CN103829982A - Electric linear anastomat - Google Patents
Electric linear anastomat Download PDFInfo
- Publication number
- CN103829982A CN103829982A CN201210492979.XA CN201210492979A CN103829982A CN 103829982 A CN103829982 A CN 103829982A CN 201210492979 A CN201210492979 A CN 201210492979A CN 103829982 A CN103829982 A CN 103829982A
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- China
- Prior art keywords
- ejector sleeve
- center
- pole
- groove
- electric linear
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/32—Surgical cutting instruments
- A61B17/3209—Incision instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
Abstract
The invention discloses an electric linear anastomat which comprises an osculating mechanism and a driving and executing mechanism, wherein the driving and executing mechanism comprises a tube body, a push tube which is arranged inside the tube body and capable of being driven to precess back and forth, and a center rod which is arranged at the center of the push tube and capable of being driven to precess back and forth, and the osculating mechanism comprises an L-shaped nail abutting base which is in transmission connection with the center rod and capable of moving back and forth only, and an L-shaped nail pushing component which is in transmission connection with the push tube and capable of moving back and forth only. The electric linear anastomat is simple in structure, highly practical, capable of achieving adjustment and percussion by means of one motor and reducing machining cost, convenient to control, and capable of improving the using effect. Due to the fact that percussion is achieved with the motor, the difference caused by manual percussion is avoided. Due to the additional arrangement of a feedback window, visual feedback is provided, the success rate is increased, and the operation effect is improved.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly relate to a kind of electric linear anastomat.
Background technology
Medical stapler is that digestion living according to principles for self-cultivation is managed to a kind of medical apparatus and instruments often using when tissue is performed surgical operation, now conventional anastomat is manual operation in the operating process of physiological tissue being implemented to " closed, identical, cutting " entirely, conventionally manual operation complex steps, easily there is maloperation, or cause operative failure.In addition due to individual variation, when manual closing operation, closed degree, the closing time organized and implemented are easily produced inconsistently, when percussion operation, percussion force can differ greatly, thereby has reduced operation quality.
For overcoming manual deficiency, Chinese patent 201110109722.7 discloses a kind of surgical anastomat, comprise and there is nail supporting base, the driving device of the osculating portion of nail bin and actuator and driving actuator, described driving device is electric driver, and this electric driver is by power supply, panel and closed driver element, percussion driver element forms jointly, closed driver element is made up of closed motor and closed drive mechanism, the input of closed drive mechanism is connected with closed motor, the outfan of closed drive mechanism is connected with the actuator of osculating portion, percussion driver element forms by pulling the trigger motor and pulling the trigger drive mechanism, the input of percussion drive mechanism is connected with percussion motor, the outfan of percussion drive mechanism is connected with the actuator of osculating portion, closed motor is all connected with panel by wire with percussion motor, panel is connected with power supply by wire.
But two drive motors of above-mentioned employing, two drive mechanisms, complex forms is difficult for behaviour and does, in the time that needs are pulled the trigger osculating, need to press two buttons simultaneously, easily produce interlock or disturb, and safety control adopts manually, two cover drive motors can cause the increase of volume, cost simultaneously, are unfavorable for the marketization, can not meet the needs of linear anastomat simultaneously.
Summary of the invention
The object of the invention is for the technological deficiency existing in prior art, and a kind of control simple in structure electric linear anastomat is easily provided.
For realizing the technical scheme that object of the present invention adopts be:
A kind of electric linear anastomat, comprise osculating mechanism and drive actuator, described driving actuator comprises body, be arranged within body, can be driven the ejector sleeve of precession forwards, backwards and be arranged on ejector sleeve center and driven the center-pole of precession forwards, backwards, described osculating mechanism comprises the L shaped nail supporting base that can be in transmission connection and can only move forward and backward with described center-pole, the L shaped ejector pin assembly that can be in transmission connection and can only move forward and backward with described ejector sleeve.
