CN106901798A - Treatment thrombus operating robot - Google Patents
Treatment thrombus operating robot Download PDFInfo
- Publication number
- CN106901798A CN106901798A CN201710125878.1A CN201710125878A CN106901798A CN 106901798 A CN106901798 A CN 106901798A CN 201710125878 A CN201710125878 A CN 201710125878A CN 106901798 A CN106901798 A CN 106901798A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- drive device
- sliding block
- thrombus
- needle tubing
- 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.)
- Pending
Links
- 208000007536 Thrombosis Diseases 0.000 title claims abstract description 36
- 230000005540 biological transmission Effects 0.000 claims description 29
- 230000033001 locomotion Effects 0.000 claims description 14
- 230000002537 thrombolytic effect Effects 0.000 abstract description 7
- 239000003527 fibrinolytic agent Substances 0.000 abstract description 4
- 230000000694 effects Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 210000004204 blood vessel Anatomy 0.000 description 5
- 230000035479 physiological effects, processes and functions Effects 0.000 description 4
- 239000008280 blood Substances 0.000 description 3
- 210000004369 blood Anatomy 0.000 description 3
- 210000005252 bulbus oculi Anatomy 0.000 description 3
- 239000003814 drug Substances 0.000 description 3
- 210000001508 eye Anatomy 0.000 description 3
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 230000001225 therapeutic effect Effects 0.000 description 2
- 230000007812 deficiency Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/22—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for
- A61B17/22004—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves
- A61B17/22012—Implements for squeezing-off ulcers or the like on the inside of inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; Calculus removers; Calculus smashing apparatus; Apparatus for removing obstructions in blood vessels, not otherwise provided for using mechanical vibrations, e.g. ultrasonic shock waves in direct contact with, or very close to, the obstruction or concrement
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M31/00—Devices for introducing or retaining media, e.g. remedies, in cavities of the body
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Molecular Biology (AREA)
- Mechanical Engineering (AREA)
- Medical Informatics (AREA)
- Vascular Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Manipulator (AREA)
Abstract
Thrombus operating robot is treated the invention discloses one kind, it is characterised in that including：Logical pin device, the logical pin device includes needle tubing, feed tube and inner core；The needle tubing is provided with tube chamber；Described needle tubing one end is provided with opening, and the other end is provided with three-way valve；The inner core may pass through the three-way valve and be arranged at pluggablely in the tube chamber of the needle tubing and can be stretched out from the opening；The feed liquor tube end is connected with the three-way valve；The three-way valve controls the connection and closing of the feed tube and the needle tubing；Fixing device, the fixing device is used to install logical pin device；The fixing device is movably set.Treatment thrombus operating robot in the present invention, both can disclose thrombus and crushed using machinery spy, and thrombolytic drug can be injected again makes thrombolysis, therefore treatment thrombus effect is good, and performance accuracy is high, is especially suitable for high-precision operation technique.
Description
Technical field
Thrombus operating robot is treated the present invention relates to one kind.
Background technology
Thrombus is a kind of common disease.The current treatment method to thrombus is based on medicine thrombolysis.But controlled in actual
During treatment, the certain difficulty for only existing by medicine thrombolysis, effect is not notable sometimes.Especially relatively fine blood vessel,
The treatment of the thrombus in such as eyes is particularly difficult.It is only undesirable with medicine thrombolytic effect that difficulty essentially consists in one, and two is eye
Blood vessel in eyeball is narrow to be difficult to operate.It is especially bigger by doctor's manual operations difficulty, in the physilogical characteristics decision eyes of staff
Blood vessel be difficult to carry out operation.
The content of the invention
An object of the present invention is to overcome deficiency of the prior art, there is provided a kind of controlling instead of staff operation
Treat thrombus operating robot.
To realize object above, the present invention is achieved through the following technical solutions：
Treatment thrombus operating robot, it is characterised in that including：
Logical pin device, the logical pin device includes needle tubing, feed tube and inner core；The needle tubing is provided with tube chamber；The pin
Pipe one end is provided with opening, and the other end is provided with three-way valve；The inner core may pass through the three-way valve and set pluggablely
In in the tube chamber of the needle tubing and can from it is described opening stretch out；The feed liquor tube end is connected with the three-way valve；Described three
The connection and closing of feed tube described in port valve gate control and the needle tubing；
Fixing device, the fixing device is used to install logical pin device；
The fixing device is movably set.
