Auxiliary device for minimally invasive surgery and control method thereof
一种辅助装置、微创手术的技术,应用在手术、手术机械手、计算机辅助外科学等方向,能够解决时间长、很难粘膜的翻卷精确控制、操作重复性低等问题,达到速度快、翻卷角度易于控制、操作重复性高的效果
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[0049] The present invention will be described in detail below in conjunction with various embodiments shown in the drawings. However, these embodiments do not limit the present invention, and structural or functional changes made by those skilled in the art according to these embodiments are included in the protection scope of the present invention.
[0050] see Figure 1 to Figure 6 As shown, the present invention provides a minimally invasive surgical auxiliary device for pulling the lesion, including an internal device 1 located in the body for pulling the mucosa M to be stripped, an internal device 1 located outside the body to control the movement of the internal device 1, and / or a rotating extracorporeal device 2 , a positioning probe 3 that cooperates with the extracorporeal device 2 to assist in positioning the extracorporeal device 2 , and a control system (not shown). The mucous membrane M to be peeled off can be the mucous membrane of an isolated animal tissue or...
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