CN106473810A - A kind of transurethral flexible operation tool - Google Patents
A kind of transurethral flexible operation tool Download PDFInfo
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- CN106473810A CN106473810A CN201611046708.6A CN201611046708A CN106473810A CN 106473810 A CN106473810 A CN 106473810A CN 201611046708 A CN201611046708 A CN 201611046708A CN 106473810 A CN106473810 A CN 106473810A
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- housing
- fixedly connected
- bone
- individual body
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/2812—Surgical forceps with a single pivotal connection
- A61B17/2841—Handles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Ophthalmology & Optometry (AREA)
- Surgical Instruments (AREA)
Abstract
The present invention relates to a kind of transurethral flexible operation tool, including a flexible non-individual body mechanical arm and a driver element；Flexible non-individual body mechanical arm includes first segment non-individual body and second section non-individual body；First segment non-individual body includes four first structure bones be arrangeding in parallel at equal intervals, multiple the first space discs being spacedly distributed and first stator, first structure bone rear end is connected with driver element, and first structure bone front end is fixedly connected with the first stator after sequentially passing through each first space disc；Second section non-individual body includes four the second structural bone be arrangeding in parallel at equal intervals, multiple the second space discs being spacedly distributed and second stator, wherein, second structural bone rear end is connected with driver element, and the second structural bone front end is sequentially passed through each first space disc, the first stator and is fixedly connected with the second stator after each second space disc.
Description
Technical field
The present invention relates to a kind of transurethral flexible operation tool, belongs to medical instruments field.
Background technology
In modern medical service field, Minimally Invasive Surgery is when the postoperative pain for reducing patient and complication, shortening are in hospital
Between, improve the aspects such as postoperative scar situation and achieve successfully.In the field, the Intuitive of successful commercialization at present
The da Vinci porous laparoscopic surgery robot developed by Surgical company disclosure satisfy that the requirement of multiple Minimally Invasive Surgeries.But
With reaching its maturity and the higher and higher requirement of patient for medical technology, occur in that through human body natural's cavity operation (natural
Orifice trans-luminal endoscopic surgery, NOTES), it is characterized in not needing any otch, surgical device
Tool needs to carry out clamping the surgical action such as suture by reaching art portion after long and narrow complicated body cavities.At present, including
Da Vinci is in the existing operating robot of interior major part because of the limit of its rigid structure, apparent size and free degree configuration etc.
System, is all difficult to meet the technical requirements through the operation of human body natural's cavity, particularly with the urological surgery that per urethra is put to good use.By
8mm is typically smaller than in urethra diameter, there is no in current world wide company develop can transurethral operating robot, therefore,
The urology procedure that per urethra is put to good use as the important branch that performs the operation through human body natural's cavity, with high novelty and wide
General social application is worth.
Content of the invention
For the problems referred to above, it is an object of the invention to provide a kind of can per urethra implement the transurethral flexible hand of operation
Art instrument.
For achieving the above object, the present invention is employed the following technical solutions：A kind of transurethral flexible operation tool, which is special
Levy and be：It includes a flexible non-individual body mechanical arm and a driver element；The flexibility non-individual body mechanical arm includes that first segment connects
Continuous body and second section non-individual body, the first segment non-individual body include four first structure bones be arrangeding in parallel at equal intervals, multiple etc.