According to one embodiment of present invention, the fixing device is rotatably arranged with when the fixing device is rotated, taking
Rotated with the logical pin device.
According to one embodiment of present invention, also including first driving means, first driving means direct drive or
Rotationally set by fixing device described in the first actuator drives.
According to one embodiment of present invention, the first driving means are the first electric rotating machine, the first transmission dress
Timing Belt is set to, the fixing device is belt pulley；First electric rotating machine drives the belt pulley by the Timing Belt
Rotate.
According to one embodiment of present invention, also including cross-brace arm, the fixing device is installed on fixed mount, institute
It is arranged at stating fixed mount adjustable tilt angle on the cross-brace arm；The cross-brace arm is movably set.
According to one embodiment of present invention, also including the second drive device, second drive device drives described solid
Determine frame adjustment angle of inclination or set with adjusting the fixed mount angle of inclination by second transmission device.
According to one embodiment of present invention, described second transmission device one end is set in which can move along a straight line, the other end with
The fixed mount connection；Second transmission device is the fixed mount angle of inclination by one end linear motion, the adjustment other end
Transmission device.
According to one embodiment of present invention, second transmission device includes that first connecting rod, second connecting rod, the 3rd connect
Bar, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is arranged on the cross-brace arm, and described second connects
Bar and the equal lower end of third connecting rod are rotatably coupled with fourth link；Described first connecting rod one end is movably set, the other end
It is connected with the second connecting rod upper end；5th connecting rod is rotatably connected with the second connecting rod, third connecting rod；Institute
The 5th interlinking lever end is stated to be connected with the fixed mount；Described six-bar linkage one end is rotatably connected with third connecting rod, separately
One end is connected with fixed mount；When described first connecting rod one end moves along a straight line, the angle of inclination of the fixed mount is adjusted.
According to one embodiment of present invention, the cross-brace arm sets fluted, and second drive device is set
In in the groove；The first sliding block of linear motion is provided with the groove；Second drive device drives described first
Sliding block moves along a straight line；First sliding block is connected with second transmission device.
According to one embodiment of present invention, second drive device is the second electric rotating machine, second electric rotating
Machine is connected with screw mandrel；First sliding block coordinates with the wire rod thread；Second electric rotating machine drives the screw mandrel rotation,
The screw mandrel drives first sliding block along screw mandrel axial linear movement when rotating.
According to one embodiment of present invention, also including the 3rd drive device, the cross-brace arm is rotatably mounted
In on the second sliding block；3rd drive device drives the cross-brace arm rotatably to set or driven by the 3rd transmission device
The cross-brace arm is moved rotatably to set.
According to one embodiment of present invention, also including four-drive device；Second sliding block is liftably arranged at
On vertical supporting arm, the four-drive device directly drives the second sliding block lifting or by the 4th actuator drives institute
The second sliding block is stated to set up and down.
According to one embodiment of present invention, also including the 5th drive device；The vertical supporting arm is horizontally moveablely
It is arranged in first base, the 5th drive device directly drives the vertical supporting arm and sets with moving horizontally or by the
Vertical supporting seat is set with moving horizontally described in five actuator drives.
According to one embodiment of present invention, also including the 6th drive device；The first base sets horizontally moveablely
It is placed in second base, the 6th drive device directly drives the first base and sets with moving horizontally or by the 6th biography
Dynamic device drives the first base to set with moving horizontally；The vertical supporting arm moves horizontally direction with first bottom
Seat to move horizontally direction vertical.
When treatment thrombus operating robot in the present invention is used, on and off is beaten using three-way valve control needle tubing
Close, operation three-way valve cuts off feed tube and needle tubing, inner core is may pass through in the tube chamber of three-way valve insertion needle tubing and from pin
Tube opening stretches out, and disclosing thrombus using inner core spy can help for thrombus to disclose broken.After the broken bolt of mechanicalness, inner core is extracted；Then grasp again
Make three-way valve to connect feed tube with needle tubing, the further thrombus of thrombolytic drug are injected by feed tube and needle tubing.
