CN107744406A - 一种机器人操作平台及其操作方法 - Google Patents
一种机器人操作平台及其操作方法 Download PDFInfo
- Publication number
- CN107744406A CN107744406A CN201710762877.8A CN201710762877A CN107744406A CN 107744406 A CN107744406 A CN 107744406A CN 201710762877 A CN201710762877 A CN 201710762877A CN 107744406 A CN107744406 A CN 107744406A
- Authority
- CN
- China
- Prior art keywords
- platform
- seal wire
- conduit
- contiguous block
- support
- 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
- 238000011017 operating method Methods 0.000 title description 4
- 238000006073 displacement reaction Methods 0.000 claims abstract description 35
- 238000005259 measurement Methods 0.000 claims abstract description 17
- 238000012549 training Methods 0.000 claims abstract description 8
- 230000007246 mechanism Effects 0.000 claims description 56
- 230000033001 locomotion Effects 0.000 claims description 24
- 238000009434 installation Methods 0.000 claims description 14
- 239000011159 matrix material Substances 0.000 claims description 14
- 230000002441 reversible effect Effects 0.000 claims description 8
- 238000004458 analytical method Methods 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 2
- 238000002601 radiography Methods 0.000 abstract description 10
- 238000000034 method Methods 0.000 abstract description 9
- 230000002792 vascular Effects 0.000 abstract description 3
- 230000033228 biological regulation Effects 0.000 abstract description 2
- 210000004204 blood vessel Anatomy 0.000 description 20
- 238000001356 surgical procedure Methods 0.000 description 16
- 238000010586 diagram Methods 0.000 description 14
- 230000000712 assembly Effects 0.000 description 10
- 238000000429 assembly Methods 0.000 description 10
- 238000001514 detection method Methods 0.000 description 10
- 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 description 8
- 230000005540 biological transmission Effects 0.000 description 7
- 230000002526 effect on cardiovascular system Effects 0.000 description 7
- 230000009471 action Effects 0.000 description 6
- 238000010276 construction Methods 0.000 description 6
- 210000003739 neck Anatomy 0.000 description 6
- 230000000007 visual effect Effects 0.000 description 6
- 208000024172 Cardiovascular disease Diseases 0.000 description 5
- 230000006378 damage Effects 0.000 description 5
- 238000013461 design Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000001141 propulsive effect Effects 0.000 description 5
- 208000026106 cerebrovascular disease Diseases 0.000 description 4
- 239000002360 explosive Substances 0.000 description 4
- 238000003780 insertion Methods 0.000 description 4
- 230000037431 insertion Effects 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000004659 sterilization and disinfection Methods 0.000 description 4
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000008901 benefit Effects 0.000 description 3
- 239000002872 contrast media Substances 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000008520 organization Effects 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 230000002285 radioactive effect Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 230000001954 sterilising effect Effects 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 2
- 235000011613 Pinus brutia Nutrition 0.000 description 2