First space disc spaced apart and first stator, wherein, the first structure bone rear end is connected with the driver element
Connect, the first structure bone front end is fixedly connected with first stator after sequentially passing through each first space disc；Described
Second section non-individual body includes four the second structural bone be arrangeding in parallel at equal intervals, multiple the second space discs and being spacedly distributed
Individual second stator, wherein, the second structural bone rear end is connected with the driver element, and the second structural bone front end is successively
Fix with second stator through after each first space disc, first stator and each second space disc and connect
Connect；The driver element includes a housing and four structural bone drive components being located in the housing；Each structural bone
Drive component is connected with two first structure bones through the housing forward end or two second structural bone；Each institute
State structural bone drive component include one first pedestal, a first shaft coupling male, a binodal Hooks coupling universal coupling, a connecting rod, two
One pressing plate and two slide blocks；Four guide rails are provided between the front-end and back-end of the housing, on each guide rail simultaneously
It is slidably connected two and belongs to the slide block of the different structural bone drive components；First pedestal be located at guide rail described in two it
Between and be fixedly connected with the rear end of the housing, the first shaft coupling male be located at the rear end of the housing and with a power transmission shaft
One end be fixedly connected, the power transmission shaft is connected with the housing into rotation, and the other end of the power transmission shaft is fixedly connected described double
One end of section Hooks coupling universal coupling, the other end of the binodal Hooks coupling universal coupling are fixedly connected on the connecting rod by another power transmission shaft
Middle part, another drive axis are supported on first pedestal；The two ends of the connecting rod slidably and can turn respectively
Connect the first pressing plate described in dynamicly, after each first pressing plate and the second structural bone described in first structure bone or described in
End is fixedly connected；Described in two, the first pressing plate is fixedly connected with slide block described in respectively.
One operating forceps is set in the front end of the flexibility non-individual body mechanical arm, after the operating forceps control line of the operating forceps
End is successively from center through second stator, each second space disc, first stator, each first interval
It is connected with the operating forceps drive component being located in the driver element after disk.
The operating forceps drive component includes one second pedestal, one first guiding sleeve, a second shaft coupling male, a spiral shell
Bar, a nut, one second pressing plate and a guide rod；The guide rod be fixedly connected between the front end of the housing and rear end and with institute
State nut to be slidably connected, second pedestal is fixedly connected with the front end of the housing, the second shaft coupling male is located at institute
State the rear end of housing and be fixedly connected with one end of the screw rod, the two ends of the screw rod are all connected with the housing into rotation, institute
State screw rod parallel with the guide rod, the nut is coordinated with the screw flight, the nut is fixed with second pressing plate and connected
Connect, second pressing plate is fixedly connected with the rear end of the operating forceps control line；First guiding sleeve is arranged on the shell
Between the front end of body and second pedestal, the operating forceps control line is passed through from first guiding sleeve.
Each structural bone drive component also includes a micro-adjusting mechanism, and the micro-adjusting mechanism includes two bolts, two cylindricalitys
Nut and two extension springs；Each bolt passes through the front end of the housing and bolt head to be located at the outside of the housing, the bolt
Rear end be threaded connection one end of cylindricality nut described in, the other end of the cylindricality nut passes through extension spring connection described in
One end of the connecting rod.
Two second guiding sleeves are set between the front end of the housing and each first pedestal, with each knot
Two first structure bones of structure bone drive component connection or second structural bone are worn from the second guiding sleeve described in two
Cross.
The guide rail in the structural bone drive component adopts square rail.
The inner side of the housing forward end is provided with the integrated end of a guiding sleeve, one end of first guiding sleeve is fixed
It is connected in the vertical through hole at the integrated end of the guiding sleeve.
The inner side of the housing forward end is provided with the integrated end of a guiding sleeve, one end of each second guiding sleeve is equal
It is fixedly connected in the vertical through hole at the integrated end of the guiding sleeve.
