CN107970069A - 一种用于手术机器人的多自由度远程操作手柄 - Google Patents
一种用于手术机器人的多自由度远程操作手柄 Download PDFInfo
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- CN107970069A CN107970069A CN201711449826.6A CN201711449826A CN107970069A CN 107970069 A CN107970069 A CN 107970069A CN 201711449826 A CN201711449826 A CN 201711449826A CN 107970069 A CN107970069 A CN 107970069A
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- motion bar
- remote operation
- multiple degrees
- operation handle
- operating robot
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- 238000001514 detection method Methods 0.000 claims description 7
- 239000007787 solid Substances 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 4
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910000881 Cu alloy Inorganic materials 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 230000015271 coagulation Effects 0.000 description 2
- 238000005345 coagulation Methods 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 238000009617 vacuum fusion Methods 0.000 description 2
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 1
- 210000000080 chela (arthropods) Anatomy 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229910052733 gallium Inorganic materials 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
- 229910052725 zinc Inorganic materials 0.000 description 1
Classifications
-
- 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
-
- 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
- A61B34/70—Manipulators specially adapted for use in 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (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
Description
Claims (8)
Priority Applications (1)
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CN201711449826.6A CN107970069B (zh) | 2017-12-27 | 2017-12-27 | 一种用于手术机器人的多自由度远程操作手柄 |
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CN201711449826.6A CN107970069B (zh) | 2017-12-27 | 2017-12-27 | 一种用于手术机器人的多自由度远程操作手柄 |
Publications (2)
Publication Number | Publication Date |
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CN107970069A true CN107970069A (zh) | 2018-05-01 |
CN107970069B CN107970069B (zh) | 2019-10-18 |
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CN201711449826.6A Active CN107970069B (zh) | 2017-12-27 | 2017-12-27 | 一种用于手术机器人的多自由度远程操作手柄 |
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CN (1) | CN107970069B (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110576430A (zh) * | 2019-10-13 | 2019-12-17 | 杨锐 | 一种肿瘤手术机器人转动件 |
CN110897720A (zh) * | 2019-12-16 | 2020-03-24 | 杨锐 | 一种医疗手术机器人手术器械平移单元 |
CN111449758A (zh) * | 2020-04-09 | 2020-07-28 | 山东大学 | 一种用于连续体手术机器人的主操作手及手术机器人 |
Citations (11)
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---|---|---|---|---|
US20080221591A1 (en) * | 2007-02-20 | 2008-09-11 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
KR100997196B1 (ko) * | 2009-08-13 | 2010-11-30 | 주식회사 이턴 | 수술용 로봇의 조작 장치 |
WO2013018983A1 (ko) * | 2011-08-03 | 2013-02-07 | (주)미래컴퍼니 | 수술용 로봇의 마스터 암 구조 및 수술용 마스터 로봇의 제어방법 |
CN103714729A (zh) * | 2013-12-31 | 2014-04-09 | 广州赛宝联睿信息科技有限公司 | 一种膀胱镜手术模拟训练操作台及其实现方法 |
CN104582629A (zh) * | 2012-06-29 | 2015-04-29 | 伊西康内外科公司 | 用于外科机器人的触觉反馈装置 |
CN104622585A (zh) * | 2015-03-13 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | 一种腹腔镜微创手术机器人主从同构式遥操作主手 |
CN104783846A (zh) * | 2015-01-22 | 2015-07-22 | 天津手智医疗科技有限责任公司 | 一种采用微创手术智能化器械的手术操作方法 |
