CN107049494A - A kind of medical treatment device based on digestive endoscopy - Google Patents
A kind of medical treatment device based on digestive endoscopy Download PDFInfo
- Publication number
- CN107049494A CN107049494A CN201710322356.0A CN201710322356A CN107049494A CN 107049494 A CN107049494 A CN 107049494A CN 201710322356 A CN201710322356 A CN 201710322356A CN 107049494 A CN107049494 A CN 107049494A
- Authority
- CN
- China
- Prior art keywords
- mechanical arm
- digestive endoscopy
- rotor
- flexible mechanical
- treatment device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001079 digestive effect Effects 0.000 title claims abstract description 49
- 238000001839 endoscopy Methods 0.000 title claims abstract description 49
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 8
- 238000005520 cutting process Methods 0.000 claims description 7
- 238000002224 dissection Methods 0.000 claims description 7
- 238000004804 winding Methods 0.000 claims description 5
- 238000003825 pressing Methods 0.000 claims description 4
- 230000033001 locomotion Effects 0.000 abstract description 10
- 238000005452 bending Methods 0.000 abstract description 5
- 238000000034 method Methods 0.000 description 14
- 238000005516 engineering process Methods 0.000 description 4
- 238000003745 diagnosis Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000001575 pathological effect Effects 0.000 description 2
- 241000222712 Kinetoplastida Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000002788 crimping Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000001151 other effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- 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
Abstract
The present invention relates to medical instruments field, a kind of medical treatment device based on digestive endoscopy, including digestive endoscopy, the flexible mechanical arm being connected with digestive endoscopy are disclosed, some driving ropes being connected with flexible mechanical arm and the power module being connected with driving rope；Wherein, driving rope can be driven and be stretched by power module, so as to draw flexible mechanical arm with respect to digestive endoscopy self-movement.The present invention is provided with flexible mechanical arm, flexible mechanical arm can be under the driving of power module towards different directions bending, so as to drive operating theater instruments relative to digestive endoscopy self-movement, compared to the mode that digestive endoscopy drives surgical instrument movement, the present invention can realize the flexible deflecting of operating theater instruments, ensure the kinematic accuracy of operating theater instruments, the space needed for surgical instrument movement can also be reduced, extend the scope of application of digestive endoscopy.
Description
Technical field
The present invention relates to medical instruments field, a kind of application digestive endoscopy and the mechanical arm on digestive endoscopy are specifically related to
Etc. the operation device that mechanism carries out human body diagnosis and treatment.
Background technology
With the development of technology, diagnosis, the treatment of digestive endoscopy more and more applied to disease.Digestive endoscopy is generally wrapped
Light source, object lens and instrument channel are included, wherein object lens are used to be imaged, and light source is used to illuminate tissue, device when object lens are imaged
Tool passage is then used to guide operating theater instruments (such as electric knife).In use, digestive endoscopy is stretched into patient's body along body cavities first
It is interior, then operating theater instruments is inserted in the instrument channel of digestive endoscopy, and lesion locations are moved to along instrument channel.Due to operation
Apparatus needs continually adjustment direction and angle in operation, and apparatus itself does not possess power, therefore adopts in the prior art
The scheme of surgical instrument movement is driven with the motion by digestive endoscopy, but such a scheme is difficult to the flexible of operating theater instruments
Deflecting, while precision is also difficult to ensure that, in addition, digestive endoscopy motion needs larger space, exists in actual use
More limitation.
The content of the invention
In order to overcome the limitation of surgical instrument movement mode in the prior art, improve operating theater instruments in the prior art and be difficult to
The problems such as flexible deflecting, kinematic accuracy are low, space hold is big is realized, the present invention provides a kind of medical treatment dress based on digestive endoscopy
Put.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of medical treatment device based on digestive endoscopy, including digestive endoscopy, the flexible mechanical arm being connected with digestive endoscopy, with
Some driving ropes of flexible mechanical arm connection and the power module being connected with driving rope；Wherein, driving rope can be by power module
Drive and stretched, so as to draw flexible mechanical arm with respect to digestive endoscopy self-movement.