Described driving performing structure also comprises and is fixedly installed on the inner rear end of body and inside and outside wall forms respectively threaded transmission screwed pipe, is fixedly installed on the motor of the power cavity inside being fixedly connected with body afterbody, described ejector sleeve rear end and transmission screwed pipe external screw thread are connected with a joggle, described center-pole rear end and transmission screwed pipe female thread are connected with a joggle, and also comprise the clutch that can alternatively the output of described motor be passed to center-pole or ejector sleeve.
Described center-pole rear end is formed with cavity body structure and is formed with groove on this cavity body structure inwall; On described ejector sleeve rear end internal face, be formed with groove; Described clutch comprises the ring of stirring that the power transmission shaft that is connected by feather key with motor output shaft moves forward and backward with the driven power transmission shaft being fixedly connected with described power transmission shaft, described power transmission shaft front wall is formed with groove and rear end is optical axis, and wherein the groove of the groove of power transmission shaft front end and center-pole and ejector sleeve matches and can be connected with a joggle to transmit respectively rotation with it.
Be provided with toggle mechanism at described power cavity housing, described toggle mechanism comprise at least two sliding trays that are formed on symmetrically on power cavity housing and can be embedded matchingly in sliding tray and can before and after the sliding shoe that moves of axis, described sliding shoe inner surface is formed with and the described bayonet socket that ring mates of stirring, and described bayonet socket will be stirred ring and embeds wherein and can allow it to relatively rotate.
On described center-pole, be also fixedly installed feedback indicating arm, correspondingly on ejector sleeve, be formed with the opening that can allow described feedback indicating arm to move forward and backward, and on body, be provided with the feedback panel that transparent material is made.
On described inboard wall of tube body, be inwardly formed with highlightedly many group brace tables, described brace table runs through the through hole of ejector sleeve and contacts with center-pole with to its supporting and location.
The connecting rod that described ejector pin assembly comprises nail pushing plate and is integrally formed with described nail pushing plate, described connecting rod rearward end can be inserted ejector sleeve leading section matchingly, and described connecting rod rearward end is formed with ring groove, the pin that runs through ejector sleeve can be in transmission connection ejector sleeve and connecting rod, is provided with accordingly the guiding rib and the guide groove structure that prevent connecting rod rotation between the described connecting rod body of rod and body simultaneously.
Described L shaped nail supporting base comprises to nail-plate and linking arm, described linking arm end is formed with vertical with it transmission arm, described transmission arm end is formed with contiguous block, on described center-pole, being formed with can be by described contiguous block embedding containing the spiral groove in it, retaining ring contains linking arm and body in it, is provided with accordingly the guiding rib and the guide groove structure that prevent linking arm rotation simultaneously between linking arm and body or retaining ring.
Compared with prior art, the invention has the beneficial effects as follows:
Electric linear anastomat of the present invention, simple and practical property is high, utilizes a motor to realize and regulates and percussion, cuts down finished cost, be convenient to control simultaneously, improve result of use, utilize motor percussion, the diversity of having avoided manual percussion to produce, increase feedback window, visual feedback is provided, improves chance of success, improve surgical effect.
As preferred version, utilize moving forward and backward of clutch to realize transmission to center-pole and ejector sleeve, and utilize groove engaged transmission, groove transmission is effective, transmits meticulous controlledly, improves especially the fineness of product.
Brief description of the drawings
Figure 1 shows that electric linear anastomat structural scheme of mechanism of the present invention;
Figure 2 shows that clutch configuration schematic diagram of the present invention.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.Should be appreciated that specific embodiment described herein, only in order to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1, electric linear anastomat of the present invention comprises osculating mechanism and drives actuator, described driving actuator comprises body 20, is arranged within body 20, can be driven the ejector sleeve 6 of precession forwards, backwards and be arranged on ejector sleeve 6 centers and is driven the center-pole 5 of precession forwards, backwards, described osculating mechanism comprises the nail supporting base 1 that can be in transmission connection and can only move forward and backward with described center-pole, with described ejector sleeve can transmission link and the ejector pin assembly 2 that can only move forward and backward.
