CN110786932A - 聚散式微创手术机器人从臂*** - Google Patents
聚散式微创手术机器人从臂*** Download PDFInfo
- Publication number
- CN110786932A CN110786932A CN201911135595.0A CN201911135595A CN110786932A CN 110786932 A CN110786932 A CN 110786932A CN 201911135595 A CN201911135595 A CN 201911135595A CN 110786932 A CN110786932 A CN 110786932A
- Authority
- CN
- China
- Prior art keywords
- holding
- joint
- mirror
- endoscope
- rotary joint
- 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.)
- Granted
Links
- 238000002324 minimally invasive surgery Methods 0.000 title abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 11
- 230000000007 visual effect Effects 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 6
- 230000002431 foraging effect Effects 0.000 claims description 5
- 238000003780 insertion Methods 0.000 claims description 4
- 230000037431 insertion Effects 0.000 claims description 4
- 238000001356 surgical procedure Methods 0.000 claims description 3
- 230000009466 transformation Effects 0.000 claims description 3
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000005457 optimization Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 5
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000001360 synchronised effect Effects 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 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
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Images
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
- A61B34/37—Master-slave 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (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)
- Endoscopes (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (9)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911135595.0A CN110786932B (zh) | 2019-11-19 | 2019-11-19 | 聚散式微创手术机器人从臂*** |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201911135595.0A CN110786932B (zh) | 2019-11-19 | 2019-11-19 | 聚散式微创手术机器人从臂*** |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110786932A true CN110786932A (zh) | 2020-02-14 |
CN110786932B CN110786932B (zh) | 2022-04-12 |
Family
ID=69445416
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201911135595.0A Active CN110786932B (zh) | 2019-11-19 | 2019-11-19 | 聚散式微创手术机器人从臂*** |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110786932B (zh) |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112957218A (zh) * | 2021-01-20 | 2021-06-15 | 诺创智能医疗科技(杭州)有限公司 | 手术床控制方法、手术床控制***、电子装置和存储介质 |
CN113796962A (zh) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能***研究院 | 一种器械臂 |
CN114074328A (zh) * | 2020-08-19 | 2022-02-22 | 北京术锐技术有限公司 | 机器人***及其控制方法 |
WO2022037425A1 (zh) * | 2020-08-19 | 2022-02-24 | 北京术锐技术有限公司 | 机器人***以及控制方法 |
CN114098957A (zh) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | 机械臂、从操作设备以及手术机器人 |
CN114098992A (zh) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | 机械臂、从操作设备以及手术机器人 |
CN114098952A (zh) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | 机械臂、从操作设备以及手术机器人 |
CN114098951A (zh) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | 机械臂、从操作设备以及手术机器人 |
CN114638886A (zh) * | 2022-03-18 | 2022-06-17 | 杭州唯精医疗机器人有限公司 | 一种分体式微创手术机器人高精度位姿关系标定方法 |
CN114869481A (zh) * | 2022-05-12 | 2022-08-09 | 重庆金山医疗机器人有限公司 | 手术机器人及保持位姿形态的主手机械臂 |
Citations (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6493608B1 (en) * | 1999-04-07 | 2002-12-10 | Intuitive Surgical, Inc. | Aspects of a control system of a minimally invasive surgical apparatus |
CN1490594A (zh) * | 2003-08-22 | 2004-04-21 | 湖南大学 | 仿人多自由度立体双目视觉装置 |
