CN105342704A - Minimally invasive fracture reduction robot - Google Patents
Minimally invasive fracture reduction robot Download PDFInfo
- Publication number
- CN105342704A CN105342704A CN201510744873.8A CN201510744873A CN105342704A CN 105342704 A CN105342704 A CN 105342704A CN 201510744873 A CN201510744873 A CN 201510744873A CN 105342704 A CN105342704 A CN 105342704A
- Authority
- CN
- China
- Prior art keywords
- continuum
- reduction
- flexible joint
- machine people
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a minimally invasive fracture reduction robot, which comprises a computer, a discrete joint mechanical arm, a continuum flexible joint, a micro surgical operating device and an image acquisition and feedback system, wherein the image acquisition and feedback system and the micro surgical operating device are arranged at the top end of the continuum flexible joint, and the discrete joint mechanical arm is connected to the tail end of the continuum flexible joint; the continuum flexible joint is connected to the computer; and the continuum flexible joint is bent under the control of the computer. According to the minimally invasive fracture reduction robot provided by the invention, the continuum flexible joint, which is installed, can be flexibly bent under the computer of the computer, and the bending direction and the bending degree of the continuum flexible joint can be effectively controlled. The fracture reduction robot is flexible to move and strong in barrier-avoiding capacity, and the robot is capable of effectively relieving pain in patients during an operation and shortening a post-operative recovery time; and meanwhile, the robot can reduce the dosage of X-ray to a certain degree.
Description
Technical field
The present invention relates to Medical Robot field, be specifically related to a kind of Wicresoft reduction of the fracture machine people mixing joint.
Background technology
Fracture is frequently-occurring disease, commonly encountered diseases in wound field, and the reduction of the fracture also exists that hand operation difficulty is large, operation effort and be difficult to the reduction of the fracture of the problems, particularly joint such as stable holding after resetting.
Traditional closed reduction method, the method that percutaneous or minimal incision * are fixed needs X ray image Fluoroscopy location in art, and doctor and patient are easily subject to radiation, and cannot by IA broken bone split.And open reduction easily destroys fracture blood vessel around and soft tissue, cause hemorrhage many, the problem such as postoperative infection nonunion causes that recovery time is grown.
In the face of the intrinsic defect of open reduction, domestic scholars starts to explore carries out mechanization reset to fracture or joint dislocation position under fluoroscopy, with expect can to realize when not carrying out open reduction to fracture or reduction of joint dislocation accurate.But current reduction of the fracture machine people motion underaction keeps away barrier ability, easy and in-vivo tissue organ rubs, and causes secondary injury.Therefore a kind of reduction of the fracture machine people of Wicresoft is badly in need of.
Summary of the invention
For solving the problems of the technologies described above, the invention provides a kind of reduction of the fracture machine people of Wicresoft, its motion flexibly, to keep away barrier ability strong, effectively can alleviate in patient's art painful, shorten post-operative recovery time, reduce the consumption of X-ray simultaneously to a certain extent.
The invention provides a kind of reduction of the fracture machine people of Wicresoft, it comprises: computer, discrete articulated mechanical arm, continuum flexible joint, Miniature surgical operating means and image acquisition feedback system; Wherein, described image acquisition feedback system and described Miniature surgical operating means are installed in the top of described continuum flexible joint, end is connected with described discrete articulated mechanical arm, and described continuum flexible joint connects described computer, and is controlled bending by this computer.
In certain embodiments, be preferably, described continuum flexible joint comprises continuum moving cell, driver element and control chamber unit, one end of described driver element is connected with described discrete articulated mechanical arm, the other end is connected with described continuum moving cell, described continuum moving cell is formed by connecting by the sections of multiple flexibility, described driver element controls by driving rope and drives described continuum motion unit bending, and described control chamber unit is connected with described driver element and described computer by cable.
