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WO2022011887A1 - Dispositif d'assistance chirurgicale minimalement invasif - Google Patents

Dispositif d'assistance chirurgicale minimalement invasif Download PDF

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Publication number
WO2022011887A1
WO2022011887A1 PCT/CN2020/125744 CN2020125744W WO2022011887A1 WO 2022011887 A1 WO2022011887 A1 WO 2022011887A1 CN 2020125744 W CN2020125744 W CN 2020125744W WO 2022011887 A1 WO2022011887 A1 WO 2022011887A1
Authority
WO
WIPO (PCT)
Prior art keywords
control
magnet
auxiliary device
clamp arm
control part
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.)
Ceased
Application number
PCT/CN2020/125744
Other languages
English (en)
Chinese (zh)
Inventor
彭国会
张伟文
宁浩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Jifu Medical Technology Co Ltd
Original Assignee
Shenzhen Jifu Medical Technology Co Ltd
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 Shenzhen Jifu Medical Technology Co Ltd filed Critical Shenzhen Jifu Medical Technology Co Ltd
Publication of WO2022011887A1 publication Critical patent/WO2022011887A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B17/2909—Handles
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/28—Surgical forceps
    • A61B17/29—Forceps for use in minimally invasive surgery
    • A61B2017/2926—Details of heads or jaws