As the further improved procedure of such scheme, flexible mechanical arm includes the rotor of some series connection, more than three
Driving rope sequentially pass through rotor along the circumferentially distributed of rotor, and along series connection direction, it is and affixed with the rotor of least significant end；
With the flexible of driving rope, previous rotor can relatively latter rotor along at least one direction reciprocally swinging, and phase
The swaying direction of adjacent rotor is interlaced.
As the further improved procedure of such scheme, the tail end of rotor, which is provided with, carries outstanding curved surface, rotates
The head end of body is provided with plane, and the plane of the curved surface of previous rotor and latter rotor is supported.
As the further improved procedure of such scheme, previous rotor can relatively latter rotor by curved surface along one
Direction is swung.
As the further improved procedure of such scheme, curve form, which is met, to be set：It is contour everywhere in the first direction, along with
The vertical second direction of first direction, middle part highest, and gradually reduced to both sides.
As the further improved procedure of such scheme, power module includes moving that some rotating shafts and drive shaft are rotated
Two driving ropes are wound with power apparatus, rotating shaft, and the winding direction of this two driving ropes is opposite.
As the further improved procedure of such scheme, power module also includes pedestal, and if being located at side by side on pedestal
Dry sleeve pipe, and pressing plate sleeve pipe being fixed on pedestal, driving rope be each passed through after corresponding sleeve pipe again with flexible mechanical arm
Connection.
It is used as the further improved procedure of such scheme, in addition to the collar being socketed on digestive endoscopy, flexible mechanical arm
It is connected with the collar, and the collar is provided with cord hole, driving is restricted to be connected with flexible mechanical arm again through after corresponding cord hole.
It is used as the further improved procedure of such scheme, in addition to the operating theater instruments being connected with flexible mechanical arm.
As the further improved procedure of such scheme, operating theater instruments includes cutting dissection cutter, suture instruments, gripper clamp
Apparatus processed, one kind in drawing class apparatus or its combination.
As the further improved procedure of such scheme, including two flexible mechanical arms, wherein a flexible mechanical arm with
Cutting dissection cutter connection, another flexible mechanical arm is clamped down on apparatus with clamping and is connected.
The beneficial effects of the invention are as follows：
The present invention is provided with flexible mechanical arm, and flexible mechanical arm can be curved towards different directions under the driving of power module
Song, so that operating theater instruments is driven relative to digestive endoscopy self-movement, compared to the side that digestive endoscopy drives surgical instrument movement
Formula, the present invention can realize the flexible deflecting of operating theater instruments, it is ensured that the kinematic accuracy of operating theater instruments, can also reduce operating theater instruments
Space needed for motion, extends the scope of application of digestive endoscopy；
In a preferred embodiment of the invention, coordinated between rotor by curved surface and plane, do not had in addition to frictional force
Other hinder the active force rotated, so as to realize the flexible rotating between rotor；
In a preferred embodiment of the invention, robot also includes the operating theater instruments for being used to perform operation technique；
In a preferred embodiment of the invention, electric knife is driven to be moved with gripper clamp respectively using two mechanical arms, by not
The step of can simplifying operation technique with the combination between apparatus, shortens operating time.
In a preferred embodiment of the invention, two driving ropes that control flexible mechanical arm is swung in one direction are by one
Rotating shaft synchronously drives, and is conducive to simplifying the structure of power module, improves control accuracy.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the schematic perspective view of one embodiment of the invention
Fig. 2 is the schematic perspective view of flexible mechanical arm one embodiment of the present invention；
Fig. 3 is the schematic perspective view of rotor one embodiment of the present invention；
Fig. 4 is the front view of rotor one embodiment of the present invention；
Fig. 5 is the side view of rotor one embodiment of the present invention；
Fig. 6 is the schematic perspective view of collar one embodiment of the present invention；
Fig. 7 is the schematic perspective view that flexible mechanical arm of the present invention is connected with digestive endoscopy, the collar, operating theater instruments；
Fig. 8 is the schematic perspective view of power module one embodiment of the present invention；
Embodiment
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and accompanying drawing clear
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, be referred to as " fixing " when a certain feature, " connection " in another feature,
It can directly fix, be connected in another feature, can also indirectly fix, be connected in another feature.In addition, 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.