Treatment thrombus operating robot in the present invention, can both adjust the angle of inclination of fixed mount, can rotate again
Logical pin device, can also lift, and along the both direction movement of level, so setting makes its all directions in can meeting medical treatment
Operations Requirements, it is replaced the staff logical pin device of operation.Using mechanically actuated, Human Physiology can be avoided to limit to and to be brought
The damage that causes such as hand shaking.Present invention is particularly suitable for required precision thrombolysis operation high, such as blood in treatment eyeball blood vessel
Bolt etc..The present invention can be operated instead of staff, using the motion of all directions of the logical pin device of computer controls, can either control it
Kinematic accuracy, will not also be trembled by the physiology of people influences, and therapeutic effect is good and does not receive ectocine.Second transmission device uses six
Individual connecting rod assembly, the linear motion driving force that the second drive device is exported can be converted to the angle of inclination adjustment for driving fixed mount
Driving force so that the present invention both realizes the angle of inclination of adjustment operating theater instruments, and simple structure is readily produced, assembles.This hair
The fine thrombus treatment of bright especially suitable operation, such as thrombus treatment in ophthalmology.
Treatment thrombus operating robot in the present invention, both can have been disclosed thrombus and crushed using machinery spy, again can be with
Injection thrombolytic drug makes thrombolysis, therefore treatment thrombus effect is good, and performance accuracy is high, is especially suitable for high-precision operation behaviour
Make.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention.
Fig. 2 is the structural representation on cross-brace arm of the present invention.
Fig. 3 is the structural representation on fixed mount of the invention.
Specific embodiment
The present invention is further described with accompanying drawing with reference to embodiments.
As shown in Figure 1, Figure 2 and Figure 3, thrombus operating robot is treated, it includes fixed mount 10 and rotatable belt
Wheel 12.The belt pulley 12 can be rotatably set on fixed mount 10.Logical pin device 200 is fixedly mounted on belt pulley 12.Institute
Stating logical pin device 200 includes needle tubing 201, feed tube 202 and inner core 203.The needle tubing 201 is provided with tube chamber and (does not show in figure
Go out)；The one end of the needle tubing 201 is provided with opening, and the other end is provided with three-way valve 204；The inner core 203 may pass through described three
Port valve door 204 is arranged in the tube chamber of the needle tubing 201 and can be stretched out from the opening pluggablely.Inner core 203 can be using suitable
Close to visit and disclose thrombus and be made the material that thrombus is crushed, such as metal material, stainless steel etc..The end of the feed tube 202
It is connected with the three-way valve 204；The three-way valve 204 controls connection of the feed tube 202 with the needle tubing 201 and pass
Close.
The first electric rotating machine 15 is additionally provided with fixed mount 10.First electric rotating machine 15 passes through the driving belt pulley of Timing Belt 16
12 rotations.Belt pulley 12 is sleeved on needle tubing 201.When belt pulley 12 rotates, logical pin device 200 can be driven to rotate, the logical bolt of adjustment
The angle of device 200.
It is arranged on cross-brace arm 20 adjustable tilt angle of the fixed mount 10.The cross-brace arm 20 is set
Fluted 21.The second electric rotating machine 31 is provided with groove 21.Second electric rotating machine 31 is connected with screw mandrel 41, is set with screw mandrel 41
There is the first sliding block 51.First sliding block 51 coordinates with the screw thread of screw mandrel 41.The drive screw 41 of second electric rotating machine 31 rotates, and can make first
Sliding block 51 is along the axially rectilinear movement of the first leading screw 41.
The one end of cross-brace arm 20 is arranged on the second sliding block 60, and the other end is provided with the second transmission device.Second transmission
Device includes first connecting rod 71, second connecting rod 72, third connecting rod 73, fourth link 74, the 5th connecting rod 75 and six-bar linkage 76.Institute
Fourth link 74 is stated on the cross-brace arm 20, the second connecting rod 72 and the equal lower end of third connecting rod 73 connect with the 4th
Bar 74 is rotatably coupled.The one end of the first connecting rod 71 is connected with the first sliding block 51, on the other end and the second connecting rod 72
End connection.5th connecting rod 75 is rotatably connected with the second connecting rod 72, third connecting rod 73.5th connecting rod
75 ends are connected with the fixed mount 10；Described one end of six-bar linkage 76 is rotatably connected with third connecting rod 73, another
End is connected with fixed mount 10.