Wherein, for driving actuator, can adopt motorized motions mode arbitrarily, only need to drive precession forward can realize the present invention's object ejector sleeve and center-pole.To be specifically described with most preferred embodiment of the present invention below.
Also comprise and be fixedly installed on the inner rear end of body and inside and outside wall forms respectively threaded transmission screwed pipe 9, the motor that is fixedly installed on body afterbody and battery and electric machine control system in the driving actuator described in most preferred embodiment of the present invention, wherein, described ejector sleeve 6 is arranged on body inside and rear end and transmission screwed pipe external screw thread and is connected with a joggle, described center-pole 5 is arranged on ejector sleeve inside and rear end and transmission screwed pipe female thread and is connected with a joggle, and also comprises the clutch that can alternatively the output of described motor be passed to center-pole or ejector sleeve.
Wherein, specifically, described body is fastened and connected and is formed by the body of two cross section semicirculars in shape, and body is adopted to split-type structural, is convenient to internal components setting.It should be noted that, the front portion in the present invention, front end are all near osculating mechanism end, rear portion, rear end, afterbody be all to away from osculating mechanism near motor side.
Described transmission screwed pipe is arranged on body center regularly with respect to body, specifically, described transmission screwed pipe 9 by multiple outer ends and body be fixedly connected with inner with the chimeric locating dowel supporting and location being connected of transmission screwed pipe body at body middle part, being provided with fluting in described ejector sleeve part corresponding with locating dowel affects to avoid that it is rotated to formation; Preferably, described transmission screwed pipe front end is located by the spacing preiection being fixedly connected with inboard wall of tube body and run through ejector sleeve, by transmission screwed pipe axial limiting and limit it and rotate, can effectively ensure the transmission of center-pole and ejector sleeve.
Described center-pole rear end and transmission screwed pipe are spirally connected and pass transmission screwed pipe to approach clutch, simultaneously for ease of with driven by clutches, described center-pole rear end is formed with cavity body structure and is formed with groove 14 on this cavity body structure inwall.
For ease of the position of the controlled reach of Surveillance center's bar, on described center-pole, be also fixedly installed feedback indicating arm 8, correspondingly on ejector sleeve, be formed with the opening that can allow described feedback indicating arm to move forward and backward, and on body, be provided with the feedback panel 18 that transparent material is made, in described feedback panel, be provided with qualified Warning Mark, in showing feedback indicating arm position, can indicate whether to arrive correct position simultaneously.In the time carrying out chamber mirror anastomosis operation, can determine whether to excite completely, therefore can reduce danger.
Described ejector sleeve rear end and transmission screwed pipe are spirally connected and pass transmission screwed pipe to approach clutch, simultaneously for ease of transmission, on described ejector sleeve rear end internal face, be formed with ladder platform, and on the internal face of ladder platform, be formed with groove 15, it is pointed out that the internal diameter that described ladder platform is identical and corresponding with the groove of center-pole afterbody is identical.
In described motor 10 and battery 11 are fixedly installed on control system 12 power cavity 17 being fixedly connected with body afterbody, motor is micro-step motor or the micro-step motor with decelerator, certainly also can directly adopt external power supply energy supply.The stepping that utilizes battery-powered to realize motor by control system is output as prior art, no longer launches to describe at this.On the housing of power cavity, be provided with two control knobs to control respectively the rotating of motor simultaneously, by the mechanical adjustment of clutch realize transmission switch and different control knobs is realized the rotating of motor, control simple and there will not be interlock phenomenon, more easily behaviour does.
As shown in Figure 2, clutch 13 of the present invention comprise power transmission shaft 131 with coaxially arrange and be fixedly connected with described power transmission shaft 131 stir ring 132, described power transmission shaft is connected by feather key with motor output shaft, and it allows the relative motor output shaft of power transmission shaft that predetermined moving axially and the uninterruptedly transmission output to power transmission shaft occurs.Wherein said power transmission shaft front wall is formed with groove and rear end is optical axis, and wherein the groove of the groove of power transmission shaft front end and center-pole and ejector sleeve matches, and can be connected with a joggle to transmit respectively rotation with it.