Due to taking above technical scheme, which has advantages below to the present invention：1st, reason flexibility non-individual body machinery of the present invention
Arm and driver element are constituted, and wherein, flexible non-individual body mechanical arm can realize four spatially under the driving of driver element
The free degree is curved, the present invention disclosure satisfy that transurethral requirement in the free degree.2nd, the present invention is in flexible non-individual body mechanical arm
Front end is provided with operating forceps, and is internally provided with an operating forceps drive component in driver element, and operating forceps is driven with operating forceps
Connected by operating forceps control line between component, therefore, the basis that the present invention is freely curved in the flexible non-individual body mechanical arm of control
On can also control the folding of operating forceps.3rd, the present invention is additionally provided with driver element and is connected with each structural bone drive component
Fine tuning structure, thereby it is ensured that each first structure bone and the second structural bone position all the time in the state of being input into without power
In fixing initial position.4th, the present invention is provided with the integrated end of a guiding sleeve, multiple guiding sleeves one on the inside of housing forward end
The integrated end of guiding sleeve is fixed at end, and the other end is connected on the pedestal of structural bone drive component, each first structure bone and the
Two structural bone are all passed through from guiding sleeve, and therefore, the first structure bone of the present invention and the second structural bone are being driven by structural bone
Component driver and can advance along fixing space orbit or retreat when doing push-and-pull campaign, so as to ensure the stability that runs.5、
Track in present configuration bone drive component adopts square track, therefore, it is possible to anti-limited slip block during moving along a straight line
Produce flip-flop movement.The composite can be widely applied to the operation of per urethra enforcement.
Description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is overall structure diagram of the Fig. 1 in another angle；
Fig. 3 is the structural representation of present invention flexibility non-individual body mechanical arm；
Fig. 4 is the structural representation of driver element of the present invention；
Fig. 5 is the structural representation of present configuration bone drive component；
Fig. 6 is the structural representation that Fig. 5 visual angle overturns 180 °；
Fig. 7 is the structural representation of operating forceps drive component of the present invention.
Specific embodiment
With reference to the accompanying drawings and examples the present invention is described in detail.
As shown in Figure 1 and Figure 2, the present invention includes a flexible non-individual body mechanical arm 10 and a driver element 20.
As shown in figure 3, the flexible non-individual body mechanical arm 10 of the present invention includes first segment non-individual body 101 and second section non-individual body
102.First segment non-individual body 101 include four first structure bones 103 be arrangeding in parallel at equal intervals, multiple be spacedly distributed first
Space disc 104 and first stator 105, wherein, 103 rear end of first structure bone is connected with driver element 20 (hereafter will be in detail
Describe in detail bright), front end is fixedly connected with the first stator 105 after sequentially passing through each first space disc 104.Second section non-individual body 102
Including four the second structural bone 106 be arrangeding in parallel at equal intervals, multiple the second space discs 107 being spacedly distributed and one second
Stator 108, wherein, 106 rear end of the second structural bone is connected with driver element 20, front end sequentially pass through each first space disc 104,
First stator 105 be fixedly connected with the second stator 108 after each second space disc 107.The flexible non-individual body mechanical arm 10
Can achieve spatially four frees degree curve motion.Wherein, in first segment non-individual body 101, it is separated by by cooperateing with push-and-pull
180 ° of two first structure bones 103, may be implemented in the plane formed by two first structure bones 103 one and curve freedom
Degree, achievable two of first segment non-individual body 101 for therefore including four first structure bones 103 curve the free degree；In the same manner, comprising
The second section non-individual body 102 for having four second structural bone 106 can achieve two and curve the free degree.Therefore, flexible non-individual body machinery
Arm 10 can achieve four and curve the free degree.
As shown in Figure 1, Figure 2 and Figure 4, the driver element 20 of the present invention includes that a housing 201 and four are located in housing 201
Structural bone drive component 202.Wherein, each structural bone drive component 202 and two first structures through 201 front end of housing
Bone 103 or two second structural bone 106 connect.As shown in Figure 5, Figure 6, each structural bone drive component 202 includes a pedestal
203rd, a shaft coupling male 204, a binodal Hooks coupling universal coupling 205, a connecting rod 206, two pressing plates 207 and two slide blocks 209.In housing
Four guide rails 208 are provided between 201 front-end and back-end, belong to not while being slidably connected two on each guide rail 208
Slide block 209 with structural bone drive component 202.Pedestal 203 fixes company Wei Yu two guide rails 208 between and with the rear end of housing 201
Connect, shaft coupling male 204 is located at 201 rear end of housing and is fixedly connected with a power transmission shaft 210, and power transmission shaft 210 is rotated with housing 201
Connection, and one end of binodal Hooks coupling universal coupling 205 is fixedly connected on, the other end of binodal Hooks coupling universal coupling 205 is by another biography
Moving axis is fixedly connected on the middle part of connecting rod 206, also, another power transmission shaft is rotatably supported on pedestal 203 by a bearing.Connecting rod
206 two ends slidably and rotatably connect a pressing plate 207, each pressing plate 207 and a first structure bone 103 or one respectively
Two structural bone, 106 rear end is fixedly connected.Two pressing plates 207 are fixedly connected with a slide block 209 respectively.
