CN109602494A - 多自由度自锁机械臂 - Google Patents
多自由度自锁机械臂 Download PDFInfo
- Publication number
- CN109602494A CN109602494A CN201811553401.4A CN201811553401A CN109602494A CN 109602494 A CN109602494 A CN 109602494A CN 201811553401 A CN201811553401 A CN 201811553401A CN 109602494 A CN109602494 A CN 109602494A
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- CN
- China
- Prior art keywords
- pivoted arm
- freedom
- reversing shaft
- sliding block
- multiple degrees
- 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.)
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- 238000004804 winding Methods 0.000 claims abstract description 21
- 230000009471 action Effects 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000008859 change 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
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000001356 surgical procedure Methods 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
Landscapes
- 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)
- Prostheses (AREA)
- Pivots And Pivotal Connections (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811553401.4A CN109602494B (zh) | 2018-12-19 | 2018-12-19 | 多自由度自锁机械臂 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201811553401.4A CN109602494B (zh) | 2018-12-19 | 2018-12-19 | 多自由度自锁机械臂 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN109602494A true CN109602494A (zh) | 2019-04-12 |
CN109602494B CN109602494B (zh) | 2023-10-31 |
Family
ID=66008838
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201811553401.4A Active CN109602494B (zh) | 2018-12-19 | 2018-12-19 | 多自由度自锁机械臂 |
Country Status (1)
Country | Link |
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CN (1) | CN109602494B (zh) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112975933A (zh) * | 2021-02-08 | 2021-06-18 | 上海睿刀医疗科技有限公司 | 一种连锁机械臂 |
CN113040916A (zh) * | 2021-03-13 | 2021-06-29 | 极限人工智能有限公司 | 一种万向手术装置及医疗器械 |
CN113729951A (zh) * | 2021-10-12 | 2021-12-03 | 中南大学 | 手术机器人的双平行四边形初调机构 |
Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5710870A (en) * | 1995-09-07 | 1998-01-20 | California Institute Of Technology | Decoupled six degree-of-freedom robot manipulator |
US20070282311A1 (en) * | 2006-06-01 | 2007-12-06 | Scott Christopher P | Multi-joint fixture system |
US20080202274A1 (en) * | 2007-02-23 | 2008-08-28 | Microdexterity Systems, Inc. | Manipulator |
CN201544225U (zh) * | 2009-11-03 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | 一种用于辅助外科手术的电动锁紧支架 |
CN102462533A (zh) * | 2010-11-11 | 2012-05-23 | 北京理工大学 | 用于夹持微创血管介入手术推进机构的机械臂 |
CN102990676A (zh) * | 2012-11-23 | 2013-03-27 | 中国航空工业集团公司北京航空制造工程研究所 | 一种蛇形机械臂 |
CN106181542A (zh) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备(山东)有限公司 | 多工位专用机床机械手 |
CN106456054A (zh) * | 2014-06-17 | 2017-02-22 | 纽文思公司 | 用于规划、进行和评估手术期间的脊椎矫正的***和方法 |
CN107361859A (zh) * | 2017-06-26 | 2017-11-21 | 苏州铸正机器人有限公司 | 一种辅助脊柱微创手术定位*** |
CN107975528A (zh) * | 2017-12-13 | 2018-05-01 | 北京柏惠维康科技有限公司 | 连接装置 |
