CN102462533A - Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery - Google Patents
Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery Download PDFInfo
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- CN102462533A CN102462533A CN2010105405114A CN201010540511A CN102462533A CN 102462533 A CN102462533 A CN 102462533A CN 2010105405114 A CN2010105405114 A CN 2010105405114A CN 201010540511 A CN201010540511 A CN 201010540511A CN 102462533 A CN102462533 A CN 102462533A
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Abstract
The invention discloses a mechanical arm for clamping a propelling mechanism of a minimally invasive blood vessel interventional surgery. The mechanical arm comprises a base arm connected with a big arm base through a waist rotating joint; the internal part of the base arm is mounted with a power mechanism and a transmission mechanism; the big arm base can rotate on the base arm; the big arm base is connected with one end of a first big arm through a big arm joint; the other end of the first big arm is connected with a small arm through a small arm joint; one end of the small arm is connected with one end of a second big arm which is parallel with the first big arm; the other end of the small arm is connected with a hand connecting piece and is connected with a terminal end base through a wrist swinging joint; and the terminal end base is connected with a terminal end sleeve through a wrist rotating joint. The mechanical arm for clamping the propelling mechanism of the minimally invasive blood vessel interventional surgery disclosed by the invention improves automation degree of the surgery, surgical precision and surgical stability. The big arm joint and the small arm joint of the mechanical arm for clamping the propelling mechanism of the minimally invasive blood vessel interventional surgery disclosed by the invention not only have small structural sizes, but also realize large-torque transmission.
Description
Technical field
The present invention relates to a kind of mechanical arm that is used for robot, particularly the mechanical arm of clamping minimally-invasive vascular intervene operation propulsive mechanism.
Background technology
Blood vessel intervention operation is meant that the doctor is under the guiding of digital subtraction angiography imaging (DSA) system; Controlling conduit (a kind of have inflexible flexible pipe) moves in human vas; Conduit is advanced to the target location; Then focus is carried out associated treatment, reach purposes such as thromboembolism deformity blood vessel, thrombus, expansion narrow blood vessel.Compare with traditional operation, this method need not to operate on, and has the insufficiency of blood of going out, wound is little, complication is few, safe and reliable, advantage such as post-operative recovery is fast.
Present doctor carries out the key step of blood vessel intervention operation shown in Fig. 1 a-1f:
A, puncture needle be according in the suitable pose transdermal intravasation, and seal wire is inserted needle tubing;
B, vagina vasorum is sent into blood vessel along seal wire and under it supports, conduit is imported blood vessel along vagina vasorum, slowly push ahead.The effusive effect of arterial blood when vagina vasorum plays the guide catheter intravasation and prevents conduit extraction blood vessel;
C, doctor observe the path of conduit and the position of tip under the guiding of DSA image, and manual rotation and propulsion bulb, adjust its position and direction, arrive lesions position until conduit;
D, operation 1: under the DSA picture control, implement conduit diagnosis and treatment operation, place ventricular septal defect in the ventricular septal defect place;
E, operation 2: under the DSA picture control, the placing rack in the stricture of artery place;
F, operation 3: under the DSA picture control, row aneurysm GDC thromboembolism.
According to above-mentioned surgical procedure, the outstanding problem that blood vessel intervention operation exists is:
1) doctor's work under the high intensity rays environment all the time, long period of operation is very big to physical impairment;
2) operation technique poor controllability, the time is long, and factors such as doctor's fatigue and staff fluctuation of service are influence operation quality directly;
3) operation technique is complicated, and craftsmenship is strong, and risk is high, and the doctor is difficult to grasp, and the operation training time is long.
To the problems referred to above, robotics is incorporated in the blood vessel intervention operation, have important practical significance.