The operation principle of the present invention is as follows：It is defeated that each shaft coupling male 204 in driver element 20 can connect a power
Shaft (as the rotating shaft of motor), when power output shaft drives shaft coupling male 204 to rotate, binodal Hooks coupling universal coupling 205 is permissible
Change the direction of transfer of rotary motion and the constant-speed transmission of rotary motion is realized, rotate so as to drivening rod 206, because of connecting rod 206
It is slidably and to be rotatably connected with pressing plate 207, and pressing plate 207 is fixedly connected with the slide block on guide rail 208, therefore, connecting rod 206
Rotation can be converted into linear motion of the pressing plate 207 along guide rail, and because 207 points of pressing plate at the two ends of same connecting rod 206
A first structure bone 103 or second structural bone 106 are not fixedly connected, and the therefore rotation of each connecting rod 206 can realize first segment
Non-individual body 101 or second section non-individual body 102 planar one curves the free degree.
In above-described embodiment, as shown in figure 3, the front end of flexible non-individual body mechanical arm 10 can arrange an operating forceps 30, phase
Ying Di, 301 rear end of operating forceps control line are fixed from center through the second stator 108, each second space disc 107, first successively
Piece 105, each first space disc 104, it is connected with an operating forceps drive component 302 behind 201 front end of housing.As shown in fig. 7, operating forceps
Drive component 302 includes a pedestal 303, a guiding sleeve 304, a shaft coupling male 305, a screw rod 306, a nut 307,
Pressing plate 308 and a guide rod 309.Wherein, guide rod 309 is fixedly connected between the front end of housing 201 and rear end and is slided with nut 307
It is dynamically connected, pedestal 303 is fixedly connected with the front end of housing 201, shaft coupling male 305 is located at the rear end of housing 201 and and screw rod
306 one end is fixedly connected, and 306 two ends of screw rod and housing 201 are rotated and be connected, and screw rod 306 is parallel with guide rod 309, nut 307 and
306 screw thread of screw rod coordinates, and nut 307 is fixedly connected with pressing plate 308, and pressing plate 308 is connected with the rear end fixation of operating forceps control line 301
Connect.Guiding sleeve 304 is arranged between the front end of housing 201 and pedestal 303, and operating forceps control line 301 is from guiding sleeve 304
Pass through, guiding sleeve 304 is used for providing the space orbit of fixation for operating forceps control line 301.When shaft coupling male 305 is rotated
When, can drive screw 306 rotate so that drive nut 307 move along a straight line along guide rod 309, so as to realize to operating forceps control line
301 push-and-pull, finally realizes the folding of operating forceps 30.
In above-described embodiment, each structural bone drive component 202 also includes a micro-adjusting mechanism 211, as shown in Figure 4, Figure 5,
Micro-adjusting mechanism 211 includes two bolts 212, two cylindricality nuts 213 and two extension springs 214, and wherein, each bolt 212 passes through housing 201
Front end and bolt head be located at housing 201 outside, the rear end of bolt 212 is threaded connection one end of a cylindricality nut 213, post
The other end of shape nut 213 connects one end of connecting rod 206 by an extension spring 214.The effect of micro-adjusting mechanism 211 is to realize each knot
Two first structure bones 103 that structure bone drive component 202 is connected or the second structural bone 106 begin under without power input state
Fixing initial position is maintained at eventually.