CN104823226A (zh) * | 2012-11-30 | 2015-08-05 | 外科科学瑞典有限公司 | 用于外科手术模拟***的用户界面设备 |
CN204791738U (zh) * | 2015-06-26 | 2015-11-18 | 中国科学院合肥物质科学研究院 | 基于磁阻尼器的微创手术仿真装置 |
CN106667583A (zh) * | 2017-02-17 | 2017-05-17 | 吉林大学 | 一种微创手术机器人七自由度操作主手 |
CN106994045A (zh) * | 2017-04-05 | 2017-08-01 | 浙江机电职业技术学院 | 一种用于微创手术的远程运动中心机构 |
-
2017
- 2017-12-27 CN CN201711449826.6A patent/CN107970069B/zh active Active
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080221591A1 (en) * | 2007-02-20 | 2008-09-11 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical visualization and device manipulation |
KR100997196B1 (ko) * | 2009-08-13 | 2010-11-30 | 주식회사 이턴 | 수술용 로봇의 조작 장치 |
WO2013018983A1 (ko) * | 2011-08-03 | 2013-02-07 | (주)미래컴퍼니 | 수술용 로봇의 마스터 암 구조 및 수술용 마스터 로봇의 제어방법 |
CN104582629A (zh) * | 2012-06-29 | 2015-04-29 | 伊西康内外科公司 | 用于外科机器人的触觉反馈装置 |
CN104823226A (zh) * | 2012-11-30 | 2015-08-05 | 外科科学瑞典有限公司 | 用于外科手术模拟***的用户界面设备 |
CN103714729A (zh) * | 2013-12-31 | 2014-04-09 | 广州赛宝联睿信息科技有限公司 | 一种膀胱镜手术模拟训练操作台及其实现方法 |
CN104783846A (zh) * | 2015-01-22 | 2015-07-22 | 天津手智医疗科技有限责任公司 | 一种采用微创手术智能化器械的手术操作方法 |
CN104622585A (zh) * | 2015-03-13 | 2015-05-20 | 中国科学院重庆绿色智能技术研究院 | 一种腹腔镜微创手术机器人主从同构式遥操作主手 |
CN204791738U (zh) * | 2015-06-26 | 2015-11-18 | 中国科学院合肥物质科学研究院 | 基于磁阻尼器的微创手术仿真装置 |
CN106667583A (zh) * | 2017-02-17 | 2017-05-17 | 吉林大学 | 一种微创手术机器人七自由度操作主手 |
CN106994045A (zh) * | 2017-04-05 | 2017-08-01 | 浙江机电职业技术学院 | 一种用于微创手术的远程运动中心机构 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110576430A (zh) * | 2019-10-13 | 2019-12-17 | 杨锐 | 一种肿瘤手术机器人转动件 |
CN110576430B (zh) * | 2019-10-13 | 2020-05-15 | 田亚丽 | 一种肿瘤手术机器人转动件 |
CN110897720A (zh) * | 2019-12-16 | 2020-03-24 | 杨锐 | 一种医疗手术机器人手术器械平移单元 |
CN110897720B (zh) * | 2019-12-16 | 2020-07-07 | 青岛大学附属医院 | 一种医疗手术机器人手术器械平移单元 |
CN111449758A (zh) * | 2020-04-09 | 2020-07-28 | 山东大学 | 一种用于连续体手术机器人的主操作手及手术机器人 |
CN111449758B (zh) * | 2020-04-09 | 2021-01-26 | 山东大学 | 一种用于连续体手术机器人的主操作手及手术机器人 |
Also Published As
Publication number | Publication date |
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CN107970069B (zh) | 2019-10-18 |
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Inventor after: Cao Xuecheng Inventor after: Wang Huixia Inventor after: Gao Shuxia Inventor after: Liao Rong Inventor before: Liao Rong |
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Effective date of registration: 20190920 Address after: 262100 Department of Critical Care Medicine, No. 246 Health Road, Anqiu City, Weifang City, Shandong Province Applicant after: Cao Xue Cheng Address before: 610000 Sichuan Province Chengdu Tianfu New District Lugang 3 Building 1 Unit 601 Applicant before: Liao Rong |
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Effective date of registration: 20210916 Address after: 610000 Room 601, unit 1, building 3, Lugang, Tianfu new area, Chengdu, Sichuan Patentee after: Liao Rong Address before: Department of critical care medicine, 246 Jiankang Road, Anqiu City, Weifang City, Shandong Province, 262100 Patentee before: Cao Xuecheng |
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Effective date of registration: 20211123 Address after: 610041 Chengdu Tianfu international biological city, Chengdu, Sichuan (No. 18, Section 2, biological city middle road, Shuangliu District) Patentee after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 610000 Room 601, unit 1, building 3, Lugang, Tianfu new area, Chengdu, Sichuan Patentee before: Liao Rong |