Move axially for stirring the described ring front and back of stirring the transmission switching that then realizes power transmission shaft and center-pole or ejector sleeve, be provided with toggle mechanism at described power cavity housing, described toggle mechanism comprise two sliding trays that are formed on symmetrically on power cavity housing and can be embedded matchingly in sliding tray and can before and after the sliding shoe 16 that moves of axis, described sliding shoe inner surface is formed with and the described bayonet socket that ring mates of stirring, described bayonet socket will be stirred ring and embeds wherein and can allow it to relatively rotate, because stir ring, center-pole and ejector sleeve are arranged on same axis, stir sliding shoe by front and back and can realize the groove of power transmission shaft front end and the groove engaged transmission of center-pole or the groove engaged transmission with ejector sleeve, realize transmission and switch to realize a motor adjusting, pull the trigger two kinds and use output condition.
Further, for improving its operability, be provided with ring groove on described power cavity housing, the corresponding annular adjustable ring arranging links together described sliding shoe simultaneously, and push-and-pull adjustable ring can be with dynamic clutch to move forward and backward, and further improves and uses impression.
Further, for improving the stability of center-pole transmission, prevent that it from causing transmission performance not good because length is long, on described inboard wall of tube body, be inwardly formed with highlightedly many group brace tables, described brace table runs through the through hole of ejector sleeve and contacts with center-pole, to its supporting and location to improve its stability.
Described osculating mechanism 4 comprises nail supporting base 1, nail bin 2 and linear cutter 3 and ejector pin assembly, described ejector pin assembly comprises can promote the nail pushing plate 41 that nail bin 2 and cutter 3 advance forward and connecting rod or the connecting cylinder 42 being integrally formed with described nail pushing plate, described connecting rod or connecting cylinder 42 rearward end can be inserted ejector sleeve 6 leading sections matchingly, and be formed with ring groove in described connecting rod or connecting cylinder rearward end outside wall surface, the pin that runs through ejector sleeve can be in transmission connection ejector sleeve and connecting rod or connecting cylinder, between described connecting rod or connecting cylinder lateral wall and body, be provided with accordingly the guiding rib and the guide groove structure that prevent connecting rod rotation simultaneously.Utilize ring groove and pin to realize transmission, can realize ejector sleeve in conjunction with the guiding of guiding rib groove and drive ejector pin assembly to move forward and backward.
Described nail supporting base comprises to nail-plate 11 and linking arm 12, described linking arm 12 ends are formed with vertical with it transmission arm 13, described transmission arm end is formed with contiguous block, on described center-pole, being formed with can be by described contiguous block embedding containing the spiral groove in it, i.e. the running through the through hole being formed on body and ejector sleeve and the contiguous block of end is embedded in the groove on the center-pole body of rod of transmission arm.For improving coordinating of contiguous block and groove, can adopt T-slot structure, can effective means contiguous block taking off groove affect transmission.
Further, for nail supporting base is kept to relative with body fixing, most preferred embodiment of the present invention utilizes retaining ring 43 is included in linking arm 12 with body 20 together with, described retaining ring is two semi-circulars that are fixedly connected with, its by linking arm together with body relative limit, meanwhile, for guiding nail supporting base moves forward and backward, between linking arm and body or retaining ring, be provided with accordingly the guiding rib and the guide groove structure that prevent linking arm rotation.That is, utilize the slip of contiguous block in spiral groove to realize transmission, and utilize the guiding of guiding rib groove can realize and will before and after nail supporting base, drive.