In addition, 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.
Reference picture 1, shows and is located at power mould on the schematic perspective view of medical treatment device one embodiment of the present invention, driving rope
Part between group and flexible mechanical arm is hidden.As illustrated, medical treatment device includes digestive endoscopy 100, flexible mechanical arm
200th, power module 300 and some driving ropes 400, flexible mechanical arm 200 are used to install the external agencies such as operating theater instruments, its with
Digestive endoscopy 100 is connected, and can enter human body with digestive endoscopy 100.Driving rope is as the medium of transmission power, and it is distinguished
It is connected with flexible mechanical arm 200, power module 300, with the driving of power module 300, driving rope can pass through flexible drive
The self-movement of digestive endoscopy 100 relatively of flexible mechanical arm 200, compared to the mode that digestive endoscopy drives surgical instrument movement, sheet
Invention can realize the flexible deflecting of operating theater instruments, it is ensured that the kinematic accuracy of operating theater instruments, can also reduce surgical instrument movement
Required space, extends the scope of application of digestive endoscopy.
Reference picture 2, shows the schematic perspective view of flexible mechanical arm of the present invention.As illustrated, the main body of flexible mechanical arm
Structure includes the rotor 210 of some series connection.It can relatively rotate, preferably be connected by rolling pair between rotor 210, so as to
To realize the flexible rotating between rotor, and then the flexible bending of mechanical arm, the response speed of elevating mechanism arm can be realized.
Reference picture 3 respectively illustrates the schematic perspective view, front view and side of rotor one embodiment of the present invention to Fig. 5
View.As illustrated, rotor 210 is generally cylindrical, to realize the rotation between adjacent rotated body 210, it is preferred that rotate
The head end of body 210 has plane 211, and tail end has outstanding curved surface 212, and the curved surface 212, which is met, to be set：The arrow along along Fig. 4
The direction of head is contour everywhere, the direction middle part highest of arrow along along Fig. 5, and is gradually reduced to both sides, i.e., rotor 210 can
The direction of arrow is swung along along Fig. 5.Instrument channel 214 is additionally provided with rotor 210, instrument channel 214 runs through along series connection direction to be turned
Kinetoplast 210, for guiding operating theater instruments.
Some cord hole 213, the quantity and the quantity pair of driving rope 400 of cord hole 213 are preferably also provided with rotor 210
Should, four cord hole 213 are preferably provided with the present embodiment, the circumference of four cord hole 213 along rotor 210 is uniformly distributed.
Reference picture 2, some rotors 210 are connected, and the curved surface 212 of previous rotor 210 and latter rotor 210 is flat
Face 211 is supported, and due to being linear contact lay between curved surface 212 and plane 211, does not have other effects for hindering to rotate in addition to frictional force
Power, therefore the rotation between rotor 210 is very flexible.
To realize the multi-direction bending of mechanical arm, the swaying direction of adjacent rotated body 210 is interlaced, it is preferred that this implementation
The swaying direction of adjacent rotated body 210 is mutually perpendicular in example.
Angle in the present invention between the quantity and rotor of rotor can be adjusted according to actual conditions, such as rotor
Between angle can be 30 °, 45 ° or 60 ° etc., the present invention this is not especially limited.
Driving rope 400 is as the power source of mechanical arm, and it sequentially passes through corresponding rope on each rotor 210 along series connection direction
Hole 213, and it is affixed with the rotor 210 (as shown in Fig. 2 the rotor of least significant end is the rotor of the top) of least significant end.