In certain embodiments, be preferably, described sections is hollow cylindrical body, the junction of described adjacent column hollow body and the two ends being connected to form described continuum flexible joint are equipped with bulge loop, bulge loop is provided with three equally distributed through holes, each through hole is fixedly connected with respectively and drives rope, the other end of this driving rope connects described driver element along the bearing of trend through hole passed straight through on bulge loop of described hollow cylindrical body.
In certain embodiments, be preferably, described bulge loop and described hollow cylindrical body are made into integration or detachably install.
In certain embodiments, be preferably, described hollow cylindrical body adopts Nitinol pipe or spring to make, and described driving rope adopts Nitinol to make.
In certain embodiments, be preferably, described driver element comprises multiple motor or hydraulic stem, and each described driving rope is connected respectively each motor or hydraulic stem.
In certain embodiments, be preferably, in described continuum moving cell, be filled with gasbag or liquid pouch.
In certain embodiments, be preferably, described gasbag or liquid pouch are provided with on the whole does not close barrier film completely by gasbag or liquid pouch, and the spacing distance of described barrier film is identical with corresponding described segmental length.
In certain embodiments, be preferably, described Miniature surgical operating means is surgical drill or small-sized jaw, and its tie-portion is connected with described control chamber unit.
In certain embodiments, be preferably, described image acquisition feedback system comprises minisize pick-up head and illumination LED, and its tie-portion is connected with described computer.
The invention provides a kind of reduction of the fracture machine people of Wicresoft, it is provided with continuum flexible joint, and continuum flexible joint can bend under the control of the computer flexibly, and effectively can control bending direction and the degree of crook of continuum flexible joint.Its motion flexibly, to keep away barrier ability strong, effectively can alleviate in patient's art painful, shorten post-operative recovery time, reduce the consumption of X-ray simultaneously to a certain extent.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of the present invention.
Fig. 2 is the structural representation of continuum moving cell in one embodiment of the present invention.
Fig. 3 is the cross-sectional of continuum moving cell junction in Fig. 2.
Fig. 4 is the three-dimensional cartesian coordinate system of continuum moving cell in one embodiment of the present invention.
Detailed description of the invention
It should be noted that, when not conflicting, the embodiment in the application and the feature in embodiment can combine mutually.Please refer to accompanying drawing below and describe the present invention in detail in conjunction with the embodiments, accompanying drawing is only for reference and use is described, does not form the restriction to scope of patent protection of the present invention.
Keep away barrier ability to solve current reduction of the fracture machine people motion underaction, easy and in-vivo tissue organ rubs, and causes the deficiencies such as secondary injury, the invention provides a kind of reduction of the fracture machine people of Wicresoft.
This reduction of the fracture machine people, comprising: computer, discrete articulated mechanical arm, continuum flexible joint, Miniature surgical operating means and image acquisition feedback system; Wherein, described image acquisition feedback system and described Miniature surgical operating means are installed in the top of described continuum flexible joint, end is connected with described discrete articulated mechanical arm, and described continuum flexible joint connects described computer, and is controlled bending by this computer.
Particularly, as shown in Figure 1, reduction of the fracture machine people, it comprises: computer 1, discrete articulated mechanical arm 2, continuum flexible joint, Miniature surgical operating means 4 and image acquisition feedback system 5;
The end of continuum flexible joint is connected with discrete articulated mechanical arm, and image acquisition feedback system and Miniature surgical operating means are installed in top.Wherein, discrete articulated mechanical arm can adopt any one business-like mechanical arm system.
Continuum flexible joint comprises continuum moving cell 5, driver element 6, control chamber unit 7; One end of driver element 6 is fixedly connected with discrete articulated mechanical arm 2, screw can be adopted to connect, the other end is fixedly connected with continuum moving cell 5, continuum moving cell 5 is formed by connecting by the sections of multiple flexibility, driver element 6 controls by driving rope and drives continuum motion unit bending, control chamber unit 7 is connected with driver element 6 by cable, and control chamber unit 7 is connected with computer 1.