In use, first be adjusted to titanium staple height by the motor 10 being fixed among power cavity 17, when adjusting, sliding shoe 16 is pulled to sliding tray front portion, thereby being engaged, the groove of clutch 13 connected with motor 10 and the groove of center-pole 14 drive center-pole 5 to rotate, center-pole 5 engages with drive screw 9 female threads, the rotation of motor 10 is converted into the precessional motion forward of center-pole, the precessional motion forward of center-pole is slided contiguous block in helicla flute, then realizes moving forward of nail supporting base.The feedback indicating arm 8 being simultaneously arranged on center-pole feeds back to the feedback panel 18 being arranged on body, described feedback panel provides distance feedback that whether suitable feedback is provided again, specifically, in feedback panel, be provided with scale and red area and green area, in the time of pointed red area, titanium nail can not excite completely, green area can excite completely, can make altitude mixture control more directly perceived, accurate by feedback panel.
Need to pull the trigger time, pull to sliding tray rear portion adjusting sliding shoe 16, now the clutch 13 connected with motor 10 engages with the groove 15 that is arranged on ejector sleeve 6 ends, thereby drive ejector sleeve 6 to rotate, ejector sleeve 6 engages with drive screw 9 external screw threads, the rotation of ejector sleeve is converted into precession forward, and the precession forward of ejector sleeve can drive ejector pin assembly to move forward in conjunction with guiding rib groove.Nail pushing plate travels forward and first promotes cutter 3 and travel forward and realize tissue cutting, after promote again nail bin 2 and travel forward, and then realize percussion and sew up.Exit process contrary with above-mentioned steps, specifically no longer describe.
It is pointed out that adjustable range and percussion distance are all relative little, only have several millimeters, on ejector sleeve, offer compared with large hole and can allow described brace table and spacing preiection to wear many and not affect relative motion between the two.The width that simultaneously suitably increases each groove can avoid transmission to disconnect.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. an electric linear anastomat, comprise osculating mechanism and drive actuator, it is characterized in that, described driving actuator comprises body, be arranged within body, can be driven the ejector sleeve of precession forwards, backwards and be arranged on ejector sleeve center and driven the center-pole of precession forwards, backwards, described osculating mechanism comprises the L shaped nail supporting base that can be in transmission connection and can only move forward and backward with described center-pole, the L shaped ejector pin assembly that can be in transmission connection and can only move forward and backward with described ejector sleeve.
2. electric linear anastomat as claimed in claim 1, it is characterized in that, described driving performing structure also comprises and is fixedly installed on the inner rear end of body and inside and outside wall forms respectively threaded transmission screwed pipe, is fixedly installed on the motor of the power cavity inside being fixedly connected with body afterbody, described ejector sleeve rear end and transmission screwed pipe external screw thread are connected with a joggle, described center-pole rear end and transmission screwed pipe female thread are connected with a joggle, and also comprise the clutch that can alternatively the output of described motor be passed to center-pole or ejector sleeve.
3. electric linear anastomat as claimed in claim 2, is characterized in that, described center-pole rear end is formed with cavity body structure and is formed with groove on this cavity body structure inwall; On described ejector sleeve rear end internal face, be formed with groove; Described clutch comprises the ring of stirring that the power transmission shaft that is connected by feather key with motor output shaft moves forward and backward with the driven power transmission shaft being fixedly connected with described power transmission shaft, described power transmission shaft front wall is formed with groove and rear end is optical axis, and wherein the groove of the groove of power transmission shaft front end and center-pole and ejector sleeve matches and can be connected with a joggle to transmit respectively rotation with it.
4. electric linear anastomat as claimed in claim 1, it is characterized in that, be provided with toggle mechanism at described power cavity housing, described toggle mechanism comprise at least two sliding trays that are formed on symmetrically on power cavity housing and can be embedded matchingly in sliding tray and can before and after the sliding shoe that moves of axis, described sliding shoe inner surface is formed with and the described bayonet socket that ring mates of stirring, and described bayonet socket will be stirred ring and embeds wherein and can allow it to relatively rotate.
5. the electric linear anastomat as described in claim 1-4 any one, it is characterized in that, on described center-pole, be also fixedly installed feedback indicating arm, correspondingly on ejector sleeve, be formed with the opening that can allow described feedback indicating arm to move forward and backward, and on body, be provided with the feedback panel that transparent material is made.
