CN109452970B - 一种初始角度可调的三维控弯机械臂 - Google Patents
一种初始角度可调的三维控弯机械臂 Download PDFInfo
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- CN109452970B CN109452970B CN201811630321.4A CN201811630321A CN109452970B CN 109452970 B CN109452970 B CN 109452970B CN 201811630321 A CN201811630321 A CN 201811630321A CN 109452970 B CN109452970 B CN 109452970B
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- proximal
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- distal end
- steel wire
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 104
- 239000010959 steel Substances 0.000 claims abstract description 104
- 230000033001 locomotion Effects 0.000 claims abstract description 86
- 238000005452 bending Methods 0.000 claims abstract description 51
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 239000012636 effector Substances 0.000 claims description 11
- 238000004891 communication Methods 0.000 abstract description 3
- 230000002035 prolonged effect Effects 0.000 abstract description 3
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 10
- 238000001574 biopsy Methods 0.000 description 4
- 210000000707 wrist Anatomy 0.000 description 4
- 238000001727 in vivo Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000005070 sampling Methods 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 239000002775 capsule Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000002341 toxic gas Substances 0.000 description 2
- 208000002847 Surgical Wound Diseases 0.000 description 1
- 210000003484 anatomy Anatomy 0.000 description 1
- 230000001112 coagulating effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 230000000007 visual effect Effects 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/71—Manipulators operated by drive cable 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
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 (2)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN201811630321.4A CN109452970B (zh) | 2018-12-29 | 2018-12-29 | 一种初始角度可调的三维控弯机械臂 |
Applications Claiming Priority (1)
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CN201811630321.4A CN109452970B (zh) | 2018-12-29 | 2018-12-29 | 一种初始角度可调的三维控弯机械臂 |
Publications (2)
Publication Number | Publication Date |
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CN109452970A CN109452970A (zh) | 2019-03-12 |
CN109452970B true CN109452970B (zh) | 2024-03-22 |
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CN201811630321.4A Active CN109452970B (zh) | 2018-12-29 | 2018-12-29 | 一种初始角度可调的三维控弯机械臂 |
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CN (1) | CN109452970B (zh) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN113876435B (zh) * | 2021-06-18 | 2023-06-27 | 上海极睿医疗科技有限公司 | 一种骨科手术用可调节定点指向作业机构 |
CN113729951B (zh) * | 2021-10-12 | 2023-08-29 | 中南大学 | 手术机器人的双平行四边形初调机构 |
Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105163679A (zh) * | 2013-03-14 | 2015-12-16 | Sri国际公司 | 紧凑型机器人手腕 |
CN107080588A (zh) * | 2017-06-14 | 2017-08-22 | 上海大学 | 一种由线驱动的新型微创手术机器人控制装置 |
CN107260307A (zh) * | 2017-07-13 | 2017-10-20 | 上海大学 | 一种由线驱动的六自由度微创手术机器人夹持装置 |
CN108013906A (zh) * | 2017-12-01 | 2018-05-11 | 微创(上海)医疗机器人有限公司 | 蛇形手术器械 |
CN108514435A (zh) * | 2018-05-07 | 2018-09-11 | 上海斐旭电子设备有限公司 | 基于柔性丝传动的新型微创手术器械控制装置 |
CN209499892U (zh) * | 2018-12-29 | 2019-10-18 | 浙江量子医疗器械有限公司 | 一种初始角度可调的三维控弯机械臂 |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9211159B2 (en) * | 2011-12-02 | 2015-12-15 | Ethicon Endo-Surgery, Inc. | Surgical devices with intracorporeal elbow joint |
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2018
- 2018-12-29 CN CN201811630321.4A patent/CN109452970B/zh active Active
Patent Citations (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105163679A (zh) * | 2013-03-14 | 2015-12-16 | Sri国际公司 | 紧凑型机器人手腕 |
CN107080588A (zh) * | 2017-06-14 | 2017-08-22 | 上海大学 | 一种由线驱动的新型微创手术机器人控制装置 |
CN107260307A (zh) * | 2017-07-13 | 2017-10-20 | 上海大学 | 一种由线驱动的六自由度微创手术机器人夹持装置 |
CN108013906A (zh) * | 2017-12-01 | 2018-05-11 | 微创(上海)医疗机器人有限公司 | 蛇形手术器械 |
CN108514435A (zh) * | 2018-05-07 | 2018-09-11 | 上海斐旭电子设备有限公司 | 基于柔性丝传动的新型微创手术器械控制装置 |
CN209499892U (zh) * | 2018-12-29 | 2019-10-18 | 浙江量子医疗器械有限公司 | 一种初始角度可调的三维控弯机械臂 |
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CN109452970A (zh) | 2019-03-12 |
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SE01 | Entry into force of request for substantive examination | ||
CB03 | Change of inventor or designer information | ||
CB03 | Change of inventor or designer information |
Inventor after: Deng Guili Inventor after: Xu Jingning Inventor after: Huang Junjie Inventor after: Ma Qianli Inventor before: Deng Guili Inventor before: Xu Jingning Inventor before: Huang Junjie |
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TA01 | Transfer of patent application right | ||
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Effective date of registration: 20230526 Address after: Room 101, Unit 2, Building 4, Xingcheng Xingyi Bay, Aochen Dianchi, Chenggong District, Kunming City, Yunnan Province, 650500 Applicant after: Huang Zhenyu Address before: 311100 Building 5, No. 488-1, Donghu North Road, Donghu street, Yuhang District, Hangzhou City, Zhejiang Province Applicant before: ZHEJIANG QUANTUM MEDICAL DEVICES Co.,Ltd. |
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