Continuum moving cell is formed by connecting by multiple sections, can adjust the quantity of sections according to demand.As shown in Figure 2, each sections is flexible hollow cylindrical body 8, and the materials such as Nitinol pipe or spring can be adopted to make.The junction of each adjacent column hollow body 8 and the two ends being connected to form described continuum flexible joint are provided with bulge loop 9, and bulge loop is provided with three symmetrical through holes, install hollow cylindrical body when connecting, if the through hole on all bulge loops in a straight line.Each through hole is fixedly connected with respectively and drives one end of rope 10, the other end of this driving rope 10 connects described driver element along the bearing of trend through hole passed straight through on bulge loop of described hollow cylindrical body.
Wherein, bulge loop can synthesize with hollow cylindrical body one, and bulge loop also detachably can be installed with hollow cylindrical body, adopts the end being bolted to described hollow cylindrical body.
Concrete, bulge loop is provided with in the junction of each adjacent column hollow body and the two ends that are connected to form described continuum flexible joint, all can be provided with bulge loop at each hollow cylindrical body two ends, adjacent hollow cylindrical body 8 is connected by bulge loop, screw can be used to connect and connected by two bulge loops; Also can be provided with bulge loop in the one end of each hollow cylindrical body being placed in continuum flexible joint interlude, the hollow cylindrical body being placed in two ends is that two ends are all provided with bulge loop; During installation, have one end of bulge loop and another hollow cylindrical body not to have one end of bulge loop to be connected, like this, hollow cylindrical body two terminations at the continuum moving cell two ends after whole connection are all provided with bulge loop.
As shown in Figure 3, bulge loop 9 is provided with three equally distributed through holes 11, through hole 11 is fixedly connected with and drives rope, as shown in Figure 3, each bulge loop offers three through holes, these three through holes are each passed through for three drivings direction along a straight line of restricting; Driving rope is neatly placed, avoids driving rope chaotic, the generation of the phenomenons such as knotting.When being provided with n hollow cylindrical body, i-th (i≤n) sections drives rope to pass to the through hole on sections to the n-th sections bulge loop of driver element direction i-th+1 successively, and one end is bundled on through hole corresponding to the i-th sections bulge loop, and the other end is connected with driver element.Like this, each hollow cylindrical body and sections are connected with three and drive rope, hollow cylindrical body is that flexible material is made, and pulls and drives rope, namely shrinks the length driving rope, the hollow cylindrical body generation plastic deformation of connection can be made, contracted length is different, makes the degree of cylinder hollow body deformability different, and is three equally distributed application points on bulge loop, hollow cylindrical body can be allowed to install required bending direction bend, degree of crook also effectively can be controlled by the length driving rope to shrink.Arranging of bulge loop is on the one hand for connecting two adjacent hollow cylindrical bodies, hollow cylindrical body can being made to drive the application point be out of shape under rope effect on the other hand for arranging.
Drive rope can adopt Nitinol or the good material preparation of other intensity, to ensure that driving rope can not be ineffective in life-time service process.
In use reaching for making continuum moving cell after making a reservation for become degree, no longer continuing to deform, in continuum moving cell, being provided with gasbag or liquid pouch.As shown in Figure 3, gasbag 12 or liquid pouch can be provided with three, single gasbag or liquid pouch are whole installations, also can be provided with not by gasbag or the complete totally enclosed barrier film of liquid pouch by each hollow cylindrical body mid-length, whole gasbag or liquid pouch are partitioned into and each hollow cylindrical body equal length by not complete totally enclosed barrier film, reduce its impact on hollow cylindrical body completeness.When gasbag or the unaerated of liquid pouch or liquid, continuum moving cell is Free Transform under the tractive driving rope.When needing to maintain a certain case of bending, such as ensure during broken bone gripping that continuum flexible joint is indeformable, can be full of gasbag or liquid pouch, continuum moving cell rigidity increases, and continuum flexible joint becomes non deformable rigid body.