The present invention includes the driving rope of more than three (including this number above alleged by the present invention), it is preferred that correspondence flexible mechanical arm four
Four driving ropes are preferably provided with bending on individual direction, flexible mechanical arm, two relative driving ropes are one group.When side is driven
When the driving rope 400 that running rope 400 tenses offside simultaneously unclamps, the curving that mechanical arm will be tensed towards driving rope.
Previous rotor is only capable of relatively latter rotor and swung in one direction in above-described embodiment, in addition, may be used also
To increase the free degree between adjacent rotated body by the shape for adjusting curved surface 212, such as make the direction of arrow along along Fig. 4 of curved surface 212
Shape also as the shape of the direction of arrow in Fig. 5, middle part highest, and gradually being reduced to both sides is so previous to rotate
Body can relatively latter rotor swung along both direction.
Flexible mechanical arm 200 is preferably connected by the collar 500 with digestive endoscopy 100 in the present invention, and reference picture 6 is shown
The schematic perspective view of collar one embodiment of the present invention.As illustrated, the collar includes collar body 510 and located at collar body
Boss 520 in 510 circumferences, collar body 510 is provided with the screwed hole 511 of radial direction, and boss 520 is provided with cord hole 521 and device
Tool passage 522.It is preferred that, two boss 520 are arranged with collar body 510.The collar 100 is socketed by collar body 510
On the end of digestive endoscopy 100, and preferably pass through the screwed hole 511 on collar body 510 and corresponding threaded fastener
Locked.
Flexible mechanical arm 200 is arranged on corresponding boss 520, the instrument channel 214 on rotor 210 and boss 520
On instrument channel 522 connect, driving rope 400 is right on rotor 210 through being then passed through after corresponding cord hole 521 on boss 520
The cord hole 213 answered, so as to realize the connection of flexible mechanical arm 200 and the collar 100.
Reference picture 7, shows the three-dimensional signal that flexible mechanical arm of the present invention is connected with digestive endoscopy, the collar, operating theater instruments
Figure.Operating theater instruments alleged by the present invention includes but is not limited to cutting dissection cutter (such as electric knife, laser knife), suture instruments, clamping
Apparatus (such as gripper clamp), drawing class apparatus (such as sucker) etc. are clamped down on, can voluntarily arrange in pairs or groups selection as needed.It is preferred that, this
Embodiment includes two flexible mechanical arms, wherein a flexible mechanical arm is connected with cutting dissection cutter, described in another
Flexible mechanical arm is clamped down on apparatus with clamping and is connected.It is furthermore preferred that cutting dissection cutter uses electric knife 610, specific connected mode is
Electric knife 610 is plugged in the instrument channel of mechanical arm；Clamping clamps down on apparatus using gripper clamp 620, specific connected mode be
The end of the flexible mechanical arm is provided with the connector 630 of hinged seat, and gripper clamp 620 is hinged on the connector 630.Wherein
Electric knife 610 is used to cut pathological tissues, and gripper clamp 620 is used to lift pathological tissues, and the tissue after stripping can be direct
Taken out of by gripper clamp, i.e., the present embodiment can allow two operating theater instruments while entering human body, pass through the group between different apparatuses
The step of conjunction can simplify operation technique, shortens operating time.
Reference picture 8, shows in the schematic perspective view of power module one embodiment of the present invention, figure and conceals power module
Shell and control device.As illustrated, power module includes the power that some groups of rotating shaft 310 is rotated with drive shaft 310
Device, power set can be motor, rotary cylinder etc., and motor 320 is preferred to use in the present embodiment.On the circumference of rotating shaft 310
Vertically provided with the parallel groove of twice, the diameter of groove bottom land is preferably equal.Driving rope 400 is wound with groove, and it is upper and lower
The winding direction of driving rope in groove is on the contrary, in this way, when rotating shaft 310 is rotated in one direction, winding direction and rotating shaft 310
Rotation direction identical driving rope 400 is shunk, and the winding direction driving rope 400 opposite with the rotation direction of rotating shaft 310 is synchronous to be stretched out,
And contracted length is preferably equal with extension elongation, so as to control the bending of flexible mechanical arm.