The cross-brace arm 20 is rotatably mounted on the second sliding block 60.The 3rd driving is installed on second sliding block 60
Device 32.3rd drive device 32 drives the cross-brace arm 10 rotatably to set or by the 3rd actuator drives
The cross-brace arm 10 is rotatably set.
Second sliding block 60 is liftably arranged on vertical supporting arm 61.Described is provided with vertical supporting arm 61
Four-drive device 33.Four-drive device 33 directly drives second sliding block 60 and lifts or by the 4th actuator drives institute
The second sliding block 60 is stated to set up and down.
The vertical supporting arm 61 is arranged in first base 62 horizontally moveablely.The 5th is provided with first base 62
Drive device 34.5th drive device 34 directly drives the vertical supporting arm 61 and sets with moving horizontally or by the 5th
Vertical supporting arm 61 is set with moving horizontally described in actuator drives.
The first base 62 is arranged in second base 63 horizontally moveablely.The 6th drive is provided with second base 63
Dynamic device 35.6th drive device 35 directly drives the first base 62 and sets with moving horizontally or by the 6th transmission
Device drives the first base 62 to set with moving horizontally；The vertical supporting arm 61 moves horizontally direction with described first
Base 62 to move horizontally direction vertical.
First driving means, first driving means, the second drive device in the present invention, the 3rd drive device, 4 wheel driven
Dynamic device, the 5th drive device and the 6th drive device, can be using drive devices such as electric rotating machine, linear electric motors, cylinders.It is excellent
Choosing uses electric rotating machine, and more preferably use can utilize the drive device of computer controls, such as servomotor.In the present invention first
Transmission device, the first transmission device, the second transmission device, the 3rd transmission device, the 4th transmission device, the 5th transmission device and
Six transmission devices, can be using transmission devices such as feed screw nut, transmission belt, driving-chain, gears；It is preferred that using feed screw nut.
When using, start the second electric rotating machine 31, the second electric rotating machine 31 drives the first sliding block 51 to move by screw mandrel 41.
When first sliding block 51 is moved, first connecting rod 71 is driven to move, the movement of first connecting rod 71 can make second connecting rod 72 and third connecting rod 73
Rotated relative to fourth link 74.Second connecting rod 72 and third connecting rod 73 relative to fourth link 74 rotate when, can be by the 5th connecting rod
75 and six-bar linkage 76 make the angle change of fixed mount 10.Driven by the 3rd drive device 32, can be by cross-brace arm
20 driving fixed mounts 10 rotate.Driven by four-drive device 33, can lift fixed mount 10.By the 5th drive device 34
Driven with the 6th drive device 35, can make to be moved in the both direction in the horizontal direction of fixed mount 10.Using the first electric rotating machine
15, belt pulley 12 can be made to drive logical pin device 200 to rotate.Operated more than, logical pin device is adjusted to the shape of suitable operation
State.The opening and closing of needle tubing 201 are controlled using three-way valve 204, three-way valve 204 is operated by feed tube 202 and needle tubing 201
Cut-out, makes inner core 203 may pass through in the tube chamber of the insertion needle tubing 201 of three-way valve 204 and be stretched out from needle tubing opening, you can blood is disclosed in spy
Bolt crushes thrombus.After the broken thrombus of mechanicalness, inner core 203 is extracted；Then three-way valve 204 is operated again by feed tube 202
Connected with needle tubing 201, the further thrombus of thrombolytic drug are injected by feed tube 202 and needle tubing 201.