In above-described embodiment, two guiding sleeves 215 can be set between the front end of housing 201 and each pedestal 203, with
Two first structure bones 103 of each connection of structural bone drive component 202 or the second structural bone 106 are from above-mentioned two guiding sleeve
Pass through in 215, guiding sleeve 215 is used for being that first structure bone 103 or the second structural bone 106 provide fixing space orbit.
In above-described embodiment, the track 208 in structural bone drive component 202 adopts square track, in case limited slip block 209 exists
Do generation flip-flop movement in linear motion.
In above-described embodiment, the inner side of 201 front end of housing is provided with the integrated end 216 of a guiding sleeve, each guiding sleeve
215th, 304 one end is fixedly connected with the vertical through hole at the integrated end 216 of guiding sleeve, and the integrated end 216 of guiding sleeve is used for
Ensure smoothly to guide first structure bone 103, the second structural bone 106 and operating forceps control line 301 by guiding sleeve 215,304
Enter in flexible non-individual body mechanical arm 10.
The present invention is only illustrated with above-described embodiment, and the structure of each part, set location and its connection are all to have
Changed.On the basis of technical solution of the present invention, all improvement individual part carried out according to the principle of the invention or equivalent
Conversion, all should not exclude outside protection scope of the present invention.
Claims (8)
1. a kind of transurethral flexible operation tool, it is characterised in that：It includes a flexible non-individual body mechanical arm and a driving
Unit；
The flexibility non-individual body mechanical arm includes first segment non-individual body and second section non-individual body, and the first segment non-individual body includes four
First structure bone, multiple the first space discs being spacedly distributed and first stator that root is be arranged in parallel at equal intervals, wherein,
The first structure bone rear end is connected with the driver element, and the first structure bone front end sequentially passes through each first interval
It is fixedly connected with first stator after disk；The second section non-individual body includes four the second structures be arrangeding in parallel at equal intervals
Bone, multiple the second space discs being spacedly distributed and second stator, wherein, the second structural bone rear end and the drive
Moving cell connects, and the second structural bone front end sequentially passes through each first space disc, first stator and each described
It is fixedly connected with second stator after second space disc；
The driver element includes a housing and four structural bone drive components being located in the housing；Each structural bone
Drive component is connected with two first structure bones through the housing forward end or two second structural bone；Each institute
State structural bone drive component include one first pedestal, a first shaft coupling male, a binodal Hooks coupling universal coupling, a connecting rod, two
One pressing plate and two slide blocks；Four guide rails are provided between the front-end and back-end of the housing, on each guide rail simultaneously
It is slidably connected two and belongs to the slide block of the different structural bone drive components；First pedestal be located at guide rail described in two it
Between and be fixedly connected with the rear end of the housing, the first shaft coupling male be located at the rear end of the housing and with a power transmission shaft
One end be fixedly connected, the power transmission shaft is connected with the housing into rotation, and the other end of the power transmission shaft is fixedly connected described double
One end of section Hooks coupling universal coupling, the other end of the binodal Hooks coupling universal coupling are fixedly connected on the connecting rod by another power transmission shaft
Middle part, another drive axis are supported on first pedestal；The two ends of the connecting rod slidably and can turn respectively
Connect the first pressing plate described in dynamicly, after each first pressing plate and the second structural bone described in first structure bone or described in
End is fixedly connected；Described in two, the first pressing plate is fixedly connected with slide block described in respectively.
2. the transurethral flexible operation tool of one kind as claimed in claim 1, it is characterised in that：In the flexibility non-individual body
The front end of mechanical arm arranges an operating forceps, and the rear end of the operating forceps control line of the operating forceps passes through described second from center successively
After stator, each second space disc, first stator, each first space disc and in the driver element
Operating forceps drive component connection.