One rotating shaft 310 can control single flexible mechanical arm 200 in one group of driving rope 400, the present invention to need two groups of drives
Running rope 400 is controlled, while gripper clamp 620 needs one group of control folding of driving rope 400, therefore the present invention is preferably provided with five turns
The motor of axle and respective numbers.
It is preferred that, in order to realize the ordered arrangement of driving rope 400, power module also includes pedestal 330 and pressing plate 340, base
Correspondence driving rope 400 is provided with some grooves, groove side by side on the top surface of seat 330 is provided with sleeve pipe 350, and pressing plate 340 passes through spiral shell
Nail is fixed on the top of pedestal 330, and crimping fixation is carried out to sleeve pipe 350, and driving rope 400 is each passed through corresponding sleeve pipe 350
It is connected again with flexible mechanical arm afterwards.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited to the implementation
Example, those skilled 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 medical treatment device based on digestive endoscopy, it is characterised in that including digestive endoscopy, be connected with the digestive endoscopy
Flexible mechanical arm, some driving ropes being connected with the flexible mechanical arm and the power module being connected with the driving rope；Its
In, the driving rope can be driven and be stretched by the power module, so as to draw, the flexible mechanical arm is relatively described to disappear
Change scope self-movement.
2. the medical treatment device according to claim 1 based on digestive endoscopy, it is characterised in that the flexible mechanical arm includes
The rotor of some series connection, the driving rope of more than three along the circumferentially distributed of the rotor, and along series connection direction successively
Through the rotor, and it is affixed with the rotor of least significant end；
With the flexible of the driving rope, the previous rotor can relatively latter rotor along at least one direction reciprocally swinging,
And the swaying direction of the adjacent rotor is interlaced.
3. the medical treatment device according to claim 2 based on digestive endoscopy, it is characterised in that the tail end of the rotor is set
Have with outstanding curved surface, the head end of the curved surface of the previous rotor and the latter rotor is supported.
4. the medical treatment device according to claim 3 based on digestive endoscopy, it is characterised in that the previous rotor can phase
The latter rotor is swung in one direction by the curved surface.
5. the medical treatment device according to claim 4 based on digestive endoscopy, it is characterised in that the curve form meets and set
Put：It is contour everywhere in the first direction, along the second direction vertical with the first direction, middle part highest, and to both sides by
Gradually reduce.
6. the medical treatment device according to claim 1 based on digestive endoscopy, it is characterised in that if the power module includes
Two driving ropes, and this two are wound with the power set of the dry rotating shaft and driving axis of rotation, the rotating shaft
Drive the winding direction of rope opposite.
7. the medical treatment device according to claim 6 based on digestive endoscopy, it is characterised in that the power module also includes
Pedestal, and some sleeve pipes on the pedestal, and described sleeve pipe is fixed on the pressing plate on the pedestal side by side, it is described
Driving rope is each passed through after corresponding described sleeve pipe to be connected with the flexible mechanical arm again.
8. the medical treatment device according to any one of claim 1 to 7 based on digestive endoscopy, it is characterised in that also include
The collar on the digestive endoscopy is socketed in, the flexible mechanical arm is connected with the collar, and the collar is provided with some
Cord hole, the driving rope with the flexible mechanical arm through being connected after the corresponding cord hole again.
9. the medical treatment device according to any one of claim 1 to 7 based on digestive endoscopy, it is characterised in that also include
The operating theater instruments being connected with the flexible mechanical arm, the operating theater instruments is clamped down on including cutting dissection cutter, suture instruments, clamping
Apparatus, one kind in drawing class apparatus or its combination.
