CN101011292A - 微创外科手术用多自由度微机械手 - Google Patents
微创外科手术用多自由度微机械手 Download PDFInfo
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- CN101011292A CN101011292A CN200710056701.7A CN200710056701A CN101011292A CN 101011292 A CN101011292 A CN 101011292A CN 200710056701 A CN200710056701 A CN 200710056701A CN 101011292 A CN101011292 A CN 101011292A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 85
- 238000005096 rolling process Methods 0.000 claims abstract description 25
- 229910000831 Steel Inorganic materials 0.000 claims description 18
- 239000010959 steel Substances 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 4
- 238000010168 coupling process Methods 0.000 claims description 4
- 238000005859 coupling reaction Methods 0.000 claims description 4
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 abstract description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 7
- 210000000867 larynx Anatomy 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 6
- 230000009471 action Effects 0.000 description 5
- 230000008859 change Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 210000000214 mouth Anatomy 0.000 description 2
- 210000001260 vocal cord Anatomy 0.000 description 2
- 206010011732 Cyst Diseases 0.000 description 1
- 210000000683 abdominal cavity Anatomy 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 208000031513 cyst Diseases 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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CNB2007100567017A CN100479776C (zh) | 2007-02-02 | 2007-02-02 | 微创外科手术用多自由度微机械手 |
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Cited By (19)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101261781B (zh) * | 2008-05-08 | 2010-06-02 | 上海交通大学 | 五自由度力反馈虚拟手术器械 |
CN101411632B (zh) * | 2008-12-03 | 2010-06-16 | 天津大学 | 一种用于辅助微创外科手术的机器人主动支架 |
CN101791451A (zh) * | 2010-04-01 | 2010-08-04 | 天津大学 | 一种应用于核磁共振环境的针刺机械手机构 |
CN101584594B (zh) * | 2009-06-18 | 2010-12-29 | 天津大学 | 腹腔微创外科手术机器人用变胞工具手 |
CN101411631B (zh) * | 2008-11-21 | 2011-05-11 | 南开大学 | 五自由度脊柱微创机器人操作机构 |
CN102892374A (zh) * | 2010-05-14 | 2013-01-23 | 直观外科手术操作公司 | 手术***器械安装 |
CN103169542A (zh) * | 2013-03-22 | 2013-06-26 | 哈尔滨工业大学 | 一种用于腹腔镜微创手术的解耦型手术装置 |
CN103251458A (zh) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | 一种用于微创手术机器人的丝传动四自由度手术器械 |
CN101612062B (zh) * | 2008-06-26 | 2014-03-26 | 北京石油化工学院 | 实现超声影像导航定位方法的传感式的六关节机械臂 |
CN103767659A (zh) * | 2014-01-02 | 2014-05-07 | 中国人民解放军总医院 | 消化内窥镜机器人 |
CN103919610A (zh) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | 多自由度微创外科手术持械臂机构 |
CN104757930A (zh) * | 2014-01-02 | 2015-07-08 | 中国科学院沈阳自动化研究所 | 一种消化内窥镜手柄的操纵装置 |
CN105538259A (zh) * | 2016-01-21 | 2016-05-04 | 北京林业大学 | 三自由度姿态调整平台 |
CN105796138A (zh) * | 2016-05-11 | 2016-07-27 | 天津大学 | 基于自然腔道的柔性微创手术器械 |
CN105943095A (zh) * | 2016-05-11 | 2016-09-21 | 天津大学 | 一种具有柔性腕部的微创手术器械 |
WO2016162883A1 (en) * | 2015-04-08 | 2016-10-13 | Indian Institute Of Technology, Bombay | Surgical instrument with multiple degrees of freedom |
US9901412B2 (en) | 2011-04-29 | 2018-02-27 | Vanderbilt University | Dexterous surgical manipulator and method of use |
US10149694B2 (en) | 2013-09-13 | 2018-12-11 | Vanderbilt University | Energy balance mechanism for flexure joint |
CN115040247A (zh) * | 2022-06-24 | 2022-09-13 | 北京大学口腔医学院 | 飞秒激光微创手术机器人*** |
-
2007
- 2007-02-02 CN CNB2007100567017A patent/CN100479776C/zh active Active
Cited By (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9801654B2 (en) | 2007-06-13 | 2017-10-31 | Intuitive Surgical Operations, Inc. | Surgical system instrument mounting |