- 241000018646 Pinus brutia Species 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- XEBWQGVWTUSTLN-UHFFFAOYSA-M phenylmercury acetate Chemical compound CC(=O)O[Hg]C1=CC=CC=C1 XEBWQGVWTUSTLN-UHFFFAOYSA-M 0.000 description 2
- 239000002574 poison Substances 0.000 description 2
- 231100000614 poison Toxicity 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000002627 tracheal intubation Methods 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 210000004351 coronary vessel Anatomy 0.000 description 1
- 238000007428 craniotomy Methods 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000008713 feedback mechanism Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000007937 lozenge Substances 0.000 description 1
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 239000012528 membrane Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 230000026683 transduction Effects 0.000 description 1
- 238000010361 transduction Methods 0.000 description 1
- 238000012546 transfer Methods 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
- A61B17/00234—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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B9/00—Simulators for teaching or training purposes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Molecular Biology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Robotics (AREA)
- Theoretical Computer Science (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (12)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710762877.8A CN107744406A (zh) | 2017-08-30 | 2017-08-30 | 一种机器人操作平台及其操作方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710762877.8A CN107744406A (zh) | 2017-08-30 | 2017-08-30 | 一种机器人操作平台及其操作方法 |
Publications (1)
Publication Number | Publication Date |
---|---|
CN107744406A true CN107744406A (zh) | 2018-03-02 |
Family
ID=61255585
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710762877.8A Pending CN107744406A (zh) | 2017-08-30 | 2017-08-30 | 一种机器人操作平台及其操作方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107744406A (zh) |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108305522A (zh) * | 2018-04-09 | 2018-07-20 | 西南石油大学 | 一种用于血管介入手术操作引导用的训练设备 |
CN109159115A (zh) * | 2018-08-17 | 2019-01-08 | 哈尔滨工业大学 | 一种面向科普的触觉通信装置 |
CN110856660A (zh) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | 手术机器人及其穿刺机构 |
CN111047937A (zh) * | 2019-12-14 | 2020-04-21 | 上海工程技术大学 | 一种基于磁流变液的手术训练*** |
CN111539266A (zh) * | 2020-04-02 | 2020-08-14 | 威迈(宁波)医疗科技有限公司 | 一种医疗器械识别装置、方法以及血管介入培训设备 |
CN112546396A (zh) * | 2020-12-04 | 2021-03-26 | 北京理工大学 | 一种导轨直推式血管介入手术机器人及其导丝递送方法 |
CN113441465A (zh) * | 2021-05-27 | 2021-09-28 | 成都飞机工业(集团)有限责任公司 | 一种直线光栅尺用清洁装置及其使用方法 |
CN113808464A (zh) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | 介入手术模拟平台 |
CN113855253A (zh) * | 2021-10-15 | 2021-12-31 | 中国科学院长春光学精密机械与物理研究所 | 介入手术***及其控制方法、*** |
CN114391952A (zh) * | 2022-01-07 | 2022-04-26 | 易度河北机器人科技有限公司 | 一种适用临床的血管介入手术机器人双位驱动及反馈装置 |
CN114795411A (zh) * | 2022-04-15 | 2022-07-29 | 哈尔滨理工大学 | 一种具有开槽支撑的柔性针穿刺机构 |
CN115800153A (zh) * | 2022-09-29 | 2023-03-14 | 嘉兴市恒光电力建设有限责任公司 | 一种高压电缆回流缆防盗夹具装置 |
CN116899107A (zh) * | 2023-06-21 | 2023-10-20 | 南京伟思医疗科技股份有限公司 | 智能随动减重治疗机械臂、控制方法及治疗支架 |
-
2017
- 2017-08-30 CN CN201710762877.8A patent/CN107744406A/zh active Pending
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108305522A (zh) * | 2018-04-09 | 2018-07-20 | 西南石油大学 | 一种用于血管介入手术操作引导用的训练设备 |