Driver element is made up of motor or hydraulic stem.Three, each joint drives corresponding three motors of rope or hydraulic stem, and when being provided with n hollow cylindrical body, total 3n motor or a hydraulic stem, is rotated by motor or the every root of the flexible adjustment of hydraulic stem drives rope length.Motor or hydraulic stem are fixed on driver element, and operational order is converted into motor or drive rod movement instruction according to algorithm, control motor run by computer by control chamber.
Control chamber unit comprises power supply and related electronic devices, is connected with described driver element by cable with computer.There are the basic controlling elements such as differential amplifier circuit, gating circuit, motor driver in control chamber, and utilize power supply to power to driver element.
Miniature surgical operating means, is installed on continuum flexible unit top.Can need to install according to difference operation, as surgical drill, small-sized jaw etc., tie-portion is connected with control chamber unit through after the hollow position in the middle of hollow cylindrical body by wire.
Image acquisition feedback system, is installed on continuum flexible unit top.Comprise minisize pick-up head and illumination LED, its tie-portion is connected with computer through after the hollow position in the middle of hollow cylindrical body by wire, gather in-vivo image by minisize pick-up head and Real-time Feedback to operating doctor.
Continuum moving cell can drive Free Transform under the tractive of restricting, and wherein, it is as follows that single flexible sections bends control algolithm:
When continuum moving cell enters human body, need flexural deformation, to adapt to labyrinth in human body.Angle of bend and the bending direction of single hollow cylindrical body, drive rope to control by three.For the i-th sections, the bulge loop of this sections and the i-th+1 sections is fixed.Length due to hollow cylindrical body is constant, is set to L, and suppose that the bending rear shape approximation of each section is one section of circular arc, wherein O point is the center of circle of bulge loop.We set up the three-dimensional cartesian coordinate system shown in Fig. 4 on bulge loop, and O is as coordinate origin, and regulation bulge loop normal vector direction is Z axis.Bulge loop and three drive the junction point of restricting to be uniformly distributed.Bulge loop center O and first drives the line of restricting to be X-axis, then other two is ± 120 ° with X-axis angle, and Y-axis is perpendicular to XZ plane.With α, we represent that operator wishes that the direction that continuum flexible joint is bending, β represent the angle of wishing that sections is bending.Three drive rope to be designated as θ 1, θ 2, θ 3, then θ 1=α with the angle respectively of bending direction; θ 2=α+120 °; θ 3=α-120 °.The bulge loop center of circle is r to the distance that any drives rope junction point.Radius R=L/ the β of bending segmental arc.There is fixed relationship:
ΔL＝L′-L＝(R-rcosθ)β-L＝-rβcosθ
Bring θ 1, θ 2, θ 3 into θ, obtain 3 long knots modification Δ L of rope, the amount namely needing three driver elements to change, rotated by motor or the flexible realization of hydraulic stem.
Wherein, in simple joint motion, α, β parameter is provided by operator, the body internal information that operator obtains according to image acquisition feedback system, can determine the bending direction α of continuum flexible joint and compliant motion unit is bent β, stopping after reaching correct position.The Miniature surgical operating means of operator's Appropriate application joint end is performed the operation afterwards.When needing the mobile operation (reset operation of such as fracturing) compared with heavy load, liquid pouch or gasbag are full of and make liquid or gas, and continuum flexible joint rigidity increases, and not redeformation, is realized the motion of heavy load by discrete articulated mechanical arm.