Like Fig. 2 is the image guided robot secondary vessel intervene operation system construction drawing down of DSA:
Each unit major function introduction is following:
The operating room operating board: to surgery systems totally control, blood vessel 3 D reconstructing is handled under the limited rotational DSA projection condition; And carry out the coupling of two dimensional image in art forward three-dimensional viewing and the art; Completion is to the image-guidance and the surgery planning of robot, and in art, auxiliary robot controlled in real time.This operating board and patient treatment operating room are isolated, so can avoid the doctor to receive the radiation of ray.
The multifunction surgical bed: patient lies is on this operation table; There is supporting with it contrast machine that contrast agent is pushed in patient's body; Through the operation of auxiliary facilities such as C shape arm, can on the DSA image display, know to show the patient vessel, and can show the position of propelling propulsion bulb in the patient vessel in real time.Simultaneously, on multi-purpose bed, to paste corresponding sign Mark point, so that patient position, DSA image, binocular image, robot are carried out the demarcation of coordinate system.
The binocular camera shooting head: the positional information that observation patient, operation table, terminal propulsive mechanism Mark orders, and it is carried out Flame Image Process, thus definite patient's lesions position instructs auxiliary robot that the patient is treated.
Robot body: by the control of operating room operating board, the data motion by planning realizes the treatment to patient's lesions position.The auxiliary machinery human body controls robot by the location and terminal propulsive mechanism is formed.The location is controlled and is controlled after robot delivers to assigned address to terminal propulsive mechanism according to layout data.Terminal propulsive mechanism moves in patient's body according to DSA image guiding propulsion bulb.
This shows that the robot body in the system structure needs a kind of mechanical arm that is used for clamping blood vessel intervention operation propulsive mechanism.
Summary of the invention
To above-mentioned technical problem of the prior art; The object of the present invention is to provide a kind of mechanical arm that is used for the blood vessel intervention operation propulsive mechanism; The accurate location of robot, planning and firmly the controlling of operating theater instruments have flexibly been realized; Thereby improved operation precision and stability, avoided the doctor to receive long-time radiation.The present invention also aims to have the medical robot of above-mentioned mechanical arm.
The present invention realizes through following technical scheme.
A kind of mechanical arm is characterized in that, comprises
Base arm, it links to each other with big arm base through waist commentaries on classics joint, and actuating unit and drive mechanism are equipped with in inside, and said big arm base can rotate on said base arm;
Said big arm base is connected with an end of first arm through large-arm joint; The other end of said first arm is connected with forearm through little shoulder joint; One end of said forearm is connected in an end of the second largest arm parallel with said first arm;
The other end of said forearm is connected with the hand connector, and is connected with terminal seat through wrist pendulum joint; Said terminal seat is connected with endsocket through wrist joint.
Mechanical arm according to technique scheme is characterized in that, said actuating unit is an electric machine assembly, and said drive mechanism is a harmonic speed reducer;
Motor fixing seat, deep groove ball bearing, harmonic speed reducer steel wheel and bearing wedge are installed on the said base arm, are useful on fixed connection screwed hole in its bottom;
The input of the reducer output shaft of said electric machine assembly and harmonic wave power shaft is fastening through holding screw; The harmonic wave output shaft is connected with the waveform generator of harmonic speed reducer through key; The input of harmonic wave power shaft is made the corrugated tube pattern; The output steel wheel of harmonic speed reducer connects fastening with the harmonic wave output shaft through soket head cap screw; The harmonic wave output shaft relies on deep groove ball bearing to be supported on the base arm, leans on bearing inner race back-up ring and bearing outer ring back-up ring location between the bearing; Electric machine assembly drives its decelerator that carries motion, rotates thereby make the harmonic wave power shaft drive harmonic speed reducer, drives the motion of harmonic wave output shaft then; The harmonic wave output shaft connects with big arm base through the key on it, and like this, electric machine assembly will drive big arm base motion when rotating, thereby realizes that waist changes the rotation in joint
Mechanical arm according to technique scheme is characterized in that, said large-arm joint is a slider-crank mechanism; Wherein, be connected with big arm connecting rod pivotly on the said big arm base, the other end of said big arm connecting rod can translation on said first arm, thereby realizes the swing of said first arm.