Definitions

  • the invention relates to the field of medical instruments, in particular to an auxiliary device that can be used for minimally invasive surgery.
  • Minimally invasive surgery is a newly developed surgical method in recent years, and it is an inevitable trend of future surgical methods. Post-operative pain of the patient.
  • the traditional laparoscopic surgery adopts the two to four hole operation method, that is, several small incisions with a diameter of 5 to 12 mm are made in different parts of the abdomen, and the surgeon operates various surgical instruments in vitro through these small incisions to complete the operation. Organs are in a naturally hanging state. In order to fully expose the diseased part or keep the surgical field clear, a clamping and lifting device is required to pull and position the organ to ensure the smooth operation of the operation.
  • the present invention designs an auxiliary device for minimally invasive surgery.
  • An auxiliary device for minimally invasive surgery comprising a handle, a control portion and a releasable grasping forceps portion, wherein the grasping forceps portion has two relatively movable forceps arms, the grasping forceps portion further comprises a buckling block, and the control portion is further provided with a control A core rod, a sliding sleeve and a steel ball, the control core rod, the sliding sleeve, the steel ball and the buckling block form a buckling mechanism to realize the connection and separation of the grasping part and the control part.
  • the grasping forceps part further includes an inner anchoring magnet, and a buckling block is arranged on the end of the inner anchoring magnet for connection and buckling with the control part.
  • the buckling block and the inner anchoring magnet can be made of permanent magnet material or magnetically permeable material.
  • the grasping forceps part further includes:
  • the rotation pin as the rotation axis of the clamp arm, is used for the positioning and connection of the clamp arm;
  • the torsion spring is installed on the rotating pin, one end of which is fixed on the connecting seat, and the other end provides clamping force for the movable end to drive the closing of the clamp arm;
  • the actuating rod which can be driven by the control part, is used to push the clamp arm to rotate and open around the rotating pin.
  • the torsion spring drives the clamp arm to close, and then pushes the actuating rod to return to the initial position;
  • the connecting seat is used for the positioning of the rotating pin and the clamp arm, and the other end is connected with the inner anchoring magnet.
  • the torsion spring can also be an elastic component.
  • the grasping forceps part can also be a link opening and closing mechanism, further comprising a forceps arm, a positioning rotation pin, an actuating rod, a connecting rod, a movable rotation pin, a connecting seat, an inner anchoring magnet and a clamping spring, in,
  • the positioning rotation pin is used as the rotation axis of the clamp arm for the positioning connection of the clamp arm;
  • the actuating rod is connected with the connecting rod to form a hinge mechanism to control the opening and closing of the clamp arm;
  • the movable rotating pin connects the clamp arm and the connecting rod
  • the connecting seat is connected to the inner anchoring magnet, which is used for the fixing of the positioning and rotating pin;
  • a clamping spring for the return of the actuating rod, forcing the clamp arm to close.
  • the steel balls are uniformly distributed along the axial direction, and the number is at least one.
  • the surface of the sliding sleeve is provided with a number of radial small holes, the inner surface and/or the outer surface of the small holes are provided with a shrinkage hole structure, and the diameter of the shrinkage hole is smaller than the diameter of the steel ball.
  • control unit further includes:
  • the attraction magnet which can move axially, is used to control the attraction between the grasper part and the control part;
  • Return spring used to return the attracting magnet to the initial position
  • the fixed seat is used for positioning the buckle, and at the same time as a guide for controlling the axial movement of the core rod;
  • Lever used to connect the control and handle.
  • the return spring can also be an elastic component.
  • auxiliary device for minimally invasive surgery of the present invention reduces the number of openings, facilitates the operation, reduces the difficulty of the operation, reduces the risk of infection, improves the efficiency of the operation and relieves the pain of the patient.
  • Fig. 1 Schematic diagram of the initial state of the minimally invasive surgical auxiliary device of the present invention.
  • Fig. 2 Schematic diagram of the unfolded state of the minimally invasive surgery auxiliary device of the present invention.
  • Fig. 3 is a schematic diagram of the release state of the minimally invasive surgical auxiliary device of the present invention.
  • FIG. 4 is a schematic diagram of the grasping forceps part of the minimally invasive surgery assisting device of the present invention.
  • Figure 5a Vertical cross-sectional view of the control portion.
  • Figure 5b Horizontal cross-sectional view of the control portion.
  • Figure 6 Schematic diagram of the handle state.
  • Figure 7 Schematic diagram of the unfastened state of the connection between the control part and the grasper part.
  • Figure 8 Schematic diagram of the snapping process between the control part and the grasper part.
  • Figure 9 Schematic diagram of the state of engagement with the control part when the grasper part is closed.
  • Figure 10 Schematic diagram of the engagement state of the grasper portion and the control portion when the grasper portion is opened.