US9955996B2 (en) | 2007-06-13 | 2018-05-01 | Intuitive Surgical Operations, Inc. | Surgical system instrument manipulator |
CN101261781B (zh) * | 2008-05-08 | 2010-06-02 | 上海交通大学 | 五自由度力反馈虚拟手术器械 |
CN101612062B (zh) * | 2008-06-26 | 2014-03-26 | 北京石油化工学院 | 实现超声影像导航定位方法的传感式的六关节机械臂 |
CN101411631B (zh) * | 2008-11-21 | 2011-05-11 | 南开大学 | 五自由度脊柱微创机器人操作机构 |
CN101411632B (zh) * | 2008-12-03 | 2010-06-16 | 天津大学 | 一种用于辅助微创外科手术的机器人主动支架 |
CN101584594B (zh) * | 2009-06-18 | 2010-12-29 | 天津大学 | 腹腔微创外科手术机器人用变胞工具手 |
CN101791451A (zh) * | 2010-04-01 | 2010-08-04 | 天津大学 | 一种应用于核磁共振环境的针刺机械手机构 |
CN101791451B (zh) * | 2010-04-01 | 2011-10-26 | 天津大学 | 一种应用于核磁共振环境的针刺机械手机构 |
US10624672B2 (en) | 2010-05-14 | 2020-04-21 | Intuitive Surgical Operations, Inc. | Surgical system instrument mounting |
US11596488B2 (en) | 2010-05-14 | 2023-03-07 | Intuitive Surgical Operations, Inc. | Surgical system instrument mounting |
US10856946B2 (en) | 2010-05-14 | 2020-12-08 | Intuitive Surgical Operations, Inc | Surgical system instrument manipulator |
CN102892374B (zh) * | 2010-05-14 | 2015-06-24 | 直观外科手术操作公司 | 手术***器械安装 |
US10918449B2 (en) | 2010-05-14 | 2021-02-16 | Intuitive Surgical Operations, Inc | Surgical system instrument manipulator |
CN102892374A (zh) * | 2010-05-14 | 2013-01-23 | 直观外科手术操作公司 | 手术***器械安装 |
US9901412B2 (en) | 2011-04-29 | 2018-02-27 | Vanderbilt University | Dexterous surgical manipulator and method of use |
US10653491B2 (en) | 2011-04-29 | 2020-05-19 | Vanderbilt University | Dexterous surgical manipulator and method of use |
CN103169542A (zh) * | 2013-03-22 | 2013-06-26 | 哈尔滨工业大学 | 一种用于腹腔镜微创手术的解耦型手术装置 |
CN103251458A (zh) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | 一种用于微创手术机器人的丝传动四自由度手术器械 |
US10149694B2 (en) | 2013-09-13 | 2018-12-11 | Vanderbilt University | Energy balance mechanism for flexure joint |
CN104757930B (zh) * | 2014-01-02 | 2016-05-11 | 中国科学院沈阳自动化研究所 | 一种消化内窥镜手柄的操纵装置 |
CN104757930A (zh) * | 2014-01-02 | 2015-07-08 | 中国科学院沈阳自动化研究所 | 一种消化内窥镜手柄的操纵装置 |
CN103767659B (zh) * | 2014-01-02 | 2015-06-03 | 中国人民解放军总医院 | 消化内窥镜机器人 |
CN103767659A (zh) * | 2014-01-02 | 2014-05-07 | 中国人民解放军总医院 | 消化内窥镜机器人 |
CN103919610B (zh) * | 2014-04-25 | 2016-01-27 | 哈尔滨工程大学 | 多自由度微创外科手术持械臂机构 |
CN103919610A (zh) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | 多自由度微创外科手术持械臂机构 |
WO2016162883A1 (en) * | 2015-04-08 | 2016-10-13 | Indian Institute Of Technology, Bombay | Surgical instrument with multiple degrees of freedom |
US10828017B2 (en) | 2015-04-08 | 2020-11-10 | Indian Institute Of Technology, Bombay | Surgical instruments with multiple degrees of freedom and methods of using the same |
CN105538259A (zh) * | 2016-01-21 | 2016-05-04 | 北京林业大学 | 三自由度姿态调整平台 |
CN105796138B (zh) * | 2016-05-11 | 2018-04-10 | 天津大学 | 基于自然腔道的柔性微创手术器械 |
CN105943095B (zh) * | 2016-05-11 | 2018-04-10 | 天津大学 | 一种具有柔性腕部的微创手术器械 |
CN105943095A (zh) * | 2016-05-11 | 2016-09-21 | 天津大学 | 一种具有柔性腕部的微创手术器械 |
CN105796138A (zh) * | 2016-05-11 | 2016-07-27 | 天津大学 | 基于自然腔道的柔性微创手术器械 |
CN115040247A (zh) * | 2022-06-24 | 2022-09-13 | 北京大学口腔医学院 | 飞秒激光微创手术机器人*** |
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CN100479776C (zh) | 2009-04-22 |
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Effective date of registration: 20220905 Address after: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee after: Tianjin University Patentee after: Tianjin University Asset Management Co.,Ltd. Address before: 300072 Tianjin City, Nankai District Wei Jin Road No. 92 Patentee before: Tianjin University |
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