Mechanical arm according to technique scheme is characterized in that, said little shoulder joint is that crank block drives parallel-crank mechanism; Wherein, be connected with the forearm connecting rod on the said forearm pivotly, the other end of said forearm connecting rod can translation on the second largest arm parallel with said first arm, thereby realizes the swing of said forearm.
Mechanical arm according to technique scheme is characterized in that, the translation end of said big arm connecting rod and said forearm connecting rod passes through lead screw transmission respectively.
Mechanical arm according to technique scheme is characterized in that, said hand connector and forearm be connected the connected mode that adopts screw rod, stop washer, nut, the motor bearing links to each other with the hand connector through screw, in order to fixing wrist pendulum motor assembly; Whole terminal seat fixes through semiaxis-driving side part and semiaxis-afterbody part, and these two parts link to each other with the hand connector through bearing; Wrist pendulum motor assembly outfan through sleeve, compress plug screw and be connected with semiaxis-driving side part; During the work of wrist pendulum motor assembly, drive semiaxis-driving side part and rotate, thereby realize the driving in wrist pendulum joint.
Mechanical arm according to technique scheme is characterized in that, said terminal seat one end is connected through bolt, stop washer, nut with semiaxis-driving side, semiaxis-afterbody; The other end is installed on the endsocket through bearing, relies on bearing inner shield ring, the outer back-up ring of bearing, circlip for shaft location between the two bearings; Wrist rotating motor assembly is connected through the end of screw with terminal seat; The interface that connects propulsive mechanism is arranged on the endsocket, and the front end of endsocket is connected through sleeve with terminal gland, and clamping nut is arranged on the end cap, and when wrist rotating motor assembly is worked, can drive endsocket and rotate, thus the rotation of realization wrist joint.
A kind of medical robot has 5DOF at least, it is characterized in that, has the mechanical arm according to one of technique scheme.
Compared with prior art, the present invention has realized the technique effect of following benefit:
(1) first the robot positioning system is applied in the intervene operation, has improved the automaticity of operation, avoided the doctor under radiation environment, to work for a long time.
(2) the utilization mechanical arm replaces the doctor to realize the location of operating theater instruments and controls, and has improved operation precision and stability, has reduced working doctor difficulty and intensity.
(3) leading screw of big arm and little shoulder joint-nut transmission design, not only mechanism size is little, and has realized big moment transmission.
Description of drawings
Fig. 1 is the key step sketch map of blood vessel intervention operation;
Fig. 2 is the image guided robot secondary vessel intervene operation system construction drawing down of DSA;
Fig. 3 is a robot body illustraton of model of having used mechanical arm of the present invention;
Fig. 4 is robot architecture's sketch of having used mechanical arm of the present invention;
Fig. 5 is that the waist of mechanical arm of the present invention changes articulation structure figure;
Fig. 6 is big arm, the forearm articulation structure figure of mechanical arm of the present invention;
Fig. 6 a is the cross section view of junction of transmission nut and the forearm connecting rod of mechanical arm of the present invention
Fig. 6 b is the cross section views of two forearms of mechanical arm of the present invention to the junction of side plate and support bar;
Fig. 7 a, 7b are the cross section views in joint among Fig. 4;
Fig. 8 a, 8b, 8c, 8d are wrist pendulum, the wrist joint structure charts of mechanical arm of the present invention.