  • Figure 11 Schematic diagram of the state in which the grasper part clamps the target and is engaged with the control part.
  • Figure 12 Schematic diagram of the process of disengaging the grasper portion from the target and the control portion.
  • Fig. 13 Schematic diagram of the state in which the grasper part grips the target and is disengaged from the control part.
  • Figure 14 Schematic diagram of extracorporeal traction of the minimally invasive surgical aid device of the present invention.
  • Fig. 15 is a schematic diagram of the initial state of the grasper portion of the second embodiment of the present invention.
  • Fig. 16 is a schematic diagram of the open state of the grasper portion of the second embodiment of the present invention.
  • FIG. 17 is a schematic view of the clamping state of the grasper portion of the second embodiment of the present invention.
  • FIG. 1 for the initial state schematic diagram of the minimally invasive surgical aid device of the present invention
  • FIG. 2 for the unfolded state schematic diagram of the minimally invasive surgical aid device according to the present invention
  • FIG. The minimally invasive surgery auxiliary device provided by the present invention especially a laparoscopic magnetic anchoring clip, has three working states: initial, open, and released, and mainly includes a grasping forceps part 01, a control Part 02, handle 03.
  • the grasping forceps part 01 has two states of opening and closing, and is used for clamping and pulling the target site.
  • the grasping forceps part of the minimally invasive surgery auxiliary device of the present invention further includes:
  • the number of the first clamp arms 0101 is at least two, and the two first clamp arms 0101 can move relative to each other, and can be opened and closed through the control part 02;
  • the rotation pin 0102 as the rotation axis of the first clamp arm 0101, is used for the positioning and connection of the first clamp arm 0101;
  • the torsion spring 0103 is installed on the rotating pin 0102, one end is fixed on the first connecting seat 0105, and the other end is the movable end, which can provide clamping force and drive the first clamp arm 0101 to close.
  • the torsion spring 0103 can also be a leaf spring or other elastic parts;
  • the first actuating rod 0104 which can be driven by the control part 02, is used to push the first clamp arm 0101 to rotate and open around the rotation pin 0102.
  • the torsion spring 0103 drives the first clamp arm 0101 is closed, and then pushes the first actuating rod 0104 back to the initial position.
  • the first actuating rod 0104 can also be replaced by a stepped shaft;
  • first actuating rod 0104 can be a permanent magnet whose magnetic field direction is opposite to that of the first inner anchoring magnet 0106, which can prevent the first actuating rod 0104 from accidentally falling off due to the action of the internal magnetic field of the first inner anchoring magnet 0106;
  • the first connecting seat 0105 is used for the positioning of the rotating pin 0102 and the first clamp arm 0101, and the other end of the first connecting seat 0105 is connected with the first inner anchoring magnet 0106;
  • the first inner anchoring magnet 0106 is used to interact with the outer magnet 05 and provide traction, and the first inner anchoring magnet 0106 may be composed of permanent magnet material or magnetically conductive material;
  • the first buckling block 0107 is installed on the end of the first inner anchoring magnet 0106 and is used for direct connection and buckling with the control unit 02, and can be made of permanent magnet material or other magnetically permeable material;
  • first locking block 0107 is provided with an annular groove with an arc-shaped cross section, which is used for locking with the steel ball 0207 .
  • the control part 02 is used to connect the grasper part 01 and the handle 03, transmit the action of the handle 03, and control the opening and closing or release of the grasper part 01, further refer to the vertical cross-sectional view of the control part in Fig. 5a and the horizontal plane of the control part in Fig. 5b Cross-sectional view, the control unit 02 further includes:
  • the attraction magnet 0201 which can move axially, is used to control the attraction between the grasper part 01 and the control part 02;
  • the control core rod 0202 is controlled by the handle 03 to perform axial expansion and contraction.
  • the control core rod 0202 can push the first actuating rod 0104 to move axially, thereby causing the grasping part 01 to open.
  • the control core rod 0202 returns When the time is shortened, the attracting magnet 0201 and the first inner anchoring magnet 0106 can be separated;
  • control core rod 0202 is an annular groove with an arc-shaped cross section, which is used to control the radial movement of the steel ball 0207;
  • the control rod 0204 is used to connect the control part 02 and the handle 03, and is used as a component to protect the internal parts of the control part 02;
  • the fixed seat 0205 is used for the positioning of the end of the return spring 0203, and also serves as a guide for controlling the axial movement of the core rod 0202;
  • Sliding sleeve 0206 driven by control core rod 0202, can move axially;
  • small radial holes are arranged on the surface of the sliding sleeve 0206, steel balls 0207 are embedded in the small holes, the steel balls 0207 can move axially along the small hole, and the outer end or the inner and outer ends of the small hole has a shrinkage hole structure, The diameter of the shrinkage hole is smaller than the diameter of the steel ball 0207, which is used to prevent the steel ball 0207 from falling off accidentally;
  • one end of the sliding sleeve 0206 is provided with a stepped structure, which is used to buckle the control rod 0204 to prevent the sliding sleeve 0206 from being separated from the control part 02;