CN108305522B (zh) * | 2018-04-09 | 2023-09-01 | 西南石油大学 | 一种用于血管介入手术操作引导用的训练设备 |
CN109159115A (zh) * | 2018-08-17 | 2019-01-08 | 哈尔滨工业大学 | 一种面向科普的触觉通信装置 |
CN110856660B (zh) * | 2018-08-23 | 2021-12-21 | 武汉联影智融医疗科技有限公司 | 手术机器人及其穿刺机构 |
CN110856660A (zh) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | 手术机器人及其穿刺机构 |
CN111047937A (zh) * | 2019-12-14 | 2020-04-21 | 上海工程技术大学 | 一种基于磁流变液的手术训练*** |
CN111539266A (zh) * | 2020-04-02 | 2020-08-14 | 威迈(宁波)医疗科技有限公司 | 一种医疗器械识别装置、方法以及血管介入培训设备 |
CN112546396A (zh) * | 2020-12-04 | 2021-03-26 | 北京理工大学 | 一种导轨直推式血管介入手术机器人及其导丝递送方法 |
CN113441465A (zh) * | 2021-05-27 | 2021-09-28 | 成都飞机工业(集团)有限责任公司 | 一种直线光栅尺用清洁装置及其使用方法 |
CN113808464A (zh) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | 介入手术模拟平台 |
CN113808464B (zh) * | 2021-09-24 | 2023-03-21 | 山东静禾医疗科技有限公司 | 介入手术模拟平台 |
CN113855253A (zh) * | 2021-10-15 | 2021-12-31 | 中国科学院长春光学精密机械与物理研究所 | 介入手术***及其控制方法、*** |
CN113855253B (zh) * | 2021-10-15 | 2023-09-15 | 中国科学院长春光学精密机械与物理研究所 | 介入手术***及其控制方法、*** |
CN114391952A (zh) * | 2022-01-07 | 2022-04-26 | 易度河北机器人科技有限公司 | 一种适用临床的血管介入手术机器人双位驱动及反馈装置 |
CN114795411A (zh) * | 2022-04-15 | 2022-07-29 | 哈尔滨理工大学 | 一种具有开槽支撑的柔性针穿刺机构 |
CN115800153A (zh) * | 2022-09-29 | 2023-03-14 | 嘉兴市恒光电力建设有限责任公司 | 一种高压电缆回流缆防盗夹具装置 |
CN116899107A (zh) * | 2023-06-21 | 2023-10-20 | 南京伟思医疗科技股份有限公司 | 智能随动减重治疗机械臂、控制方法及治疗支架 |
CN116899107B (zh) * | 2023-06-21 | 2024-02-13 | 南京伟思医疗科技股份有限公司 | 智能随动减重治疗机械臂、控制方法及治疗支架 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107744406A (zh) | 一种机器人操作平台及其操作方法 | |
CN107374737B (zh) | 一种介入手术机器人导管导丝协同操作*** | |
CN107744405A (zh) | 一种机器人从端装置、操作***及其控制方法 | |
CN107374740B (zh) | 一种导管导丝协同操作介入机器人 | |
CN208989133U (zh) | 一种机器人操作平台 | |
CN107307909B (zh) | 一种介入机器人远程操作*** | |
CN107374738A (zh) | 一种介入手术机器人从端及其移动平台和控制方法 | |
CN105662588B (zh) | 一种主从式微创血管介入手术远程操作*** | |
CN105662586B (zh) | 一种导管导丝协同推送的介入手术机器人及其控制方法 | |
CN209136865U (zh) | 一种机器人从端装置、操作*** | |
CN107789720A (zh) | 一种导丝辅助夹紧装置及其控制导丝的方法 | |
CN208893426U (zh) | 一种导丝辅助夹紧装置 | |
CN107374739A (zh) | 一种介入手术机器人从端装置及其控制方法 | |
CN107349514A (zh) | 一种介入手术用导管导丝控制装置及其控制方法 | |
CN209137698U (zh) | 一种导管控制器 | |
CN207970143U (zh) | 一种介入手术机器人从端装置 | |
CN107744616A (zh) | 一种导管控制器及其使用方法 | |
CN107754072A (zh) | 一种导丝控制器及其操作方法 | |
CN105796179B (zh) | 一种主从介入手术机器人从端操作装置及其控制方法 | |
CN109567947A (zh) | 一种介入手术机器人从端装置及其控制方法 | |
CN107753107A (zh) | 一种导丝控制器及其操作方法 | |
CN101991901B (zh) | 用于导管的机器人驱动器 | |
CN109730779A (zh) | 一种血管介入手术机器人导管导丝协同控制***及方法 | |
CN207979771U (zh) | 一种介入手术机器人从端装置及其操作平台 | |
CN102525712B (zh) | 一种绳牵引上肢康复机器人及其控制方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210721 Address after: 100160 119 South 4th Ring Road West, Fengtai District, Beijing Applicant after: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Address before: 100050 Tiantan Xili 6, Dongcheng District, Beijing Applicant before: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Applicant before: Li Youxiang Applicant before: Jiang Yuhua |
|
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20180302 Assignee: Beijing wansi Medical Technology Co.,Ltd. Assignor: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Contract record no.: X2024980004749 Denomination of invention: A robot operation platform and its operation method Granted publication date: 20190524 License type: Exclusive License Record date: 20240422 |