Wherein each Reference numeral implication is following:
1. base arm
2. end motor cabinet
3. harmonic wave power shaft
4. shaft shoulder pad
5. harmonic wave output shaft
6. bearing outer ring back-up ring
7. bearing inner race back-up ring
8. bearing wedge
9. round nut
10.6202 deep groove ball bearing
11. key
12. harmonic speed reducer
13. hexagon socket cap head screw
14.6201 deep groove ball bearing
15. holding screw
16 soket head cap screws
17. slotted countersunk flat head screw
18. electric machine assembly (decelerator, motor, brake, encoder)
19. big arm base
20. hinge pin under the big arm
21. band andgudgeon pin cushion cover
22.6008 deep groove ball bearing
23.6202 deep groove ball bearing
24. forearm is to side plate
25. support tube
26. short hinge pin cushion cover
27. hinge pin axle
28.6202 deep groove ball bearing
29. bearing (ball) cover
30. circlip for shaft
31. slotted countersunk flat head screw
32. the short free bearing of big arm
33. flower cover
34. fillister head screw
35. screw rod slotted sleeve
36.6004 deep groove ball bearing
37. big arm turn-screw
38. transmission nut
39. the fastening axle sleeve of screw rod
40. soket head cap screw
41 dash between adapter sleeve
42. holding screw
43. slotted countersunk flat head screw
44. motor mounting disc
45. sunk screw
46. fillister head screw
47. electric machine assembly
48. big brachium free bearing
49. forearm connecting rod
50. big arm connecting rod
51. circlip for shaft
52. big pad
53. connecting rod nut bearing pin
54. soket head cap screw
55. support bar
56. forearm
57. hand connector
58. motor bearing
59. semiaxis-driving side
60. sleeve
61. compress plug screw (mother)
62. semiaxis-afterbody
63. terminal seat
64. endsocket
65. the outer back-up ring of bearing
66. bearing inner shield ring
67. end caps
68. clamping nut
69. sunk screw
70. circlip for shaft
71. deep groove ball bearing
72. wrist rotating motor assembly
73. deep groove ball bearing
74. sunk screw
75. soket head cap screw
76. soket head cap screw
77. wrist pendulum motor assembly
78. soket head cap screw
The specific embodiment
For the medical surgery robot towards Minimally Invasive Surgery, its structure is made up of wrist and arm two parts usually, and the effect in Minimally Invasive Surgery is: (1) navigates to point of puncture with wrist end and operating theater instruments; (2) directed to operating theater instruments, make it pass the point of contact and arrive operative site.The location mainly is used in the operation incipient stage after the point of contact produces; And operating theater instruments is directed; Make it pass the overall process that whole surgery is but run through at the point of contact; Therefore these two tasks are all inequality at motion mode and the application in operation, and a rational design should be accomplished this two tasks, and can reduce or eliminate arm joint and wrist joint interdepending at the volley.In order to reach this purpose, detent mechanism and attitude reference device should adopt separated structures, make it independent in motion.
Through analyzing doctor's operating process and various operation constraints, consider practical requirement, simplify the internal structure of an organization and reduce the control difficulty, designed mechanical arm with five degree of freedom.Concrete structure is as shown in Figure 3.
Each joint detailed design:
1. waist changes joint designs
Waist joint structure is as shown in Figure 5.Motor fixing seat, deep groove ball bearing, harmonic speed reducer steel wheel and bearing wedge etc. are installed on the base arm, are useful on fixed connection screwed hole in its bottom.
The input of the reducer output shaft of electric machine assembly and harmonic wave power shaft is fastening through holding screw.The harmonic wave output shaft is connected with the waveform generator of harmonic speed reducer through key.The input of harmonic wave power shaft is made the corrugated tube pattern, and under the low slightly situation of base arm working axiality, electric machine assembly still can run well.The output steel wheel of harmonic speed reducer connects fastening with the harmonic wave output shaft through soket head cap screw.And the harmonic wave output shaft relies on deep groove ball bearing to be supported on the base arm, leans on bearing inner race back-up ring and bearing outer ring back-up ring location between the bearing.Power source (motor) drives its decelerator that carries motion, rotates thereby make the harmonic wave power shaft drive harmonic speed reducer, drives the motion of harmonic wave output shaft then.The harmonic wave output shaft connects through the key and two on it, the base in three joints.Like this, motor will drive the base motion in two, three joints when rotating, thereby realizes that waist changes the rotation in joint.
