Axess Vision Technology | Cutout flexural structure for medical device |
| CN117860384A (en) * | 2023-02-03 | 2024-04-12 | 广州巧捷力医疗机器人有限公司 | Steerable arm with different sized cords and method of producing the same |
| WO2024159510A1 (en) * | 2023-02-03 | 2024-08-08 | Agilis Robotics Limited | Method of making steerable surgical arm for use in endoscopes during surgical procedures |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104605805A (en) | Endoscope bending mechanism free of rivet connection | |
| CN204454093U (en) | Easy-to-dismount take-up pulley in producing for cable | |
| WO2006009588A3 (en) | Catheter articulation segment with alternating cuts | |
| EP3181950A1 (en) | Parallel axis epicyclic gear differential | |
| JP2015205581A (en) | Rack shaft and method for manufacturing rack shaft | |
| CN103861987B (en) | Hollow shaft is swaged the method for designing of mould | |
| CN101325904A (en) | Endoscope insertion portion, manufacturing method thereof | |
| JP2018507053A5 (en) | ||
| CN110560530B (en) | Variable-diameter crease-resistant core rod for bent pipe | |
| JP5795171B2 (en) | Reduction gear and its series | |
| CN204427990U (en) | Without the endoscope bending mechanism of rivet joint | |
| CN104840172A (en) | Snake bone device for endoscope | |
| JP2007307068A (en) | Joint ring connecting body for insertion portion of endoscope and method for producing the same | |
| JP2015224797A (en) | Exhaust heat recovery device and method for manufacturing the same | |
| JP2015532698A (en) | A turbomachine drive gearbox comprising a drive train with gear lines extending into a non-parallel plane | |
| WO2008126470A1 (en) | Bending tube of endoscope, endoscope, and method of manufacturing nodal ring in bending tube of endoscope | |
| JP4348777B2 (en) | Production method of different diameter miter bend | |
| CN103867553A (en) | Improved split-type shaft | |
| CN211460120U (en) | Two-way bending snake bone of endoscope | |
| CN201794902U (en) | Shaft | |
| JP6217209B2 (en) | Universal joint yoke | |
| CN115077647A (en) | Node plate, Coriolis flowmeter and preparation method of node plate | |
| JP2007159636A (en) | Endoscope insertion portion, manufacturing method thereof, and endoscope | |
| CN102094959A (en) | Flexible gear, harmonic speed reducer and joint structure of robot | |
| CA2642156A1 (en) | Adjustable jig and transfer punch tool |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150513 |
|
| WD01 | Invention patent application deemed withdrawn after publication |