In-vivo additional material repair system and in-vivo repair device

A printing device and rigid body technology, which is applied in the medical field, can solve the problems of large overall size, inapplicability to in vivo operation, complex structure, etc., and achieve the effect of small processing difficulty, small space occupation, and low processing difficulty

Active Publication Date: 2019-12-13
TSINGHUA UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] Although the skin in situ printing repair system can achieve in situ repair, it uses universal joints to realize the movement of the

Method used

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  • In-vivo additional material repair system and in-vivo repair device
  • In-vivo additional material repair system and in-vivo repair device
  • In-vivo additional material repair system and in-vivo repair device

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Embodiment Construction

[0038] Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that these specific descriptions are only used to teach those skilled in the art how to implement the present invention, but are not intended to exhaust all possible ways of the present invention, nor are they intended to limit the scope of the present invention.

[0039] Such as figure 1 As shown, the present disclosure provides an in vivo additive repair system, which includes a curved tube 9 and an internal repair device 1 , the curved tube 9 has a hollow lumen, and a guide wire runs through the hollow lumen. One end of the curved tube 9 is connected to the intracorporeal repair device 1 , and the other end is connected to the driving device. The driving device drives the guide wire of the curved tube 9 so that the guide wire drives the curved tube 9 to bend in at least two directions. When the curved tube 9 is bent, the position of...

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Abstract

The invention provides an in-vivo additional material repair system and an in-vivo repair device. The in-vivo repair device comprises a driving mechanism, a transmission mechanism and a printing device. The printing device prints a biological material; the driving mechanism drives the transmission mechanism to rotate; the transmission mechanism comprises a revolute pair assembly, and the revolutepair assembly comprises at least two revolute pairs; the printing device is connected to the transmission mechanism through the revolute pair assembly, and the revolute pair assembly is provided withat least two revolute axes perpendicular to each other. Each of the at least two revolute pairs has the following structures: two rigid bodies and a flexible film clamped between the two rigid bodies;the two rigid bodies are missing at corresponding positions so that each rigid body can form two discrete segments, the two discrete segments are connected together through the flexible film, and therevolute axes of the revolute pairs are formed at the missing positions of the rigid bodies. At least two revolute pairs with orthogonal revolute axes are adopted to replace spherical hinge revolutepairs, so that the processing difficulty of the in-vivo repair device is reduced, and the space required by operation is reduced.

Description

technical field [0001] The present invention relates to the field of medical technology, and in particular to an in vivo additive repair system and an in vivo repair device. Background technique [0002] Endoscopic surgery through the natural orifice refers to the integration of surgical instruments in the endoscope, such as biopsy forceps, scalpels, etc., to perform biopsy or excision of the lesion tissue. In endoscopic surgery through the natural orifice, endoscopic robots are commonly used to take tissue from the lesion, which belongs to the category of subtractive operation. [0003] In order to perform additive repair in the body, the endoscopic robot can be used to send the absorbable clip into the body through the natural cavity, and suture the defect under the endoscope. However, this method is difficult to operate, and the large absorbable clip cannot be sent into the body due to its size, so only small wounds can be repaired. [0004] CN108969149A provides a skin...

Claims

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Application Information

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IPC IPC(8): A61B34/30
CPCA61B34/30A61B2034/302
Inventor 赵文祥徐弢
Owner TSINGHUA UNIV
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