CN106691592A - Robotic arm used for single hole abdominal minimally invasive operation - Google Patents
Robotic arm used for single hole abdominal minimally invasive operation Download PDFInfo
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- CN106691592A CN106691592A CN201611042777.XA CN201611042777A CN106691592A CN 106691592 A CN106691592 A CN 106691592A CN 201611042777 A CN201611042777 A CN 201611042777A CN 106691592 A CN106691592 A CN 106691592A
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- arm
- axle center
- motor
- drive component
- single hole
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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
- A61B2017/00017—Electrical control of surgical instruments
-
- 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
- A61B2017/00238—Type of minimally invasive operation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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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)
- Manipulator (AREA)
Abstract
The invention relates to the field of medical apparatuses, and discloses a robotic arm used for a single hole abdominal minimally invasive operation. The robotic arm comprises a first driving component, a second driving component, a third driving component, an output mechanism and a control system, wherein under the control of the control system, the first, the second and the third driving components jointly drive the output mechanism to move around a fixed point, and the fixed point is a public crossing point of horizontally crossing first and second axes and a third axis of the output mechanism itself. According to the single hole abdominal minimally invasive operation robot, only one surgical wound is made on the abdomen, compared with a traditional multi-hole minimally invasive surgical operation robot, the robotic arm has the advantages of being small in trauma, mild in pain, fast in postoperative recovery, well-looking in surgical wound and the like; meanwhile, the application range of the robotic is not limited by the position of natural cavities of the human body, the robotic arm has a wide application range than a minimally invasive operation through the natural cavities of the human body; the stability is good, the control is easy, and the cost is lower.
Description
Technical field
The present invention relates to medical instruments field, more particularly, to a kind of machine for carrying out single hole operation in Minimally Invasive Surgery
Tool arm.
Background technology
" minimally invasive " this concept has been deep into the various fields of surgical operation in recent years, so-called Minimally Invasive Surgery, as the term suggests
The operation of microtrauma exactly need to be only caused on human body, it has, and wound is small, pain is light, post-operative recovery is fast and wound aesthetic property
Good the advantages of, therefore suffer from the extensive welcome of people.
With the development of technology, medical personnel generally complete Minimally Invasive Surgery by medical robot, extensive on the market at present
The artificial Leonardo da Vinci's surgical operation robot of surgical machine of application, Leonardo da Vinci's operating robot has some shortcomings, such as operates multiple
Miscellaneous, high cost, machine are huge etc., it is crucial that Leonardo da Vinci's operating robot needs to cause multiple wounds on body, and it is every
Many wounds all can bring extra risk and pain to patient, therefore people need a kind of machine for carrying out single hole operation badly
People.
The content of the invention
In order to overcome the deficiencies in the prior art, the present invention to provide a kind of single hole abdominal-cavity minimal-invasion surgery robotic arm.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of single hole abdominal-cavity minimal-invasion surgery robotic arm, including the first drive component, the second drive component, the 3rd drive component,
Output mechanism and control system, wherein first, second, third drive component drives output machine jointly under control of the control system
Structure is moved around a fixing point, and the fixing point is first, second axle center and the 3rd axle center of output mechanism itself of horizontal cross
Common intersection.
Used as the further improved procedure of such scheme, the first drive component includes that first performs arm, the second drive component
Arm is performed including second, the 3rd drive component includes that the 3rd performs arm, wherein
First, second drive component is distributed located at the both sides of the 3rd drive component and respectively along first, second axle center, and first performs
Arm can occur the rotation around the first axle center, and the second execution arm can occur the rotation around the second axle center, the 3rd execution arm can occur around
The rotation in vertical the 4th axle center and the 5th axle center of level, first, second, third execution arm can also occur along the shifting of straight line
It is dynamic；
The output end of first, second, third execution arm rotates with output mechanism be connected respectively, and output mechanism can also be with respect to the
First, the output end of the second execution arm is moved along the 3rd axis direction.