6. electric linear anastomat as claimed in claim 5, is characterized in that, is inwardly formed with highlightedly many group brace tables on described inboard wall of tube body, and described brace table runs through the through hole of ejector sleeve and contacts with center-pole with to its supporting and location.
7. electric linear anastomat as claimed in claim 1, it is characterized in that, the connecting rod that described ejector pin assembly comprises nail pushing plate and is integrally formed with described nail pushing plate, described connecting rod rearward end can be inserted ejector sleeve leading section matchingly, and described connecting rod rearward end is formed with ring groove, the pin that runs through ejector sleeve can be in transmission connection ejector sleeve and connecting rod, is provided with accordingly the guiding rib and the guide groove structure that prevent connecting rod rotation between the described connecting rod body of rod and body simultaneously.
8. electric linear anastomat as claimed in claim 7, it is characterized in that, described L shaped nail supporting base comprises to nail-plate and linking arm, described linking arm end is formed with vertical with it transmission arm, described transmission arm end is formed with contiguous block, on described center-pole, being formed with can be by described contiguous block embedding containing the spiral groove in it, retaining ring contains linking arm and body in it, is provided with accordingly the guiding rib and the guide groove structure that prevent linking arm rotation simultaneously between linking arm and body or retaining ring.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210492979.XA CN103829982B (en) | 2012-11-26 | 2012-11-26 | Electric linear anastomat |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201210492979.XA CN103829982B (en) | 2012-11-26 | 2012-11-26 | Electric linear anastomat |
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| CN103829982A true CN103829982A (en) | 2014-06-04 |
| CN103829982B CN103829982B (en) | 2016-12-21 |
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| CN105476678A (en) * | 2015-12-22 | 2016-04-13 | 苏州英途康医疗科技有限公司 | Linear cutting anastomat |
| CN108451598A (en) * | 2018-03-20 | 2018-08-28 | 广州德脉医疗器械有限公司 | A kind of electrically driven (operated) mechanism and Foreskin suture circumcision device of peritomizing |
| CN110604601A (en) * | 2018-06-14 | 2019-12-24 | 江苏风和医疗器材股份有限公司 | Screw rod and electric anastomat |
| CN111374726A (en) * | 2018-12-29 | 2020-07-07 | 江苏风和医疗器材股份有限公司 | End effector driving device for surgical instrument and surgical instrument |
| CN111588430A (en) * | 2020-06-18 | 2020-08-28 | 苏州贝诺医疗器械有限公司 | Sealing structure of combiner for endoscopic surgery and stitching instrument |
| CN111588431A (en) * | 2020-06-18 | 2020-08-28 | 苏州贝诺医疗器械有限公司 | Intracavity transverse stitching instrument with stable structure |
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| CN105476678A (en) * | 2015-12-22 | 2016-04-13 | 苏州英途康医疗科技有限公司 | Linear cutting anastomat |
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| CN110604601B (en) * | 2018-06-14 | 2022-06-14 | 江苏风和医疗器材股份有限公司 | Screw rod and electronic anastomat |
| CN111374726A (en) * | 2018-12-29 | 2020-07-07 | 江苏风和医疗器材股份有限公司 | End effector driving device for surgical instrument and surgical instrument |
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| CN111588430A (en) * | 2020-06-18 | 2020-08-28 | 苏州贝诺医疗器械有限公司 | Sealing structure of combiner for endoscopic surgery and stitching instrument |
| CN111588431A (en) * | 2020-06-18 | 2020-08-28 | 苏州贝诺医疗器械有限公司 | Intracavity transverse stitching instrument with stable structure |
| CN111588431B (en) * | 2020-06-18 | 2020-12-29 | 苏州贝诺医疗器械有限公司 | Intracavity transverse stitching instrument with stable structure |
| CN111588430B (en) * | 2020-06-18 | 2021-02-09 | 苏州贝诺医疗器械有限公司 | Transverse stitching instrument with sealing structure for endoscopic surgery |
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| CN103829982B (en) | 2016-12-21 |
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