US20070185376A1 (en) * | 2002-03-11 | 2007-08-09 | Wilson Roger F | System and method for positioning a laparoscopic device |
US20080046122A1 (en) * | 2003-06-30 | 2008-02-21 | Intuitive Surgical, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
US20080091302A1 (en) * | 2005-04-18 | 2008-04-17 | M.S.T. Medical Surgery Technologies Ltd. | Device and methods of improving laparoscopic surgery |
US20110118707A1 (en) * | 2009-11-13 | 2011-05-19 | Intuititve Surgical Operations, Inc. | Wrist articulation by linked tension members |
CN102596063A (zh) * | 2009-11-13 | 2012-07-18 | 直观外科手术操作公司 | 弯曲套管手术*** |
CN102973317A (zh) * | 2011-09-05 | 2013-03-20 | 周宁新 | 微创手术机器人机械臂布置结构 |
EP2754383A2 (en) * | 2013-01-10 | 2014-07-16 | M.S.T. Medical Surgery Technologies Ltd. | Device and method for assisting laparoscopic surgery - rule based approach |
CN105147393A (zh) * | 2015-08-19 | 2015-12-16 | 哈尔滨工业大学 | 一种微创机器人持镜机械臂 |
CN105411681A (zh) * | 2015-12-22 | 2016-03-23 | 哈尔滨工业大学 | 分体式微创手术机器人的手眼协调控制***及方法 |
WO2018066601A1 (ja) * | 2016-10-06 | 2018-04-12 | 川崎重工業株式会社 | ロボットシステム及びその運転方法 |
CN207359067U (zh) * | 2017-08-24 | 2018-05-15 | 深圳汉邦自动化设备有限公司 | 一种应用于scara机器人的防冲撞装置 |
CN108836486A (zh) * | 2013-08-09 | 2018-11-20 | 直观外科手术操作公司 | 具有用于控制容纳在远侧的多个马达的远程电流控制器的医疗机器人*** |
CN209464087U (zh) * | 2018-09-14 | 2019-10-08 | 乔艳晶 | 一种腹腔镜机械持镜手臂 |
US20200359877A1 (en) * | 2018-01-10 | 2020-11-19 | Covidien Lp | Robotic surgical assemblies and adapter assemblies thereof |
-
2019
- 2019-11-19 CN CN201911135595.0A patent/CN110786932B/zh active Active
Patent Citations (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6493608B1 (en) * | 1999-04-07 | 2002-12-10 | Intuitive Surgical, Inc. | Aspects of a control system of a minimally invasive surgical apparatus |
US20070185376A1 (en) * | 2002-03-11 | 2007-08-09 | Wilson Roger F | System and method for positioning a laparoscopic device |
US20080046122A1 (en) * | 2003-06-30 | 2008-02-21 | Intuitive Surgical, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
CN1490594A (zh) * | 2003-08-22 | 2004-04-21 | 湖南大学 | 仿人多自由度立体双目视觉装置 |
US20080091302A1 (en) * | 2005-04-18 | 2008-04-17 | M.S.T. Medical Surgery Technologies Ltd. | Device and methods of improving laparoscopic surgery |
CN106137397A (zh) * | 2009-11-13 | 2016-11-23 | 直观外科手术操作公司 | 弯曲套管、机器人操纵器和具有被动柔性轴的手术器械 |
US20110118707A1 (en) * | 2009-11-13 | 2011-05-19 | Intuititve Surgical Operations, Inc. | Wrist articulation by linked tension members |
CN102596063A (zh) * | 2009-11-13 | 2012-07-18 | 直观外科手术操作公司 | 弯曲套管手术*** |
CN102973317A (zh) * | 2011-09-05 | 2013-03-20 | 周宁新 | 微创手术机器人机械臂布置结构 |
EP2754383A2 (en) * | 2013-01-10 | 2014-07-16 | M.S.T. Medical Surgery Technologies Ltd. | Device and method for assisting laparoscopic surgery - rule based approach |
CN108836486A (zh) * | 2013-08-09 | 2018-11-20 | 直观外科手术操作公司 | 具有用于控制容纳在远侧的多个马达的远程电流控制器的医疗机器人*** |
CN105147393A (zh) * | 2015-08-19 | 2015-12-16 | 哈尔滨工业大学 | 一种微创机器人持镜机械臂 |
CN105411681A (zh) * | 2015-12-22 | 2016-03-23 | 哈尔滨工业大学 | 分体式微创手术机器人的手眼协调控制***及方法 |
WO2018066601A1 (ja) * | 2016-10-06 | 2018-04-12 | 川崎重工業株式会社 | ロボットシステム及びその運転方法 |
CN207359067U (zh) * | 2017-08-24 | 2018-05-15 | 深圳汉邦自动化设备有限公司 | 一种应用于scara机器人的防冲撞装置 |
US20200359877A1 (en) * | 2018-01-10 | 2020-11-19 | Covidien Lp | Robotic surgical assemblies and adapter assemblies thereof |
CN209464087U (zh) * | 2018-09-14 | 2019-10-08 | 乔艳晶 | 一种腹腔镜机械持镜手臂 |
Cited By (13)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114074328A (zh) * | 2020-08-19 | 2022-02-22 | 北京术锐技术有限公司 | 机器人***及其控制方法 |