  • the steel ball 0207 is a small spherical ball, driven by the control core rod 0202, and can move along the small hole in the radial direction of the sliding sleeve 0206.
  • the steel ball 0207 cooperates with the first locking block 0107 to keep the control part 02 and the gripper part 01 locked together combined state.
  • FIG. 6 a schematic diagram of the handle state of the minimally invasive surgery auxiliary device of the present invention.
  • the handle 03 as the hand-held part of the entire minimally invasive surgery auxiliary device, is connected to the control rod 0204 for the operator to hold and manipulate the minimally invasive surgery auxiliary device.
  • 03 Set three states, corresponding to the initial, open, and release states.
  • FIG. 7 the schematic diagram of the connection between the control part and the gripper part, but not in the state of engagement.
  • the first gripper arm 0101 is in a closed state by the clamping force provided by the torsion spring 0103, and the attraction magnet 0201 is driven by the return spring 0203 to be in the initial position.
  • the control part 02 and the grasping forceps part 01 are attracted and integrated into one.
  • FIG. 8 Please refer to FIG. 8 for the schematic diagram of the buckling process of the control part and the grasper part.
  • the control core rod 0202 is manipulated to extend axially forward, and the steel ball 0207 in the small hole of the sliding sleeve 0206 is constrained by the inner wall of the attracting magnet 0201 and cannot move along the Moving radially, the annular groove at the end of the control core rod 0202 forces the steel ball 0207 to drive the sliding sleeve 0206 to coaxially extend forward.
  • FIG. 9 a schematic diagram of the engagement state of the gripper portion and the control portion when the gripper portion is closed.
  • the control core rod 0202 continues to extend axially forward until the stepped structure at the end of the sliding sleeve 0206 reaches the inner wall of the end face of the control rod 0204, and the sliding sleeve 0206 stops the shaft.
  • the steel ball 0207 When the steel ball 0207 is facing the annular groove inside the first buckling block 0107, the steel ball 0207 loses its radial restraint, and the control core rod 0202 continues to extend axially forward, forcing the steel ball 0207 to move radially outward to reach the first At the inner annular groove of a buckling block 0107, the control portion 02 and the gripper portion 01 form a stable and firm buckling state at this time.
  • FIG. 10 the schematic diagram of the engagement state of the grasper portion and the control portion when the grasper portion is opened, the control core rod 0202 continues to extend axially forward, and pushes the first actuating rod 0104 to push the first grasper arm 0101 to open.
  • FIG. 11 Schematic diagram of the gripping forceps gripping the target and engaging with the control portion.
  • the handle 03 drives the control core rod 0202 to retract axially, and the first forceps arm 0101 is closed by the torsion force of the torsion spring 0103 and clamped on the target tissue.
  • Fig. 12 a schematic diagram of the process of gripping the target and separating it from the control part.
  • the control core rod 0202 continues to retract axially.
  • the stepped structure at the end of the control core rod 0202 drives the sliding sleeve 0206 to retract axially together.
  • the 0207 is radially retracted by the cooperative action of the sliding sleeve 0206 and the first buckling block 0107, thereby releasing the buckling state of the control part 02 and the grasper part 01.
  • FIG. 13 Schematic diagram of the grasping forceps portion holding the target and disengaging from the control portion, the handle 03 pulls the attracting magnet 0201 to retract through the control core rod 0202, and the magnetic attraction between the attracting magnet 0201 and the first inner anchoring magnet 0106 The effect is obviously weakened due to the increase of the distance, so that the grasping part 01 and the control part 02 can be easily separated.
  • FIG. 14 Schematic diagram of external traction of the minimally invasive surgery auxiliary device of the present invention, taking laparoscopic cholecystectomy as an example, after the doctor makes a hole at the patient's navel, the laparoscopic magnetic anchoring chuck in the initial state is fixed by pressing the card Introduce into the patient's body, the doctor finds the position of the gallbladder through the image captured by the laparoscope, and manipulates the handle 03 to the open position to open the grasping forceps 01.
  • the torsion spring 0103 provides the clamping force, at this time the two first clamp arms 0101 are closed and clamped on the gallbladder, the doctor continues to manipulate the handle 03 to the release position, the control part 02 and the grasping forceps part 01 The buckled state is released, and the magnet 0201 is retracted at the same time. At this time, the doctor can pull out the control part 02 from the patient's body.
  • the traction direction of the grasping forceps 01 is controlled, and the strength of the traction force is controlled by controlling the distance between the external magnet 05 and the abdominal wall 04, so that the surgical assistant can cooperate with the surgeon at any time by controlling the external magnet 05.
  • the surgical assistant can cooperate with the surgeon at any time by controlling the external magnet 05.
  • the doctor can re-introduce the control part 02 into the patient's body.
  • the end of the control part 02 is close to the grasping forceps part 01, the attracting magnet 0201 and the first inner anchoring magnet 0106 are automatically attracted and docked, while the grasping forceps part 01 Restore maneuverability.