Continuum flexible joint combination control method
Jointly control flow process for the continuum moving cell with n sections continuously to set forth it: continuum moving cell from the sections that is connected with driver element successively label be sections n, n-1 ..., 1, during operation:
I, operator is by computer input and adjustment bending direction α and angle of bend β, drives the long knots modification of rope according to described in preceding sections.Utilize the feedback control sections of continuum flexible joint top image acquisition feedback system to bend, point to target location;
II, discrete articulated mechanical arm is controlled to precession in body one segment distance, concrete distance is equal to the length L of single sections, meanwhile, bending direction α and the angle of bend β of sections i foundation current time sections i-1 bend, (sections 2 becomes bending direction and the angle of bend of sections 1, sections 3 becomes bending direction and the angle of bend of sections 2, the rest may be inferred, do not bend, bending direction and angle are all 0), sections 1 becomes straight configuration, ensures that image acquisition feedback system is towards constant;
III, repeat above-mentioned I, II process, until Miniature surgical operating means target approach position, then can carry out corresponding operation technique.
Reduction of the fracture machine of the present invention manually makes process:
For the reattachment surgery of a routine fracture of scapula.This kind of patient carries out traditional operation needs shoulder tissue to cut completely, observes and perform the operation to allow doctor.And using the present invention, doctor only can cut at shoulder the little wound allowing continuum moving cell to pass through, and carries out blessing and the reset of broken bone under image acquisition feedback system.Comparing traditional operation can effectively alleviate in patient's art painful, shortens post-operative recovery time, reduces the consumption of X-ray simultaneously to a certain extent.Have higher motility with being used alone compared with mechanization reduction of the fracture system, reduce secondary injury.The work process of this system is as follows:
I, patient's shoulder and continuum moving cell part complete disinfection;
II, system initializes after switching on power, and in driver element, motor or hydraulic stem zero, make continuum moving cell become linear state (each arthrogryposis direction and angle of bend are 0);
III, doctor cuts a little wound passed through for continuum moving cell at patient's shoulder, and it is a bit of that continuum moving cell is sent into wound by operation discrete type robot.
IV, doctor operates computer, and continuum flexible joint top Miniature surgical operating means is sent into surgical target position, and process is shown in foregoing description, finds broken bone in scapula glenoid fossa.
V, doctor utilizes small-sized jaw to clamp broken bone, and is resetted.If need larger reset force, then need liquid pouch to be full of, increase rigidity, then use discrete type robot to move continuum flexible joint and together reset together with the broken bone clamped.
The above is only preferred embodiment of the present invention, and be not restriction the present invention being done to other form, any those skilled in the art may utilize the technology contents of above-mentioned announcement to be changed or be modified as the Equivalent embodiments of equivalent variations.But everyly do not depart from technical solution of the present invention content, any simple modification, equivalent variations and the remodeling done above embodiment according to technical spirit of the present invention, still belong to the protection domain of technical solution of the present invention.
Claims (10)
1. a reduction of the fracture machine people for Wicresoft, it comprises: computer, discrete articulated mechanical arm, continuum flexible joint, Miniature surgical operating means and image acquisition feedback system; Wherein, described computer connects described continuum joint, described image acquisition feedback system and described Miniature surgical operating means are installed in the top of described continuum flexible joint, and end is fixedly connected with described discrete articulated mechanical arm, and described continuum flexible joint is flexible.
2. reduction of the fracture machine people as claimed in claim 1, it is characterized in that, described continuum flexible joint comprises continuum moving cell, driver element and control chamber unit, one end of described driver element is connected with described discrete articulated mechanical arm, the other end is connected with described continuum moving cell, described continuum moving cell is formed by connecting by the sections of multiple flexibility, described driver element controls by driving rope and drives described continuum motion unit bending, and described control chamber unit is connected with described driver element and described computer by cable.
3. reduction of the fracture machine people as claimed in claim 2, it is characterized in that, described sections is hollow cylindrical body, the junction of described adjacent column hollow body and the two ends being connected to form described continuum flexible joint are equipped with bulge loop, bulge loop is provided with three equally distributed through holes, each through hole is fixedly connected with respectively and drives rope, the other end of this driving rope connects described driver element along the bearing of trend through hole passed straight through on bulge loop of described hollow cylindrical body.