Used as the further improved procedure of such scheme, the first drive component also includes the first motor and the first linking arm,
The axle center of the first motor driving shaft is the first axle center, and the two ends of the first linking arm are hinged with drive shaft, the first execution arm respectively, the
One performs arm occurs along the movement of straight line by the first linking arm, and occurs around first by drive shaft with the first linking arm one
The rotation in axle center.
As the further improved procedure of such scheme, including two the first linking arms be arrangeding in parallel, this two first
Linking arm forms a parallel-crank mechanism so that the first execution arm keeps level in motion process.
Used as the further improved procedure of such scheme, the second drive component also includes the second motor and the second linking arm,
The axle center of the second motor driving shaft is the second axle center, and the two ends of the second linking arm are hinged with drive shaft, the second execution arm respectively, the
Two perform arm occurs along the movement of straight line by the second linking arm, and occurs around second by drive shaft with the second linking arm one
The rotation in axle center.
As the further improved procedure of such scheme, including two the second linking arms be arrangeding in parallel, this two second
Linking arm forms a parallel-crank mechanism so that the second execution arm keeps level in motion process.
Used as the further improved procedure of such scheme, the 3rd drive component also includes the 3rd motor, the 4th motor and puts down
Telephone-moving structure, the axle center of the three, the 4th motor driving shafts is respectively the four, the 5th axle center, and the 4th motor is fixed on the 3rd motor
In drive shaft, one end of translation mechanism is connected with the drive shaft of the 4th motor, and the other end is connected with the 3rd execution arm, and the 3rd performs
Arm occurs along the movement of straight line by translation mechanism, and occurs around the 5th by the drive shaft of the 4th motor with translation mechanism one
The rotation in axle center, and there is the rotation around the 4th axle center by the drive shaft of the 3rd motor.
Used as the further improved procedure of such scheme, translation mechanism includes substrate, the 3rd linking arm and the 4th linking arm,
A substrate is respectively connected with the drive shaft of the 4th motor and the 3rd execution arm, one end of the three, the 4th linking arms is respectively with the 4th
The substrate on substrate, the 3rd execution arm in the drive shaft of motor is hinged, and the other end is hinged, so that the two can be folded against
Or launch.
Used as the further improved procedure of such scheme, substrate is set square, the phase of the substrate on the 4th motor driving shaft
The 3rd linking arm is hinged with adjacent two sides, the 4th connection is hinged with adjacent two side of the substrate on the 3rd execution arm
Arm.
As the further improved procedure of such scheme, including the first sleeve, second sleeve, first rotating shaft, the second rotating shaft
With the 3rd rotating shaft, first, second sleeve is socketed in the outside of output mechanism successively, between the second, first sleeve with the first sleeve,
Can be relatively rotated between output mechanism, output mechanism can also be moved relative to the first sleeve along the 3rd axis direction；
First rotating shaft is connected to the output end of the first execution arm, and the second rotating shaft is connected to the output end of the second execution arm, the 3rd turn
Axle be connected to the 3rd execution arm output end, first rotating shaft radially with the first sleeve rotate be connected, the second rotating shaft radially with
Second sleeve rotates connection, and the 3rd rotating shaft is radially rotated with output mechanism and is connected.
The beneficial effects of the invention are as follows：
Single hole abdominal-cavity minimal-invasion surgery robot only needs to cause a wound in abdominal cavity, with traditional porous micro-wound surgical operation machine
Device people compare, and it has the advantages that wound is small, pain is light, post-operative recovery is fast and wound aesthetic property is good；Application of the invention simultaneously
Scope is not only restricted to the position of human body natural's cavity, wider compared to having by the micro-wound operation robot of human body natural's cavity
General range of application；Good stability, easily controllable, cost are more cheap.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the front view of one embodiment of the invention；
Fig. 2 is the rearview of one embodiment of the invention；
Fig. 3 is the side view of one embodiment of the invention；
Fig. 4 is the schematic perspective view of one embodiment of the invention first direction；
Fig. 5 is the schematic perspective view of one embodiment of the invention second direction；
Fig. 6 is the schematic perspective view of the first drive component one embodiment of the invention；
Fig. 7 is the schematic perspective view of the second drive component one embodiment of the invention；
Fig. 8 is the schematic perspective view of the 3rd drive component one embodiment of the invention；
Fig. 9 is that the present invention first, second, third performs the schematic perspective view that arm is connected with output mechanism；
Figure 10 is that the present invention first, second, third performs the decomposing schematic representation that arm is connected with output mechanism；
Figure 11 is the generalized section of the first sleeve, second sleeve and output mechanism connection.