  • the doctor can take out the grasping forceps 01 together with the resected gallbladder from the opening of the patient.
  • the surgeon can choose to loosen the clamping part according to the needs of the operation, from the original The grasper part 01 is recovered from the opening.
  • a strong magnetic permanent magnet is fixed at the end of the grasping forceps. After the device is introduced into the abdominal cavity of the human body, it is clamped at the part to be lifted, and the magnetic attraction force between the magnets is further utilized.
  • the gripping part is used for traction and positioning. After the operation, the doctor operates the handle and the control part to dock and fasten the grasping forceps part in the patient's body, and can operate the opening and closing of the grasping forceps part from outside the body, so as to safely recover the minimally invasive surgical assistance device.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the gripper part 01 mainly includes :
  • the second clamp arm 0601 has at least two relatively movable arms, which can be opened and closed through the control part 02.
  • the second clamp arm 0601 can also use other clamping components with similar functions, such as grasping parts. The invention does not limit this.
  • Positioning rotation pin 0602 which is used as the rotation axis of the second clamp arm 0601 for the positioning connection of the second clamp arm 0601;
  • the connecting rod 0603 which is connected to the second actuating rod 0604 and the end of the second clamp arm 0601 through the movable rotating pin 0605, constitutes a connecting rod transmission mechanism
  • FIG. 16 is a schematic diagram of the open state of the grasper portion.
  • the control core rod 0202 is manipulated to extend axially forward, and the second forceps arm 0601 is opened by pushing the second actuating rod 0604 .
  • the second actuating rod 0604 is controlled by the control part 02 to control the axial translation, and the second clamp arm 0601 is opened through the connecting rod 0603.
  • the clamping spring 0608 can restore it initial position, and then the second clamp arm 0601 is closed;
  • the movable rotating pin 0605 is used to connect the second clamp arm 0601 and the connecting rod 0603, and the connecting rod 0603 and the second actuating rod 0604 form a hinge mechanism and can rotate radially;
  • the second connecting seat 0606 is used for the fixation of the positioning rotation pin 0602, and is connected to the second inner anchoring magnet 0607;
  • the second inner anchoring magnet 0607 which can be a permanent magnet material, is used to interact with the external magnet 05 to provide traction, and the second inner anchoring magnet 0607 can also be a magnetically permeable material, which is not limited in the present invention;
  • the handle 03 is adjusted to the release position, the grasper part 01 is disengaged from the control part 02, and the second jaw arm 0601 is driven by the clamping spring 0608 to clamp the target tissue.
  • the clamping spring 0608 is used for the reset of the second actuating rod 0604 to close the second clamp arm 0601, and other elastic components can also be used for the clamping spring;
  • the second buckling block 0609 is installed on the end of the second inner anchoring magnet 0607 and is used for direct connection and buckling with the control part 02 , and can be made of permanent magnet material or other magnetically permeable material.
  • the doctor inserts the laparoscopic magnetic anchoring chuck in the initial state into the patient's body by pressing the card.
  • Manipulate the handle 03 to the open position so that the grasper part 01 is opened, and then move the grasper part 01 to the proper position to clamp the gallbladder, the handle 03 returns to the initial position, and the clamping spring 0608 provides the clamping force , the two second clamp arms 0601 are closed and clamped on the gallbladder, the doctor continues to manipulate the handle 03 to the release position, the attracting magnet 0201 retracts and urges the buckle 0204 to open, at this time the control part 02 and the grasping forceps part 01 are released In the buckled state, the doctor can take out the control part 02 from the patient's body.
  • the traction direction of the grasping forceps 01 is controlled, and the strength of the traction force is controlled by controlling the distance between the external magnet 05 and the abdominal wall 04, so that the doctor's assistant can cooperate with the surgeon at any time by controlling the external magnet 05.
  • the doctor's assistant can cooperate with the surgeon at any time by controlling the external magnet 05.
  • the doctor can re-insert the control part 02 into the patient's body.
  • the end of the control part 02 is close to the grasping forceps part 01, the magnet 0201 and the second inner anchoring magnet 0607 are automatically engaged and docked, and the grasping forceps part 01 Restore maneuverability.
  • the doctor can remove the grasping forceps 01 together with the resected gallbladder from the opening of the patient.
  • the surgeon can choose to release the clamping part according to the needs of the operation, and recover the grasping forceps part 01 from the original opening.
  • a strong magnetic permanent magnet is fixed at the end. After the clip is sent into the abdominal cavity of the human body, it is clamped on the part to be lifted. Using the magnetic attraction between the magnets, the external magnet 05 is used to pull and locate the clamping part. After the operation, the doctor can connect and fasten the magnetic anchoring clip in the patient's body through the control rod of the snap-type structure. Operation of the clip opening and closing from outside the body allows safe retrieval of the magnetic anchor clip.

