CN108175507B - 自动控制高精度软组织切割机器人 - Google Patents
自动控制高精度软组织切割机器人 Download PDFInfo
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- CN108175507B CN108175507B CN201711473019.8A CN201711473019A CN108175507B CN 108175507 B CN108175507 B CN 108175507B CN 201711473019 A CN201711473019 A CN 201711473019A CN 108175507 B CN108175507 B CN 108175507B
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- 238000005520 cutting process Methods 0.000 title claims abstract description 51
- 210000004872 soft tissue Anatomy 0.000 title claims abstract description 42
- 210000001519 tissue Anatomy 0.000 claims abstract description 18
- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 4
- 230000003746 surface roughness Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000004422 calculation algorithm Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
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- 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
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- 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
- A61B34/32—Surgical robots operating autonomously
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- 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
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
Description
Claims (7)
Applications Claiming Priority (2)
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CN2017107700323 | 2017-08-31 | ||
CN201710770032 | 2017-08-31 |
Publications (2)
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CN108175507A CN108175507A (zh) | 2018-06-19 |
CN108175507B true CN108175507B (zh) | 2020-09-04 |
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CN201711473019.8A Active CN108175507B (zh) | 2017-08-31 | 2017-12-29 | 自动控制高精度软组织切割机器人 |
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Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109350244B (zh) * | 2018-11-07 | 2021-02-26 | 北京科迈启元科技有限公司 | 一种具有切口分离功能的软组织切割机器人*** |
CN114391955B (zh) * | 2022-01-18 | 2022-09-27 | 北京邮电大学 | 切口闭合及闭合钉移除医疗机器人 |
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EP0239409A1 (en) * | 1986-03-28 | 1987-09-30 | Life Technology Research Foundation | Robot for surgical operation |
CN1481764A (zh) * | 2003-08-15 | 2004-03-17 | 北京航空航天大学 | 机器人导航骨科手术装置 |
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CN101217913A (zh) * | 2005-05-13 | 2008-07-09 | 艾可瑞公司 | 用于患者定位组件的机器人手臂 |
CN102018575A (zh) * | 2010-12-08 | 2011-04-20 | 清华大学 | 机器人辅助柔性针穿刺软组织实时操控***及方法 |
CN102210610A (zh) * | 2011-03-17 | 2011-10-12 | 北京航空航天大学 | 微创血管介入手术机器人推进机构 |
WO2014018248A1 (en) * | 2012-07-23 | 2014-01-30 | ClariTrac Inc. | Ultrasound device for needle procedures |
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CN105361951A (zh) * | 2015-12-14 | 2016-03-02 | 山东科技大学 | 一种微创腹腔手术持镜机器人 |
CN205268284U (zh) * | 2015-12-22 | 2016-06-01 | 山东科技大学 | 一种腹腔微创手术持镜机器人 |
CN105769372A (zh) * | 2016-03-16 | 2016-07-20 | 上海中医药大学附属普陀医院 | 风寒湿痹型膝骨关节炎模型建立方法、装置及使用方法 |
CN105916463A (zh) * | 2015-07-02 | 2016-08-31 | 贺石生 | 可拆卸组装圆弧形精准定位设备 |
CN206151580U (zh) * | 2016-08-09 | 2017-05-10 | 济南大学 | 机器人辅助精确靶向穿刺软组织目标柔性针夹紧固定装置 |
CN106725904A (zh) * | 2017-01-20 | 2017-05-31 | 杭州亚慧生物科技有限公司 | 一种软组织切除的辅助装置 |
CN106821502A (zh) * | 2017-03-24 | 2017-06-13 | 西安交通大学 | 一种泌尿外科手术专用操作机构 |
-
2017
- 2017-12-29 CN CN201711473019.8A patent/CN108175507B/zh active Active
Patent Citations (15)
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EP0239409A1 (en) * | 1986-03-28 | 1987-09-30 | Life Technology Research Foundation | Robot for surgical operation |
CN1481764A (zh) * | 2003-08-15 | 2004-03-17 | 北京航空航天大学 | 机器人导航骨科手术装置 |
CN2712301Y (zh) * | 2004-06-17 | 2005-07-27 | 冯威健 | 影像断层下穿刺、活检、注射的引导装置 |
CN101217913A (zh) * | 2005-05-13 | 2008-07-09 | 艾可瑞公司 | 用于患者定位组件的机器人手臂 |
CN102018575A (zh) * | 2010-12-08 | 2011-04-20 | 清华大学 | 机器人辅助柔性针穿刺软组织实时操控***及方法 |
CN102210610A (zh) * | 2011-03-17 | 2011-10-12 | 北京航空航天大学 | 微创血管介入手术机器人推进机构 |
WO2014018248A1 (en) * | 2012-07-23 | 2014-01-30 | ClariTrac Inc. | Ultrasound device for needle procedures |
CN104634609A (zh) * | 2015-02-06 | 2015-05-20 | 大连理工大学 | 一种微创切割生物软组织的金属丝刀具 |
CN105916463A (zh) * | 2015-07-02 | 2016-08-31 | 贺石生 | 可拆卸组装圆弧形精准定位设备 |
CN105361951A (zh) * | 2015-12-14 | 2016-03-02 | 山东科技大学 | 一种微创腹腔手术持镜机器人 |
CN205268284U (zh) * | 2015-12-22 | 2016-06-01 | 山东科技大学 | 一种腹腔微创手术持镜机器人 |
CN105769372A (zh) * | 2016-03-16 | 2016-07-20 | 上海中医药大学附属普陀医院 | 风寒湿痹型膝骨关节炎模型建立方法、装置及使用方法 |
CN206151580U (zh) * | 2016-08-09 | 2017-05-10 | 济南大学 | 机器人辅助精确靶向穿刺软组织目标柔性针夹紧固定装置 |
CN106725904A (zh) * | 2017-01-20 | 2017-05-31 | 杭州亚慧生物科技有限公司 | 一种软组织切除的辅助装置 |
CN106821502A (zh) * | 2017-03-24 | 2017-06-13 | 西安交通大学 | 一种泌尿外科手术专用操作机构 |
Non-Patent Citations (1)
Title |
---|
《骨科机器人空间设计方法研究》;胡磊,等;《机器人》;20060731;第28卷(第4期);389-393页 * |
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Inventor after: Su Baiquan Inventor after: Shi Peixuan Inventor after: Cheng Bin Inventor after: Yan Hao Inventor after: Liu Wenyong Inventor after: Kuang Shaolong Inventor before: Su Baiquan Inventor before: Shi Peixuan Inventor before: Cheng Bin Inventor before: Liu Wenyong Inventor before: Kuang Shaolong |
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Application publication date: 20180619 Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000715 Denomination of invention: Automatic control high-precision soft tissue cutting robot Granted publication date: 20200904 License type: Common License Record date: 20230717 |
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Application publication date: 20180619 Assignee: Beijing Kepeng Medical Equipment Co.,Ltd. Assignor: Beijing Kemai Qiyuan Technology Co.,Ltd. Contract record no.: X2023990000871 Denomination of invention: Automatic control high-precision soft tissue cutting robot Granted publication date: 20200904 License type: Exclusive License Record date: 20231018 |
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