Specific embodiment
The technique effect of design of the invention, concrete structure and generation is carried out clearly below with reference to embodiment and accompanying drawing
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflicting
Under, the feature in embodiment and embodiment in the application can be mutually combined.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixation ", " connection " in another feature,
It can directly fix, be connected in another feature, it is also possible to fix indirectly, be connected in another feature.Additionally, this
The description such as upper and lower, left and right used in invention is only that the mutual alignment of each part of the invention relative in accompanying drawing is closed
For system.
Additionally, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The implication that personnel are generally understood that is identical.Term used in the description is intended merely to describe specific embodiment herein, without
It is to limit the present invention.Term as used herein " and/or " include the arbitrary of one or more related Listed Items
Combination.
Referring to figs. 1 to Fig. 5, front view, rearview, side view, the first party of one embodiment of the invention are respectively illustrated
To schematic perspective view and second direction schematic perspective view, as illustrated, the present invention includes the first drive component 100, second
Drive component 200, the 3rd drive component 300, output mechanism 400 and control system, wherein first, second, third drive component
Common under control of the control system to drive output mechanism 400 to be moved around a fixing point a, the fixing point is the first of horizontal cross
The common intersection of the 3rd axle center x3 of axle center x1, the second axle center x2 and output mechanism itself.The motion of output mechanism 400 include but
The swing of fixing point a was not limited to, and along the movement of the 3rd axle center x3, after output mechanism 400 has been in deflection in figure
Position, the first drive component 100, the second drive component 200, the 3rd drive component 300 are respectively at different athletic postures.
Wherein, first, second drive component is located at the both sides of the 3rd drive component 300 and respectively along first, second axle center
Distribution, it is preferred that first, second drive component is symmetrical with respect to the 3rd drive component 300.
Each component is described in detail below, reference picture 6, shows the first drive component one embodiment of the invention
Schematic perspective view, as illustrated, the first drive component includes that first performs arm 110, the first motor 120 and the first linking arm 130,
The axle center of the drive shaft of the first motor 120 is the first axle center x1, the two ends of the first linking arm 130 respectively with the drive of the first motor 120
Moving axis, the first execution arm 110 are hinged, in this way, the first execution arm 110 occurs along the movement of straight line by the first linking arm 130, and
There is the rotation around the first axle center x1 by the drive shaft of the first motor 120 with the one of the first linking arm 130.
Specifically, the first execution arm 110 includes the first arm section 111 and the second arm section 112, wherein the second arm section 112 is relative
First arm section 111 is inclined, and a hinged seat 113 is connected with the second arm section 112 as the first output end for performing arm 110.
Reference picture 7, shows the schematic perspective view of the second drive component one embodiment of the invention, and its structure is driven with first
Dynamic component is roughly the same, i.e., perform arm 210, the second motor 220 and the second linking arm 230 including second, identical between each part
Annexation just do not repeat one by one herein.Second drive component and the difference of the first drive component be include two it is parallel
The second linking arm 230 for setting, two second linking arms form a parallel-crank mechanism, so that second performs arm 210
Level is kept in motion process.
Can certainly be that the first drive component 100 includes two the first linking arms 130, or first, second drives
Component includes two linking arms.
Additionally, second performs arm 210 and equally includes two arms section, and the second arm section incline direction and the first drive component
In the second arm section incline direction conversely, so that first, second perform arm when be connected with output mechanism 400 can mutually mistake
Open, it is to avoid interference.
Reference picture 8, shows the schematic perspective view of the 3rd drive component one embodiment of the invention, as illustrated, the 3rd
Drive component includes that the 3rd performs arm 310, the 3rd motor 320, the 4th motor 330, substrate 340, the 3rd linking arm 350 and the 4th
Linking arm 360, aforesaid substrate 340, the 3rd linking arm 350 and the 4th linking arm 360 composition translation mechanism, the 3rd performs arm 310
On be equally connected with hinged seat as output end.