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  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Ophthalmology & Optometry (AREA)
  • Surgical Instruments (AREA)

Abstract

La présente invention concerne un dispositif d'assistance chirurgicale minimalement invasif, comprenant une poignée (03), une partie de commande (02) et une partie de préhension (01) pouvant être libérée. La partie de préhension (01) comprend deux bras de préhension (0101) qui peuvent se déplacer l'un par rapport à l'autre, et la partie de préhension (01) comprend en outre un bloc à ajustement par pression (0107) ; la partie de commande (02) étant en outre pourvue d'une tige à cœur de commande (0202), d'un manchon coulissant (0206), et de billes d'acier (0207) ; la tige à cœur de commande (0202), le manchon coulissant (0206), et les billes d'acier (0207) conjointement au bloc à ajustement par pression (0107) constituent un mécanisme à ajustement par pression pour atteindre la connexion et la séparation de la partie de préhension (01) et la partie de commande (02). Selon le dispositif d'assistance chirurgicale minimalement invasif, le nombre d'incisions est réduit, l'opération chirurgicale est facilitée, la difficulté chirurgicale est réduite, le risque d'infection est réduit, l'efficacité chirurgicale est améliorée, et moins de douleur est causée au patient.
PCT/CN2020/125744 2020-07-15 2020-11-02 Dispositif d'assistance chirurgicale minimalement invasif Ceased WO2022011887A1 (fr)

Applications Claiming Priority (2)

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CN202010682717.4 2020-07-15
CN202010682717.4A CN111772695A (zh) 2020-07-15 2020-07-15 一种微创手术的辅助装置

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WO2022011887A1 true WO2022011887A1 (fr) 2022-01-20

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CN111772693A (zh) * 2020-07-15 2020-10-16 深圳市资福医疗技术有限公司 一种微创手术的辅助装置
CN111772695A (zh) * 2020-07-15 2020-10-16 深圳市资福医疗技术有限公司 一种微创手术的辅助装置
CN115869044A (zh) * 2022-12-30 2023-03-31 西安赛德欧医疗研究院有限公司 一种抓钳及磁吸牵拉装置
CN115836902A (zh) * 2022-12-30 2023-03-24 西安赛德欧医疗研究院有限公司 一种抓钳及磁吸牵拉装置
CN118750098B (zh) * 2024-09-06 2025-02-07 湖南省华芯医疗器械有限公司 一种取石网篮前端组件及取石网篮

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