10. the medical treatment device according to claim 9 based on digestive endoscopy, it is characterised in that including two flexibilities
Mechanical arm, wherein a flexible mechanical arm is connected with the cutting dissection cutter, another flexible mechanical arm and institute
State clamping and clamp down on apparatus connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322356.0A CN107049494B (en) | 2017-05-09 | 2017-05-09 | Medical device based on digestive endoscope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710322356.0A CN107049494B (en) | 2017-05-09 | 2017-05-09 | Medical device based on digestive endoscope |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107049494A true CN107049494A (en) | 2017-08-18 |
| CN107049494B CN107049494B (en) | 2024-01-26 |
Family
ID=59596575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710322356.0A Active CN107049494B (en) | 2017-05-09 | 2017-05-09 | Medical device based on digestive endoscope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107049494B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108078624A (en) * | 2017-11-16 | 2018-05-29 | 席婷 | A kind of special stripping off device of digestive endoscopy |
| CN108908319A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of lightweight flexible robot |
| CN108942978A (en) * | 2018-07-13 | 2018-12-07 | 哈尔滨工业大学（深圳） | A kind of flexible robot's drive control panel and drive control box |
| CN110507416A (en) * | 2019-07-12 | 2019-11-29 | 南京航空航天大学 | Using the minimally invasive surgery system and its control method for self-deploying flexible fine motion arm |
| CN112790864A (en) * | 2020-12-30 | 2021-05-14 | 山东大学 | Parameter optimization design method for flexible unfolding arm |
| CN113696127A (en) * | 2021-11-01 | 2021-11-26 | 极限人工智能(北京)有限公司 | Steel wire mounting and tensioning device |
| CN113907876A (en) * | 2021-09-22 | 2022-01-11 | 中南大学湘雅医院 | Spine-imitated high-rigidity linear driving mechanical arm and surgical robot |
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| CN207693678U (en) * | 2017-05-09 | 2018-08-07 | 深圳市罗伯医疗机器人研究所 | A kind of medical treatment device based on digestive endoscopy |
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| US20080051631A1 (en) * | 2006-01-13 | 2008-02-28 | Olympus Medical Systems Corp. | Medical treatment endoscope |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108078624A (en) * | 2017-11-16 | 2018-05-29 | 席婷 | A kind of special stripping off device of digestive endoscopy |
| CN108908319A (en) * | 2018-07-13 | 2018-11-30 | 哈尔滨工业大学（深圳） | A kind of lightweight flexible robot |
| CN108942978A (en) * | 2018-07-13 | 2018-12-07 | 哈尔滨工业大学（深圳） | A kind of flexible robot's drive control panel and drive control box |
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| CN110507416A (en) * | 2019-07-12 | 2019-11-29 | 南京航空航天大学 | Using the minimally invasive surgery system and its control method for self-deploying flexible fine motion arm |
| CN110507416B (en) * | 2019-07-12 | 2022-01-18 | 南京航空航天大学 | Minimally invasive surgery system adopting self-unfolding flexible micro-fine operation arm and control method thereof |
| CN112790864A (en) * | 2020-12-30 | 2021-05-14 | 山东大学 | Parameter optimization design method for flexible unfolding arm |
| CN112790864B (en) * | 2020-12-30 | 2022-03-08 | 山东大学 | Parameter optimization design method for flexible unfolding arm |
| CN113907876A (en) * | 2021-09-22 | 2022-01-11 | 中南大学湘雅医院 | Spine-imitated high-rigidity linear driving mechanical arm and surgical robot |
| CN113696127A (en) * | 2021-11-01 | 2021-11-26 | 极限人工智能(北京)有限公司 | Steel wire mounting and tensioning device |
| CN113696127B (en) * | 2021-11-01 | 2022-02-08 | 极限人工智能(北京)有限公司 | Steel wire mounting and tensioning device |
Also Published As
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|---|---|
| CN107049494B (en) | 2024-01-26 |
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