Treatment thrombus operating robot in the present invention, can both adjust the angle of inclination of fixed mount, can rotate again
Logical pin device, can also lift, and along the both direction movement of level, so setting makes its all directions in can meeting medical treatment
Operations Requirements, it is replaced the staff logical pin device of operation.Using mechanically actuated, Human Physiology can be avoided to limit to and to be brought
The damage that causes such as hand shaking.Present invention is particularly suitable for required precision thrombolysis operation high, such as blood in treatment eyeball blood vessel
Bolt etc..The present invention can be operated instead of staff, using the motion of all directions of the logical pin device of computer controls, can either control it
Kinematic accuracy, will not also be trembled by the physiology of people influences, and therapeutic effect is good and does not receive ectocine.Second transmission device uses six
Individual connecting rod assembly, the linear motion driving force that the second drive device is exported can be converted to the angle of inclination adjustment for driving fixed mount
Driving force so that the present invention both realizes the angle of inclination of adjustment operating theater instruments, and simple structure is readily produced, assembles.This hair
The fine thrombus treatment of bright especially suitable operation, such as thrombus treatment in ophthalmology.
Embodiment in the present invention is only used for that the present invention will be described, does not constitute the limitation to right,
Other substantially equivalent replacements that those skilled in that art are contemplated that, all fall in the scope of protection of the present invention.
Claims (14)
1. thrombus operating robot is treated, it is characterised in that including：
Logical pin device, the logical pin device includes needle tubing, feed tube and inner core；The needle tubing is provided with tube chamber；The needle tubing one
End is provided with opening, and the other end is provided with three-way valve；The inner core may pass through the three-way valve and be arranged at institute pluggablely
State in the tube chamber of needle tubing and can be stretched out from the opening；The feed liquor tube end is connected with the three-way valve；The triple valve
The connection and closing of feed tube described in gate control and the needle tubing；
Fixing device, the fixing device is used to install logical pin device；The fixing device is movably set.
2. it is according to claim 1 to treat thrombus operating robot, it is characterised in that the fixing device is rotationally
Set, when the fixing device is rotated, carry the logical pin device and rotate.
It is 3. according to claim 2 to treat thrombus operating robot, it is characterised in that also including first driving means,
The first driving means direct drive is rotationally set by fixing device described in the first actuator drives.
4. treatment thrombus operating robot according to claim 3, it is characterised in that the first driving means are the
One electric rotating machine, first transmission device is Timing Belt, and the fixing device is belt pulley；First electric rotating machine passes through
The Timing Belt drives the pulley rotation.
5. according to the treatment thrombus operating robot described in claim 1, it is characterised in that described also including cross-brace arm
Fixing device is installed on fixed mount, is arranged on the cross-brace arm fixed mount adjustable tilt angle；It is described
Cross-brace arm is movably set.
6. novel ophthalmic surgical robot according to claim 5, it is characterised in that also including the second drive device, institute
The second drive device is stated to drive the fixed mount adjustment angle of inclination or adjust the fixed mount by second transmission device
Angle of inclination ground is set.
7. novel ophthalmic surgical robot according to claim 6, it is characterised in that described second transmission device one end can
Linear motion ground is set, and the other end is connected with the fixed mount；Second transmission device is to be moved along a straight line by one end, adjusted
The transmission device at the fixed mount angle of inclination of the other end.
8. novel ophthalmic surgical robot according to claim 7, it is characterised in that second transmission device includes the
One connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is arranged on the horizontal stroke
To on support arm, the second connecting rod and the equal lower end of third connecting rod are rotatably coupled with fourth link；The first connecting rod one
End is movably set, and the other end is connected with the second connecting rod upper end；5th connecting rod connects with the second connecting rod, the 3rd
Bar is rotatably connected；5th interlinking lever end is connected with the fixed mount；Described six-bar linkage one end connects with the 3rd
Bar is rotatably connected, and the other end is connected with fixed mount；When described first connecting rod one end moves along a straight line, the fixation is adjusted
The angle of inclination of frame.
9. novel ophthalmic surgical robot according to claim 5, it is characterised in that the cross-brace arm is provided with recessed
Groove, second drive device is arranged in the groove；The first sliding block of linear motion is provided with the groove；Described
Two drive devices drive first sliding block to move along a straight line；First sliding block is connected with second transmission device.
10. novel ophthalmic surgical robot according to claim 9, it is characterised in that second drive device is the
Two electric rotating machines, second electric rotating machine is connected with screw mandrel；First sliding block coordinates with the wire rod thread；Described second
Electric rotating machine drives the screw mandrel rotation, and the screw mandrel drives first sliding block along screw mandrel axial linear movement when rotating.