2. big arm, forearm joint designs
The torque that big arm, forearm rotary joint are born is maximum, if adopt waist to change the scheme in joint, then the size of harmonic speed reducer is bigger; Maximum possible is to more than the 200mm, and obviously, so large scale is not beautiful in appearance; And because under power failure state; Can not the holding position, therefore, adopt said structure obviously improper.On the other hand, if adopt the worm and gear transmission, though solved the self-locking problem, the problem that physical dimension is big still can not solve, and is obviously infeasible.Through consulting related data, after carrying out synthesis of mechanism and optimizing relatively, adopt lead screw transmission version, solved the problem of big torque output from structure.
Big arm, forearm articulation structure are shown in Fig. 6, Fig. 6 a and Fig. 6 b.
The big diarticular for this reason holder of arm base connects with the output shaft in 1 joint through self keyway, and big arm connecting rod, big arm are connected formation crank block structure through deep groove ball bearing and hinge pin with arm base greatly.Big arm is made up of installations such as the short free bearing of big arm, flower cover, big arm connector, big brachium free bearings.
Big arm concrete structure: big brachium free bearing is connected with two forearm connecting plates with big arm base through deep groove ball bearing, pin, can free rotate around pin center.Be connected with the intermediate connecting sleeve tube with screw above that, the effect of intermediate connecting sleeve tube is the fixed electrical machinery mounting disc, to realize the installation and the location of power source (servomotor).The other end of intermediate connecting sleeve tube is connected with screw with the screw rod slotted sleeve.Because the slotted sleeve arm is thinner, guarantees its connection and support strength again, so increase the fastening axle sleeve of screw rod at connecting portion.Slotted sleeve inside is equipped with big arm turn-screw, and locate with deep groove ball bearing at two ends, and transmission nut is installed on leading screw.Transmission nut is connected with big arm connecting rod or forearm connecting rod through circlip for shaft, big pad, connecting rod nut bearing pin.Transmission nut relies on the fluting of slotted sleeve to realize directed movement.The other end of slotted sleeve is connected with the short free bearing of big arm with screw.Motor links to each other with leading screw through decelerator.Because big arm is the assembly of numerous parts because the restriction of processing and assembled condition, can't guarantee leading screw and motor reducer output shaft to neutrality.Therefore, turn-screw and driving motor linkage section are made the bellows structure form.Under the situation not so good, still can guarantee the reliability service of this drive mechanism like this to neutrality.Like this, motor can drive leading screw and rotate when rotating, thereby makes the nut directed movement, and the utilization of nut can cause the rotation of connecting rod again, and then realizes the motion in whole joint.
Two big arm configurations are formed identical, and the installation site is opposite.The big arm end in the outside is connected side plate with forearm through pin, deep groove ball bearing, realizes the tetragon drive mechanism.In order to prevent the distortion of forearm to side plate, guarantee the plane motion of two big arms, two forearms are connected through soket head cap screw, support bar in the middle of the side plate, thereby have increased the rigidity of forearm to side plate.Forearm is connected with two big arms and big arm connecting rod, realizes the rotation around joints axes.The forearm end leaves installing hole, can put the joint with wrist and be connected.
3. wrist pendulum, wrist joint design
Wrist pendulum, wrist rotation structure design shown in Fig. 8 a, 8b, 8c, 8d.
Wrist pendulum joint is connected with forearm through the hand connector.Because end load is heavier, and adopt the bonding strength of screw connecting mode not high, so the connected mode that is connected employing screw rod, stop washer, nut of hand connector and forearm.The motor bearing links to each other with the hand connector through screw, in order to the fixed conveyor electric machine assembly.Whole terminal seat fixes through semiaxis-driving side part and semiaxis-afterbody part, and these two parts link to each other with the hand connector through bearing.The electric machine assembly outfan through sleeve, compress plug screw (mother) and be connected with semiaxis-driving side part.During electric machine assembly work, drive semiaxis-driving side part and rotate, thereby realize the driving in wrist pendulum joint.