4. reduction of the fracture machine people as claimed in claim 3, it is characterized in that, described bulge loop and described hollow cylindrical body are made into integration or detachably install.
5. reduction of the fracture machine people as claimed in claim 3, is characterized in that, described hollow cylindrical body adopts Nitinol pipe or spring to make, and described driving rope adopts Nitinol to make.
6. reduction of the fracture machine people as claimed in claim 3, it is characterized in that, described driver element comprises multiple motor or hydraulic stem, and each described driving rope is connected respectively each motor or hydraulic stem.
7., as the reduction of the fracture machine people as described in arbitrary in claim 2-6, it is characterized in that, in described continuum moving cell, be filled with gasbag or liquid pouch.
8. reduction of the fracture machine people as claimed in claim 7, is characterized in that, described gasbag or liquid pouch are provided with on the whole does not close barrier film completely by gasbag or liquid pouch, and the spacing distance of described barrier film is identical with corresponding described segmental length.
9. reduction of the fracture machine people as claimed in claim 1, it is characterized in that, described Miniature surgical operating means is surgical drill or small-sized jaw, and its tie-portion is connected with described control chamber unit.
10. reduction of the fracture machine people as claimed in claim 1, it is characterized in that, described image acquisition feedback system comprises minisize pick-up head and illumination LED, and its tie-portion is connected with described computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510744873.8A CN105342704B (en) | 2015-11-05 | 2015-11-05 | A kind of minimally invasive reduction of the fracture machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510744873.8A CN105342704B (en) | 2015-11-05 | 2015-11-05 | A kind of minimally invasive reduction of the fracture machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105342704A true CN105342704A (en) | 2016-02-24 |
| CN105342704B CN105342704B (en) | 2017-11-07 |
Family
ID=55318878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510744873.8A Active CN105342704B (en) | 2015-11-05 | 2015-11-05 | A kind of minimally invasive reduction of the fracture machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105342704B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606364A (en) * | 2016-03-23 | 2016-05-25 | 成都柏森松传感技术有限公司 | Monitoring equipment for bearing running test |
| CN107510505A (en) * | 2017-07-17 | 2017-12-26 | 北京理工大学 | Flexible installing mechanism for operation of opening cranium robot arm end |
| CN109770840A (en) * | 2019-01-24 | 2019-05-21 | 浙江工业大学 | A kind of flexible gastroscope of stiffness variable |
| CN113952008A (en) * | 2021-12-23 | 2022-01-21 | 真健康（北京）医疗科技有限公司 | Cross-drive type puncture needle inserting mechanism and needle puncturing device |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070156019A1 (en) * | 2005-12-30 | 2007-07-05 | Larkin David Q | Robotic surgery system including position sensors using fiber bragg gratings |
| WO2008093797A1 (en) * | 2007-02-01 | 2008-08-07 | Olympus Corporation | Surgical field keeping device |
| CN102802551A (en) * | 2009-05-29 | 2012-11-28 | 南洋理工大学 | Robotic system for flexible endoscopy |
| CN202568432U (en) * | 2012-05-09 | 2012-12-05 | 上海理工大学 | Bending mechanism for multi-degree of freedom transmission |
| US20130090763A1 (en) * | 2008-01-25 | 2013-04-11 | The Trustees Of Columibia University In The City Of The City Of New York | Systems and methods for force sensing in a robot |
| CN103315781A (en) * | 2013-07-10 | 2013-09-25 | 上海交通大学 | Endoscope noninvasive surgery system |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
-
2015
- 2015-11-05 CN CN201510744873.8A patent/CN105342704B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070156019A1 (en) * | 2005-12-30 | 2007-07-05 | Larkin David Q | Robotic surgery system including position sensors using fiber bragg gratings |