11. novel ophthalmic surgical robots according to claim 5, it is characterised in that also including the 3rd drive device, institute
Cross-brace arm is stated to be rotatably mounted on the second sliding block；3rd drive device drives the cross-brace arm rotatably
Set or rotatably set by cross-brace arm described in the 3rd actuator drives.
12. novel ophthalmic surgical robots according to claim 11, it is characterised in that also including four-drive device；
Second sliding block is liftably arranged on vertical supporting arm, and the four-drive device directly drives the second sliding block liter
Drop is set up and down by the second sliding block described in the 4th actuator drives.
13. novel ophthalmic surgical robots according to claim 12, it is characterised in that also including the 5th drive device；
The vertical supporting arm is arranged in first base horizontally moveablely, and the 5th drive device directly drives the vertical branch
Brace is set or is set with moving horizontally by vertical supporting seat described in the 5th actuator drives with moving horizontally.
14. novel ophthalmic surgical robots according to claim 13, it is characterised in that also including the 6th drive device；
The first base is arranged in second base horizontally moveablely, and the 6th drive device directly drives the first base
Set with moving horizontally or set with moving horizontally by first base described in the 6th actuator drives；The vertical supporting arm
Move horizontally direction and the first base to move horizontally direction vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125878.1A CN106901798A (en) | 2017-03-05 | 2017-03-05 | Treatment thrombus operating robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125878.1A CN106901798A (en) | 2017-03-05 | 2017-03-05 | Treatment thrombus operating robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106901798A true CN106901798A (en) | 2017-06-30 |
Family
ID=59187691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710125878.1A Pending CN106901798A (en) | 2017-03-05 | 2017-03-05 | Treatment thrombus operating robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106901798A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107233135A (en) * | 2017-07-22 | 2017-10-10 | 温州医科大学附属第医院 | Minimally invasive tool for uprooting of being completely cured |
| CN113081276A (en) * | 2021-03-29 | 2021-07-09 | 上海健康医学院 | Four-bar linkage venipuncture needle advancing and retreating execution device with needle picking action |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999004701A1 (en) * | 1997-07-24 | 1999-02-04 | Mcguckin James F Jr | Rotational thrombectomy apparatus and method with standing wave |
| US6852097B1 (en) * | 1999-06-24 | 2005-02-08 | Fulton, Iii Richard E. | Mechanically active infusion catheter |
| US20120211006A1 (en) * | 2009-08-24 | 2012-08-23 | Board Of Regents The University Of Texas System | Automated Needle Insertion Mechanism |
| CN103212148A (en) * | 2013-04-25 | 2013-07-24 | 何凡 | Iliofemoral deep venous thrombosis moniliform eccentric sacculus thrombolysis thrombectomy catheter and using method of same |
-
2017
- 2017-03-05 CN CN201710125878.1A patent/CN106901798A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999004701A1 (en) * | 1997-07-24 | 1999-02-04 | Mcguckin James F Jr | Rotational thrombectomy apparatus and method with standing wave |
| US6852097B1 (en) * | 1999-06-24 | 2005-02-08 | Fulton, Iii Richard E. | Mechanically active infusion catheter |
| US20120211006A1 (en) * | 2009-08-24 | 2012-08-23 | Board Of Regents The University Of Texas System | Automated Needle Insertion Mechanism |
| CN103212148A (en) * | 2013-04-25 | 2013-07-24 | 何凡 | Iliofemoral deep venous thrombosis moniliform eccentric sacculus thrombolysis thrombectomy catheter and using method of same |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107233135A (en) * | 2017-07-22 | 2017-10-10 | 温州医科大学附属第医院 | Minimally invasive tool for uprooting of being completely cured |
| CN107233135B (en) * | 2017-07-22 | 2019-10-18 | 温州医科大学附属第一医院 | Minimally invasive tool for uprooting of being completely cured |
| CN113081276A (en) * | 2021-03-29 | 2021-07-09 | 上海健康医学院 | Four-bar linkage venipuncture needle advancing and retreating execution device with needle picking action |
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Application publication date: 20170630 |