The wrist joint structural design is similar with wrist pendulum joint designs.Terminal seat one end is connected through bolt, stop washer, nut with semiaxis-driving side, semiaxis-afterbody; The other end is installed on the endsocket through bearing, relies on bearing inner shield ring, the outer back-up ring of bearing, circlip for shaft location between the two bearings.Electric machine assembly is connected through the end of screw with terminal seat.The interface that connects propulsive mechanism is arranged on the endsocket, and the front end of endsocket is connected through sleeve with terminal gland, and clamping nut is arranged on the end cap.So just realized being connected of electric machine assembly output shaft and endsocket, sleeve, clamping nut.When electric machine assembly is worked, can drive endsocket and rotate, thus the rotation of realization wrist joint.
Above-described embodiment, the present invention specific embodiment a kind of more preferably just, common variation that those skilled in the art carries out in technical scheme scope of the present invention and replacement all should be included in protection scope of the present invention.
Claims (8)
1. a mechanical arm is characterized in that, comprises
Base arm, it links to each other with big arm base through waist commentaries on classics joint, and actuating unit and drive mechanism are equipped with in inside, and said big arm base can rotate on said base arm;
Said big arm base is connected with an end of first arm through large-arm joint; The other end of said first arm is connected with forearm through little shoulder joint; One end of said forearm is connected in an end of the second largest arm parallel with said first arm;
The other end of said forearm is connected with the hand connector, and is connected with terminal seat through wrist pendulum joint; Said terminal seat is connected with endsocket through wrist joint.
2. mechanical arm according to claim 1 is characterized in that said actuating unit is an electric machine assembly, and said drive mechanism is a harmonic speed reducer;
Motor fixing seat, deep groove ball bearing, harmonic speed reducer steel wheel and bearing wedge are installed on the said base arm, are useful on fixed connection screwed hole in its bottom;
The input of the reducer output shaft of said electric machine assembly and harmonic wave power shaft is fastening through holding screw; The harmonic wave output shaft is connected with the waveform generator of harmonic speed reducer through key; The input of harmonic wave power shaft is made the corrugated tube pattern; The output steel wheel of harmonic speed reducer connects fastening with the harmonic wave output shaft through soket head cap screw; The harmonic wave output shaft relies on deep groove ball bearing to be supported on the base arm, leans on bearing inner race back-up ring and bearing outer ring back-up ring location between the bearing; Electric machine assembly drives its decelerator that carries motion, rotates thereby make the harmonic wave power shaft drive harmonic speed reducer, drives the motion of harmonic wave output shaft then; The harmonic wave output shaft connects with big arm base through the key on it, and like this, electric machine assembly will drive big arm base motion when rotating, thereby realizes that waist changes the rotation in joint
3. mechanical arm according to claim 1 is characterized in that, said large-arm joint is a slider-crank mechanism; Wherein, be connected with big arm connecting rod pivotly on the said big arm base, the other end of said big arm connecting rod can translation on said first arm, thereby realizes the swing of said first arm.
4. mechanical arm according to claim 1 is characterized in that, said little shoulder joint is that crank block drives parallel-crank mechanism; Wherein, be connected with the forearm connecting rod on the said forearm pivotly, the other end of said forearm connecting rod can translation on the second largest arm parallel with said first arm, thereby realizes the swing of said forearm.
5. according to claim 3 or 4 described mechanical arms, it is characterized in that the translation end of said big arm connecting rod and said forearm connecting rod passes through lead screw transmission respectively.