3. the transurethral flexible operation tool of one kind as claimed in claim 2, it is characterised in that：The operating forceps driving group
Part includes one second pedestal, one first guiding sleeve, a second shaft coupling male, a screw rod, a nut, one second pressing plate and
Guide rod；The guide rod is fixedly connected between the front end of the housing and rear end and is slidably connected with the nut, and described second
Pedestal is fixedly connected with the front end of the housing, the second shaft coupling male be located at the housing rear end and with the screw rod
One end be fixedly connected, the two ends of the screw rod are all connected with the housing into rotation, and the screw rod is parallel with the guide rod, described
Nut is coordinated with the screw flight, and the nut is fixedly connected with second pressing plate, second pressing plate and the operation
The rear end of pincers control line is fixedly connected；First guiding sleeve be arranged on the housing front end and second pedestal it
Between, the operating forceps control line is passed through from first guiding sleeve.
4. the transurethral flexible operation tool of one kind described in claim 1, it is characterised in that：Each structural bone drives
Component also includes a micro-adjusting mechanism, and the micro-adjusting mechanism includes two bolts, two cylindricality nuts and two extension springs；Each bolt is worn
The outside that the front end of the housing and bolt head are located at the housing is crossed, the rear end of the bolt is threaded connection cylindricality described in
One end of nut, the other end of the cylindricality nut pass through one end that extension spring described in connects the connecting rod.
5. the transurethral flexible operation tool of one kind as claimed in claim 1, it is characterised in that：Front end in the housing
Two second guiding sleeves, two institutes being connected with each structural bone drive component are set between each first pedestal
State first structure bone or second structural bone is passed through from the second guiding sleeve described in two.
6. the transurethral flexible operation tool of one kind as claimed in claim 1, it is characterised in that：The structural bone driving group
The guide rail in part adopts square rail.
7. the transurethral flexible operation tool of one kind as claimed in claim 1, it is characterised in that：In the housing forward end
Inner side is provided with the integrated end of a guiding sleeve, and one end of first guiding sleeve is fixedly connected on the integrated end of the guiding sleeve
Vertical through hole in.
8. the transurethral flexible operation tool of one kind as claimed in claim 5, it is characterised in that：In the housing forward end
Inner side is provided with the integrated end of a guiding sleeve, and one end of each second guiding sleeve is fixedly connected with the guiding sleeve collection
In the vertical through hole of Cheng Duan.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611046708.6A CN106473810B (en) | 2016-11-23 | 2016-11-23 | A kind of transurethral flexible operation tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611046708.6A CN106473810B (en) | 2016-11-23 | 2016-11-23 | A kind of transurethral flexible operation tool |
Publications (2)
| Publication Number | Publication Date |
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| CN106473810A true CN106473810A (en) | 2017-03-08 |
| CN106473810B CN106473810B (en) | 2018-06-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611046708.6A Expired - Fee Related CN106473810B (en) | 2016-11-23 | 2016-11-23 | A kind of transurethral flexible operation tool |
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Cited By (2)
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| CN109381261A (en) * | 2017-08-14 | 2019-02-26 | 新加坡国立大学 | Surgical procedures arm and surgical operation robot |
| WO2019137380A1 (en) * | 2018-01-10 | 2019-07-18 | 北京术锐技术有限公司 | Multi-purpose flexible surgical tool system |
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| CN104758013A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Driving mechanism for multi-degree-of-freedom flexible robot for single-incision laparoscopic minimally invasive surgery |
| CN104758060A (en) * | 2015-04-07 | 2015-07-08 | 哈尔滨工业大学 | Multi-degree-of-freedom flexible robot used for single-port celiac minimally invasive surgery |
| CN105751210A (en) * | 2016-04-13 | 2016-07-13 | 上海交通大学 | Modular high-redundancy multi-freedom-degree flexible mechanical arm system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109381261A (en) * | 2017-08-14 | 2019-02-26 | 新加坡国立大学 | Surgical procedures arm and surgical operation robot |
| CN109381261B (en) * | 2017-08-14 | 2022-10-28 | 新加坡国立大学 | Surgical operation arm and surgical operation robot |
| WO2019137380A1 (en) * | 2018-01-10 | 2019-07-18 | 北京术锐技术有限公司 | Multi-purpose flexible surgical tool system |
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