WO2018165162A1 (en) * | 2017-03-06 | 2018-09-13 | Corindus, Inc. | Percutaneous device exchange |
US20190375115A1 (en) * | 2017-02-27 | 2019-12-12 | Asahi Intecc Co., Ltd. | Rope-driven manipulator |
CN209770537U (zh) * | 2018-12-19 | 2019-12-13 | 浙江伏尔特医疗器械股份有限公司 | 多自由度自锁机械臂 |
-
2018
- 2018-12-19 CN CN201811553401.4A patent/CN109602494B/zh active Active
Patent Citations (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5710870A (en) * | 1995-09-07 | 1998-01-20 | California Institute Of Technology | Decoupled six degree-of-freedom robot manipulator |
US20070282311A1 (en) * | 2006-06-01 | 2007-12-06 | Scott Christopher P | Multi-joint fixture system |
US20080202274A1 (en) * | 2007-02-23 | 2008-08-28 | Microdexterity Systems, Inc. | Manipulator |
CN201544225U (zh) * | 2009-11-03 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | 一种用于辅助外科手术的电动锁紧支架 |
CN102462533A (zh) * | 2010-11-11 | 2012-05-23 | 北京理工大学 | 用于夹持微创血管介入手术推进机构的机械臂 |
CN102990676A (zh) * | 2012-11-23 | 2013-03-27 | 中国航空工业集团公司北京航空制造工程研究所 | 一种蛇形机械臂 |
CN106456054A (zh) * | 2014-06-17 | 2017-02-22 | 纽文思公司 | 用于规划、进行和评估手术期间的脊椎矫正的***和方法 |
CN106181542A (zh) * | 2016-07-12 | 2016-12-07 | 诺伯特智能装备(山东)有限公司 | 多工位专用机床机械手 |
US20190375115A1 (en) * | 2017-02-27 | 2019-12-12 | Asahi Intecc Co., Ltd. | Rope-driven manipulator |
WO2018165162A1 (en) * | 2017-03-06 | 2018-09-13 | Corindus, Inc. | Percutaneous device exchange |
CN107361859A (zh) * | 2017-06-26 | 2017-11-21 | 苏州铸正机器人有限公司 | 一种辅助脊柱微创手术定位*** |
CN107975528A (zh) * | 2017-12-13 | 2018-05-01 | 北京柏惠维康科技有限公司 | 连接装置 |
CN209770537U (zh) * | 2018-12-19 | 2019-12-13 | 浙江伏尔特医疗器械股份有限公司 | 多自由度自锁机械臂 |
Non-Patent Citations (4)
Title |
---|
史士财;何阳;李荣;刘宏;: "空间机械臂关节快换接口结构设计与分析", 宇航学报, no. 08 * |
戈新生等: "柔性多体***的计算策略", 《力学进展》, no. 3, pages 421 - 476 * |
杨洪波等: "多功能肌力康复训练***的设计与分析", 《工业控制计算机》, vol. 31, no. 4, pages 18 - 20 * |
马建强等: "轮式管道机器人过弯动态特性分析", 《西安交通大学学报》, vol. 52, no. 8, pages 87 - 94 * |
Cited By (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112975933A (zh) * | 2021-02-08 | 2021-06-18 | 上海睿刀医疗科技有限公司 | 一种连锁机械臂 |
WO2022165963A1 (zh) * | 2021-02-08 | 2022-08-11 | 上海睿刀医疗科技有限公司 | 一种连锁机械臂 |
CN113040916A (zh) * | 2021-03-13 | 2021-06-29 | 极限人工智能有限公司 | 一种万向手术装置及医疗器械 |
CN113729951A (zh) * | 2021-10-12 | 2021-12-03 | 中南大学 | 手术机器人的双平行四边形初调机构 |
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 |
Also Published As
Publication number | Publication date |
---|---|
CN109602494B (zh) | 2023-10-31 |
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Effective date of registration: 20221129 Address after: 314500 No. 3618, South Ring Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant after: ZHEJIANG FERT MEDICAL DEVICE CO.,LTD. Applicant after: Suzhou Guoke medical technology development (Group) Co.,Ltd. Address before: 314500 No. 3618, South Ring Road, Wu Tong Street, Tongxiang, Jiaxing, Zhejiang Applicant before: ZHEJIANG FERT MEDICAL DEVICE CO.,LTD. Applicant before: YONGKANG GUOKE REHABILITATION ENGINEERING TECHNOLOGY Co.,Ltd. |
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