6. mechanical arm according to claim 1 is characterized in that, said hand connector and forearm be connected the connected mode that adopts screw rod, stop washer, nut, the motor bearing links to each other with the hand connector through screw, in order to fixing wrist pendulum motor assembly; Whole terminal seat fixes through semiaxis-driving side part and semiaxis-afterbody part, and these two parts link to each other with the hand connector through bearing; Wrist pendulum motor assembly outfan through sleeve, compress plug screw (mother) and be connected with semiaxis-driving side part; During the work of wrist pendulum motor assembly, drive semiaxis-driving side part and rotate, thereby realize the driving in wrist pendulum joint.
7. mechanical arm according to claim 1 is characterized in that, said terminal seat one end is connected through bolt, stop washer, nut with semiaxis-driving side, semiaxis-afterbody; The other end is installed on the endsocket through bearing, relies on bearing inner shield ring, the outer back-up ring of bearing, circlip for shaft location between the two bearings; Wrist rotating motor assembly is connected through the end of screw with terminal seat; The interface that connects propulsive mechanism is arranged on the endsocket, and the front end of endsocket is connected through sleeve with terminal gland, and clamping nut is arranged on the end cap, and when wrist rotating motor assembly is worked, can drive endsocket and rotate, thus the rotation of realization wrist joint.
8. a medical robot has 5DOF at least, it is characterized in that, has the described mechanical arm according to one of claim 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201010540511.4A CN102462533B (en) | 2010-11-11 | 2010-11-11 | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery |
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|---|---|---|---|
| CN201010540511.4A CN102462533B (en) | 2010-11-11 | 2010-11-11 | Mechanical arm for clamping propelling mechanism of minimally invasive blood vessel interventional surgery |
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| CN102462533B CN102462533B (en) | 2014-03-12 |
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| CN104755040A (en) * | 2012-12-20 | 2015-07-01 | 迈柯唯有限公司 | Medical holding arm |
| CN105411680A (en) * | 2015-12-30 | 2016-03-23 | 重庆金山科技（集团）有限公司 | Surgical robot and mechanical arm thereof |
| CN106476264A (en) * | 2015-12-28 | 2017-03-08 | 北方工业大学 | Three-axis movement device for 3D printing |
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| CN114795461A (en) * | 2022-05-24 | 2022-07-29 | 河北工业大学 | Semi-automatic mechanical arm for adjusting pose of blood vessel interventional robot |
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| CN104755040A (en) * | 2012-12-20 | 2015-07-01 | 迈柯唯有限公司 | Medical holding arm |
| CN104755040B (en) * | 2012-12-20 | 2017-06-16 | 迈柯唯有限公司 | The retaining arm of medical treatment |
| US9918795B2 (en) | 2012-12-20 | 2018-03-20 | MAQUET GmbH | Instrument holder |
| US10072793B2 (en) | 2012-12-20 | 2018-09-11 | MAQUET GmbH | Medical holding arm |
| CN106476264A (en) * | 2015-12-28 | 2017-03-08 | 北方工业大学 | Three-axis movement device for 3D printing |
| CN105411680A (en) * | 2015-12-30 | 2016-03-23 | 重庆金山科技（集团）有限公司 | Surgical robot and mechanical arm thereof |
| CN109602494A (en) * | 2018-12-19 | 2019-04-12 | 浙江伏尔特医疗器械股份有限公司 | Multiple degrees of freedom latching mechanical arm |
| CN109602494B (en) * | 2018-12-19 | 2023-10-31 | 浙江伏尔特医疗器械股份有限公司 | Multi-degree-of-freedom self-locking mechanical arm |
| CN114795461A (en) * | 2022-05-24 | 2022-07-29 | 河北工业大学 | Semi-automatic mechanical arm for adjusting pose of blood vessel interventional robot |
| CN114795461B (en) * | 2022-05-24 | 2024-04-09 | 河北工业大学 | Semi-automatic mechanical arm for adjusting pose of vascular intervention robot and assisting blood vessel intervention robot |
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| CN102462533B (en) | 2014-03-12 |
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