| WO2008093797A1 (en) * | 2007-02-01 | 2008-08-07 | Olympus Corporation | Surgical field keeping device |
| US20130090763A1 (en) * | 2008-01-25 | 2013-04-11 | The Trustees Of Columibia University In The City Of The City Of New York | Systems and methods for force sensing in a robot |
| CN102802551A (en) * | 2009-05-29 | 2012-11-28 | 南洋理工大学 | Robotic system for flexible endoscopy |
| CN202568432U (en) * | 2012-05-09 | 2012-12-05 | 上海理工大学 | Bending mechanism for multi-degree of freedom transmission |
| CN103315781A (en) * | 2013-07-10 | 2013-09-25 | 上海交通大学 | Endoscope noninvasive surgery system |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606364A (en) * | 2016-03-23 | 2016-05-25 | 成都柏森松传感技术有限公司 | Monitoring equipment for bearing running test |
| CN105606364B (en) * | 2016-03-23 | 2018-10-26 | 成都柏森松传感技术有限公司 | A kind of monitoring device of bearing running experiment |
| CN107510505A (en) * | 2017-07-17 | 2017-12-26 | 北京理工大学 | Flexible installing mechanism for operation of opening cranium robot arm end |
| CN107510505B (en) * | 2017-07-17 | 2019-10-18 | 北京理工大学 | Flexible installing mechanism for operation of opening cranium robot arm end |
| CN109770840A (en) * | 2019-01-24 | 2019-05-21 | 浙江工业大学 | A kind of flexible gastroscope of stiffness variable |
| CN113952008A (en) * | 2021-12-23 | 2022-01-21 | 真健康（北京）医疗科技有限公司 | Cross-drive type puncture needle inserting mechanism and needle puncturing device |
| CN113952008B (en) * | 2021-12-23 | 2022-05-24 | 真健康（北京）医疗科技有限公司 | Cross-drive type puncture needle inserting mechanism and needle puncturing device |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105342704B (en) | 2017-11-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105342704A (en) | Minimally invasive fracture reduction robot | |
| US11918311B2 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
| US9855108B2 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
| US10555785B2 (en) | Surgical arm system with internally driven gear assemblies | |
| US10179024B2 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
| CN102639080B (en) | Minimally invasive laparoscopic surgical pliers | |
| CN109893179B (en) | Surgical system for performing endoscopic procedures through a natural orifice | |
| US9451974B2 (en) | Modular surgical tool | |
| CN104869936A (en) | Active positioning arrangement of a surgical instrument and robotic surgical system comprising same | |
| WO2018082294A1 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
| US11690647B2 (en) | Surgical arm system with internally drive gear assemblies | |
| JP2013505106A (en) | Curved cannula and robot manipulator | |
| CN106073833B (en) | A kind of Minimally Invasive Surgery instrument flexible joint driving device and its method | |
| CN110478043B (en) | Surgical arm system with internally driven gear assembly | |
| CN110547876B (en) | Surgical arm system with internally driven gear assembly | |
| US9968413B2 (en) | Surgical operation by wire type surgical operation apparatus | |
| Wang et al. | Suturing and tying knots assisted by a surgical robot system in laryngeal MIS | |
| WO2018082296A1 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
| KR101502581B1 (en) | Surgical operation by wire type surgical operation apparatus | |
| US20220378535A1 (en) | Surgical arm system with internally drive gear assemblies | |
| CN113303911B (en) | Modular flexible operating arm based on single power source | |
| US11801099B2 (en) | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems | |
| WO2020258405A1 (en) | Surgical arm system with internally driven gear assemblies | |
| WO2020258404A1 (en) | Surgical arm system with internally driven gear assemblies | |
| Mavrommati et al. | Design and development of a hyper-redundant binary active laparoscopic manipulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20160224 Assignee: BEIJING LUOSEN BOTE TECHNOLOGY Co.,Ltd. Assignor: BEIHANG University Contract record no.: X2021990000210 Denomination of invention: A minimally invasive robot for fracture reduction Granted publication date: 20171107 License type: Exclusive License Record date: 20210412 |
|
| EE01 | Entry into force of recordation of patent licensing contract |