Wherein, the axle center of the three, the 4th motor driving shafts is respectively the 4th axle center x4, the 5th axle center x5, the 3rd motor 320
Place vertically, the 4th motor 330 is fixed in the drive shaft of the 3rd motor 320 by an installing plate.The driving of the 4th motor 330
Respectively be connected with a substrate on axle and the 3rd execution arm 310, one end of the three, the 4th linking arms respectively with the drive shaft of the 4th motor
On substrate, the 3rd execution arm on substrate be hinged, the other end is hinged, so that the three, the 4th linking arms can be folded against
Or launch.
3rd performs arm 310 occurs along the movement of straight line by translation mechanism, and with translation mechanism one by the 4th electricity
There is the rotation around the 5th axle center x5 in the drive shaft of machine 330, and occur around the 4th axle center by the drive shaft of the 3rd motor 320
The rotation of x4.
Preferably, substrate 340 is set square, more precisely isosceles right angle triangle, wherein being driven with the 4th motor 330
The 3rd linking arm 350 is hinged with two right-angle sides of the substrate of moving axis connection, the two of the substrate being connected with the 3rd execution arm 310
The 4th linking arm 360, two groups of linking arm associated movements are hinged with right-angle side so that the stress of the 3rd execution arm is more balanced.
Reference picture 9, Figure 10, respectively illustrates the present invention first, second, third and performs the solid that arm is connected with output mechanism
Schematic diagram and unidirectional decomposing schematic representation, as illustrated, attachment structure includes the first sleeve 510, second sleeve 520, the
One rotating shaft 530, the second rotating shaft 540, the 3rd rotating shaft 550, moving block 560, fairlead 570, fairlead 580, fairlead 590 and card
Spring
Secondth, the first sleeve is socketed in the outside of output mechanism 400 successively, between first, second sleeve with the first sleeve 510,
Can be relatively rotated between output mechanism 400, output mechanism 400 can also be moved relative to the first sleeve 510 along the 3rd axle center x3 directions.
Specifically, first rotating shaft 530 is connected on the hinged seat of the first execution arm 110, the second rotating shaft 540 is connected to second
Perform on the hinged seat of arm 210, the 3rd rotating shaft 550 is connected on the hinged seat of the 3rd execution arm, on the barrel of the first sleeve 510
Be provided with the through hole 511 of radial direction, also be provided with the through hole 531 of radial direction in first rotating shaft 530, first rotating shaft 530 pass across through hole 511 with
Realize that the first execution arm 110 is connected with the rotation of the first sleeve 510, output mechanism 400 is then through the through hole in first rotating shaft 530
531。
Second rotating shaft 540 is respectively at two, located at the second both sides for performing the hinged seat of arm 210, correspondence in second sleeve 520
First rotating shaft 530 is provided with translot 521, and the second rotating shaft 540 of correspondence is provided with through hole 522, and first rotating shaft 530 is stretched out from translot 521
And can be slided along groove, so as to second sleeve 520 causes to hinder to first rotating shaft 530 when avoiding first, second sleeve from relatively rotating,
Second rotating shaft 540 of both sides is inserted in through hole 522 respectively, realizes that the second execution arm 210 is connected with the rotation of second sleeve 520,
The first sleeve 510 is then passed through between two the second rotating shafts 540 simultaneously.Based on above-mentioned, in first, second execution of cross-distribution
The promotion output mechanism 400 that arm can both not hinder mutually swings around fixing point a, while will not also hinder output mechanism 400 along the
The movement of three axle center x3.
3rd rotating shaft 550 is connected on the hinged seat of the 3rd execution arm 310 after passing through moving block 560, output mechanism 400
Top is then connected with moving block 560, to realize that the 3rd execution arm 310 is connected with the rotation of output mechanism 400.
Reference picture 11, shows the generalized section of the first sleeve, second sleeve and output mechanism connection, and section is by the
The axle center that three axle center perform arm with second, hides each execution arm in figure.As illustrated, fairlead 570 located at output mechanism 400 with
Between first sleeve 510, fairlead 580 is socketed on the shaft shoulder of the first sleeve 510, and fairlead 590 is located at fairlead 580 and the
Between two sleeves 520, fairlead 590 is fixed by unshowned jump ring.
First rotating shaft 530 passes through the radial direction through hole of the first sleeve 510, radial direction of the output mechanism 400 through first rotating shaft 530
Through hole, two the second rotating shafts 540 are inserted in the radial direction through hole in second sleeve 520 respectively, and the first sleeve 510 is from two second turn
Passed through between axle 540.
Above is preferable implementation of the invention is illustrated, but the invention is not limited to the implementation
Example, those of ordinary skill in the art can also make a variety of equivalent variations or replace on the premise of without prejudice to spirit of the invention
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of single hole abdominal-cavity minimal-invasion surgery robotic arm, it is characterised in that including the first drive component, the second drive component,
3rd drive component, output mechanism and control system, wherein first, second, third drive component is in the control system
Control under drive the output mechanism to be moved around a fixing point jointly, the fixing point for horizontal cross first, second axle center
With the common intersection in the 3rd axle center of the output mechanism itself.
2. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 1, it is characterised in that first drive component
Arm is performed including first, second drive component includes that second performs arm, and the 3rd drive component includes that the 3rd performs arm,
Wherein
First, second drive component is located at the both sides of the 3rd drive component and respectively along first, second axle center
Distribution, the first execution arm can occur the rotation around first axle center, and the second execution arm can occur around described second
The rotation in axle center, the 3rd execution arm can occur the rotation in the 5th axle center around the 4th vertical axle center Yu level, and described the
First, second, third performs arm and can also occur along the movement of straight line；
The output end of the first, second, third execution arm rotates with the output mechanism be connected respectively, and the output mechanism
Can also relatively it is described first, second execution arm output end moved along the 3rd axis direction.
3. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 2, it is characterised in that first drive component
Also include the first motor and the first linking arm, the axle center of first motor driving shaft is first axle center, and described first connects
The two ends for connecing arm are hinged with the drive shaft, the first execution arm respectively, and described first performs arm is sent out by first linking arm
The raw movement along straight line, and there is the rotation around first axle center by the drive shaft with first linking arm one.
4. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 3, it is characterised in that be arranged in parallel including two
First linking arm, two first linking arms form a parallel-crank mechanisms so that described first performs arm in motion
During keep level.
5. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 2, it is characterised in that second drive component
Also include the second motor and the second linking arm, the axle center of second motor driving shaft is second axle center, and described second connects
The two ends for connecing arm are hinged with the drive shaft, the second execution arm respectively, and described second performs arm is sent out by second linking arm
The raw movement along straight line, and there is the rotation around second axle center by the drive shaft with second linking arm one.
6. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 5, it is characterised in that be arranged in parallel including two
Second linking arm, two second linking arms form a parallel-crank mechanisms so that described second performs arm in motion
During keep level.
7. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 2, it is characterised in that the 3rd drive component
Also include the 3rd motor, the 4th motor and translation mechanism, the described 3rd, the axle center of the 4th motor driving shaft be respectively described the
4th, the 5th axle center, the 4th motor is fixed in the drive shaft of the 3rd motor, one end of the translation mechanism with it is described
The drive shaft connection of the 4th motor, the other end is connected with the described 3rd execution arm, and the described 3rd performs arm by the translation machine
Structure occurs along the movement of straight line, and occurs around the described 5th by the drive shaft of the 4th motor with translation mechanism one
The rotation in axle center, and there is the rotation around the 4th axle center by the drive shaft of the 3rd motor.
8. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 7, it is characterised in that the translation mechanism includes
Substrate, the 3rd linking arm and the 4th linking arm, are respectively connected with described in one on the drive shaft of the 4th motor and the 3rd execution arm
Substrate, one end of the three, the 4th linking arm respectively with the drive shaft of the 4th motor on substrate, the 3rd perform base on arm
Plate is hinged, and the other end is hinged, so that the two can be folded against or launches.
9. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 8, it is characterised in that the substrate is triangle
Plate, the 3rd linking arm is hinged with adjacent two side of the substrate on the 4th motor driving shaft, and the 3rd holds
The 4th linking arm is hinged with adjacent two side of the substrate on row arm.
10. single hole abdominal-cavity minimal-invasion surgery robotic arm according to claim 2, it is characterised in that including the first sleeve,
Two sleeves, first rotating shaft, the second rotating shaft and the 3rd rotating shaft, described second, the first sleeve be socketed in the output mechanism successively
Outside, can be relatively rotated between first, second sleeve between the first sleeve, output mechanism, and the output mechanism may be used also
Moved along the 3rd axis direction relative to first sleeve；
The first rotating shaft is connected to the described first output end for performing arm, and second rotating shaft is connected to described second and performs arm
Output end, the 3rd rotating shaft is connected to the described 3rd output end for performing arm, and the first rotating shaft is radially with described the
One sleeve rotate connection, second rotating shaft radially with the second sleeve rotate be connected, the 3rd rotating shaft radially with
The output mechanism rotates connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611042777.XA CN106691592B (en) | 2016-11-23 | 2016-11-23 | Single-port abdominal cavity minimally invasive surgery robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611042777.XA CN106691592B (en) | 2016-11-23 | 2016-11-23 | Single-port abdominal cavity minimally invasive surgery robot arm |
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| Publication Number | Publication Date |
|---|---|
| CN106691592A true CN106691592A (en) | 2017-05-24 |
| CN106691592B CN106691592B (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611042777.XA Active CN106691592B (en) | 2016-11-23 | 2016-11-23 | Single-port abdominal cavity minimally invasive surgery robot arm |
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| CN110897720A (en) * | 2019-12-16 | 2020-03-24 | 杨锐 | Medical treatment operation robot surgical instruments translation unit |
| CN114052930A (en) * | 2021-11-25 | 2022-02-18 | 天津大学医疗机器人与智能***研究院 | Main operating hand |
| WO2024000938A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Motion control system for medical instrument having controllable flexible tail end, and medical device |
| WO2024000940A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Flexible end-controllable medical instrument motion control system and medical device |
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| WO2018234320A1 (en) * | 2017-06-19 | 2018-12-27 | Koninklijke Philips N.V. | Configurable parallel medical robot having a coaxial end-effector |
| CN109480967A (en) * | 2017-09-12 | 2019-03-19 | 赛诺微医疗科技(北京)有限公司 | Operation puncturing executing agency and the surgery mechanical arm for using it |
| CN109480967B (en) * | 2017-09-12 | 2021-02-19 | 赛诺微医疗科技(北京)有限公司 | Operation puncture actuating mechanism and operation mechanical arm adopting same |
| CN109770970A (en) * | 2019-03-08 | 2019-05-21 | 温州广立生物医药科技有限公司 | A kind of abdominal-cavity minimal-invasion surgery robot |
| CN109770970B (en) * | 2019-03-08 | 2021-05-04 | 康年医疗科技有限公司 | Abdominal cavity minimally invasive surgery robot |
| CN110897720A (en) * | 2019-12-16 | 2020-03-24 | 杨锐 | Medical treatment operation robot surgical instruments translation unit |
| CN110897720B (en) * | 2019-12-16 | 2020-07-07 | 青岛大学附属医院 | Medical treatment operation robot surgical instruments translation unit |
| CN114052930A (en) * | 2021-11-25 | 2022-02-18 | 天津大学医疗机器人与智能***研究院 | Main operating hand |
| CN114052930B (en) * | 2021-11-25 | 2023-08-22 | 天津大学医疗机器人与智能***研究院 | Main operation hand |
| WO2024000938A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Motion control system for medical instrument having controllable flexible tail end, and medical device |
| WO2024000940A1 (en) * | 2022-06-30 | 2024-01-04 | 中国科学院自动化研究所 | Flexible end-controllable medical instrument motion control system and medical device |
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