WO2022037425A1 (zh) * | 2020-08-19 | 2022-02-24 | 北京术锐技术有限公司 | 机器人***以及控制方法 |
CN112957218A (zh) * | 2021-01-20 | 2021-06-15 | 诺创智能医疗科技(杭州)有限公司 | 手术床控制方法、手术床控制***、电子装置和存储介质 |
CN112957218B (zh) * | 2021-01-20 | 2024-03-22 | 诺创智能医疗科技(杭州)有限公司 | 手术床控制方法、手术床控制***、电子装置和存储介质 |
CN113796962A (zh) * | 2021-08-27 | 2021-12-17 | 天津大学医疗机器人与智能***研究院 | 一种器械臂 |
CN113796962B (zh) * | 2021-08-27 | 2024-01-30 | 天津大学医疗机器人与智能***研究院 | 一种器械臂 |
CN114098952A (zh) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | 机械臂、从操作设备以及手术机器人 |
CN114098951A (zh) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | 机械臂、从操作设备以及手术机器人 |
CN114098992A (zh) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | 机械臂、从操作设备以及手术机器人 |
CN114098957A (zh) * | 2021-11-11 | 2022-03-01 | 深圳市精锋医疗科技股份有限公司 | 机械臂、从操作设备以及手术机器人 |
CN114638886A (zh) * | 2022-03-18 | 2022-06-17 | 杭州唯精医疗机器人有限公司 | 一种分体式微创手术机器人高精度位姿关系标定方法 |
CN114869481A (zh) * | 2022-05-12 | 2022-08-09 | 重庆金山医疗机器人有限公司 | 手术机器人及保持位姿形态的主手机械臂 |
CN114869481B (zh) * | 2022-05-12 | 2024-01-12 | 重庆金山医疗机器人有限公司 | 手术机器人及保持位姿形态的主手机械臂 |
Also Published As
Publication number | Publication date |
---|---|
CN110786932B (zh) | 2022-04-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN110786932B (zh) | 聚散式微创手术机器人从臂*** | |
KR102186510B1 (ko) | 하드웨어 제한형 원격 중심 로봇 매니퓰레이터용 여유 축 및 자유도 | |
US11173005B2 (en) | Methods and devices for tele-surgical table registration | |
CN107883929B (zh) | 基于多关节机械臂的单目视觉定位装置及方法 | |
KR101602241B1 (ko) | 5절 구면 링크기구를 구비한 로봇 암 | |
JP5475747B2 (ja) | パラレルリンクロボット | |
JP5846385B2 (ja) | 内視鏡操作システム | |
CN115768371A (zh) | 用于在体内反转小型手术机器人单元的选定部件的定向和视图的***和方法 | |
CN109350243B (zh) | 具有单孔及多孔微创手术功能的手术机器人机构 | |
WO2014073121A1 (ja) | 操作対象装置の操作システム、操作入力装置 | |
CN109442171A (zh) | 一种单目立体视觉***及其使用方法 | |
US20160241121A1 (en) | System for controlling micro-robot using transfer robot | |
CN114901198A (zh) | 用于机器人医疗***的手动致动器 | |
CN114795495A (zh) | 一种主从操作微创手术机器人*** | |
WO2004106011A1 (en) | Armilleye: a three degree- of-freedom spherical parallel mechanism | |
Hu et al. | Insertable stereoscopic 3D surgical imaging device with pan and tilt | |
CN207963796U (zh) | 三维扫描仪的标定装置和口内三维扫描仪 | |
KR20200145395A (ko) | 안구 수술 장치 및 이를 제어하는 방법 | |
KR20200145377A (ko) | 슬레이브 장치 및 이를 제어하는 방법 | |
US20230315206A1 (en) | Apparatus and method for tracking motion and providing haptic feedback | |
CN114668613B (zh) | 一种骨科微创手术用智能机器人*** | |
CN109171970A (zh) | 一种腹腔镜手术机器人固定装置 | |
CN104095653A (zh) | 一种自由臂三维超声成像***及成像方法 | |
CN204439016U (zh) | 关节臂测量仪 | |
CN104758062A (zh) | 一种根据体感动作信号进行手术的装置及方法 |
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: 20211122 Address after: Room 12126, 217 Huangshan Road, Xinbei District, Changzhou City, Jiangsu Province 213000 Applicant after: Changzhou New Area Sanjie Electronic Equipment Co., Ltd Address before: 213000 Qingfeng residence 46-11, intersection of Xinggang road and Yueji Road, Zhonglou District, Changzhou City, Jiangsu Province (Changzhou maikangyi medical robot Co., Ltd.) Applicant before: Changzhou Mai Kang Yi medical robot Co.,Ltd. |
|
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20220208 Address after: 311225 room 701-6, building 3, No. 371, Xingxing Road, economic and Technological Development Zone, Xiaoshan District, Hangzhou City, Zhejiang Province Applicant after: Hangzhou Weijing medical robot Co.,Ltd. Address before: Room 12126, 217 Huangshan Road, Xinbei District, Changzhou City, Jiangsu Province 213000 Applicant before: Changzhou New Area Sanjie Electronic Equipment Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant |