CN111973276A - Intervene operation robot and carry tub device from hand - Google Patents
Intervene operation robot and carry tub device from hand Download PDFInfo
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- CN111973276A CN111973276A CN201910424155.0A CN201910424155A CN111973276A CN 111973276 A CN111973276 A CN 111973276A CN 201910424155 A CN201910424155 A CN 201910424155A CN 111973276 A CN111973276 A CN 111973276A
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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
- A61B34/37—Master-slave 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
Abstract
The invention relates to a tube feeding device from a hand of an interventional operation robot, which is used for realizing axial feeding and circumferential rotation of a guide tube.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a tube feeding device of an interventional operation robot from a hand.
Background
Minimally invasive interventional therapy is an image-guided, minimally invasive technique that physically, mechanically or chemically treats diseased tissue by placing instruments or drugs into the diseased tissue with minimal trauma (no skin incision, only a puncture needle hole).
Cardiovascular and cerebrovascular diseases are the general names of cardiovascular and cerebrovascular diseases, and generally refer to ischemic or hemorrhagic diseases of heart, brain and systemic tissues caused by hyperlipidemia, blood viscosity, atherosclerosis, hypertension and the like. Cardiovascular and cerebrovascular diseases are common diseases seriously threatening human beings, have the characteristics of high morbidity, high disability rate and high mortality, even if the most advanced and perfect treatment means are applied at present, more than 50 percent of cerebral vascular accident survivors can not completely take care of the life, and people dying from the cardiovascular and cerebrovascular diseases all the year around live at the head of various causes of death. The development of medical equipment is promoted by rapid development of high technology, and the technical level of the robot is improved in relevant medical machinery research institutes in various places. The robot minimally invasive surgery has great advantages, such as high wire feeding precision, and can effectively reduce the influence of hand shaking of doctors on the surgery, so that more robots enter medical operating rooms in various places.
The existing surgical robot has low control precision and can not simultaneously carry out progressive and rotary twisting operations, thereby causing inconvenient operation and prolonging the operation time.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide a tube feeding device for an interventional operation robot from the hand.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides an intervene operation robot and send a tub device from hand for realize the axial of pipe and feed and the circumference rotation, the device include cylindrical cavity casing, set up axis straight line feed mechanism and the circumference rotary mechanism on the internal fixation board of casing, the pipe penetrate from casing left side panel center, wear out from casing right side panel center behind axis straight line feed mechanism and the circumference rotary mechanism respectively.
The axial linear feeding mechanism comprises a first motor, a driving gear, a torque sensor input end gear and two pairs of driving and driven gears, wherein the first motor, the driving gear, the torque sensor input end gear and the two pairs of driving and driven gears are sequentially driven by two pairs of rolling wheels, the two pairs of driving and driven gears are respectively arranged on two sides of the torque sensor input end gear, each pair of driving and driven gears are respectively driven by the corresponding rolling wheels, and a guide pipe penetrates through and is pre-tightened between each pair of rolling wheels to realize axial linear feeding.
The input end gear of the torque sensor is connected with the input end of the torque sensor and used for detecting torque signals generated by different stresses on two sides of the input end gear and the output end gear of the torque sensor, and the torque sensor is connected with a controller of the surgical robot.
Each pair of rolling wheels comprises a main rolling wheel and a secondary rolling wheel, the edge of the main rolling wheel is concave, the edge of the secondary rolling wheel is convex, and the guide pipe passes through the space between the concave part and the convex part.
The gap between the main rolling wheel and the auxiliary rolling wheel is adjustable, so that the device is suitable for catheters of different models.
Circumferential direction rotary mechanism including driven second motor, main drive gear and the swing pinion in proper order, the second motor fix on the fixed plate, the swing pinion fix on right side panel to the center offers the round hole that is used for passing the pipe, the fixed plate left end be connected with the cavity pivot that sets up on left side panel, and can rotate along with the cavity pivot and realize the circumferential direction of pipe.
And the fixed plate is provided with a conductive slip ring for avoiding winding in the circumferential rotation process.
The shell comprises a semicircular bottom cover and an upper cover, wherein one end of the bottom cover and one end of the upper cover are hinged with each other, and the other ends of the bottom cover and the upper cover are buckled with each other.
Compared with the prior art, the invention has the following advantages:
one degree of freedom and two degrees of freedom: the tube delivery device designed by the invention has two degrees of freedom, high positioning precision, strong intuition of movement, large integral rigidity of the system, compact volume and light weight, and meets the requirement of vascular interventional surgery
The operation is safe and simple, the rolling wheel transmission has simple structure, stable transmission, no noise and slipping in overload, can prevent important parts in a machine from being damaged, and ensures that the catheter slips in overload when meeting larger resistance in the operation process, thereby effectively preventing the inner wall of the blood vessel from being pierced when the catheter continuously advances in the blood vessel. Meanwhile, the processing, assembling and manufacturing process of the axis linear feeding mechanism is relatively simple, excessive clamps are avoided, and the disinfection and the maintenance are facilitated.
Drawings
Fig. 1 is a schematic driving diagram of an axis linear feeding mechanism.
Fig. 2 is a schematic view of a circumferential rotation mechanism drive.
Fig. 3 is a structural front view of the axis line feed mechanism.
Fig. 4 is a structural back view of the axis line feed mechanism.
FIG. 5 is an overall configuration diagram of the pipe conveying apparatus.
The notation in the figure is:
1. the device comprises a shell, a guide pipe, a first motor, a second motor, a driving gear, a torque sensor input end gear 34, a main driven gear, a rolling gear, 41, a second motor, a main transmission gear 42, a main transmission gear 43, a rotating gear 5, a fixing plate 6 and a rotating shaft.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments.
Examples
According to the requirement of minimally invasive vascular interventional surgery, a catheter (a flexible pipe with certain rigidity) needs to be clamped by proper clamping force before entering a blood vessel (fluid with certain viscosity), and linear motion, rotary motion and compound motion of the two are required to be completed after entering the blood vessel. On the basis of ensuring the existing functions, the tube delivery mechanism of the minimally invasive vascular interventional surgery robot is compact in structure, small in size and light in weight as much as possible. The pipe conveying mechanism is required to realize linear motion and rotary motion, the subordination relation of the two linear motions and the rotary motion is comprehensively compared in the design process, namely the linear mechanism is attached to the rotary mechanism to move and the rotary mechanism is attached to the linear mechanism to move, the motion precision of the motion form of the linear mechanism attached to the rotary mechanism is high, the coaxiality of a guide pipe and a rotary center is easy to guarantee, and the size is small, so that the motion scheme that the linear motion is attached to the rotary motion is selected in the design. In the motion mode, the guide pipe is clamped by the sliding pair and the auxiliary devices thereof, the sliding pair is connected with the rotating pair, the clamp clamps the guide pipe to perform linear motion, and the guide pipe rotates according to the axis of the rotating pair during the rotation motion. When the linear motion and the rotary motion are combined, namely, the spiral motion is performed, the same clamp can still finish the task of clamping the catheter, and in addition, the catheter does not need to be switched and clamped for many times in the motion.
1. Motion scheme design of axis linear feeding mechanism
According to the design requirement of the minimally invasive vascular interventional surgical robot, the catheter needs to perform axial feeding motion after entering a blood vessel, so that the rotary motion of a servo motor needs to be converted into the linear motion of the catheter in the design process, and the axial feeding linear motion of the catheter in the blood vessel is realized. In mechanics, there are many mechanisms capable of converting rotary motion into linear motion, and the main mechanisms are a crank-slider mechanism, a rack-and-pinion mechanism, a cam mechanism, an axis linear feeding mechanism and a screw transmission mechanism. The method is characterized in that some performance parameters of several mechanisms are comprehensively compared, the feeding precision of a tube feeding device in the linear feeding process of a catheter is higher in requirement, certain safety is guaranteed and the control is easy in the operation process, and an axial linear feeding mechanism is adopted in the design through related analysis. The rolling wheel transmission has the advantages of simple structure, stable transmission, no noise, slipping during overload, prevention of damage to important parts in the machine and the like, and can ensure that the catheter slips during overload when meeting large resistance in the operation process, thereby effectively preventing the inner wall of the blood vessel from being pierced when the catheter continuously advances in the blood vessel. Meanwhile, the processing, assembling and manufacturing process of the axis linear feeding mechanism is relatively simple, excessive clamps are avoided, and the disinfection and the maintenance are facilitated.
The linear axial feeding mechanism is a mechanism which utilizes a main rolling wheel 35 and a secondary rolling wheel 35 to clamp the fed guide pipe 2 through certain pretightening force and utilizes auxiliary transmission to ensure that the main rolling wheel 35 and the secondary rolling wheel 35 rotate simultaneously to transmit motion and power. In the design, a pair of main and auxiliary rolling wheels 35 are connected with a pair of main and auxiliary rolling wheels 34 through gear shafts, when in work, a guide pipe is pre-pressed between the two main and auxiliary rolling wheels 35, the first motor 31 drives the pair of main and auxiliary rolling wheels 34 to move, then the motion is transmitted to the main and auxiliary rolling wheels 35 through the main and auxiliary rolling wheels 34, and the main and auxiliary rolling wheels 35 move in the opposite direction, so that the guide pipe 2 between the pre-pressed guide pipe and the pre-pressed guide pipe is linearly fed under the action of friction force as shown in fig. 1.
2. Circumferential rotating mechanism motion scheme design
According to the requirement of minimally invasive vascular interventional surgery, the catheter can complete rotation around the axis of the catheter according to the operation of a doctor in the intravascular feeding process so as to ensure that the catheter can smoothly advance in the blood vessel. Based on the requirement, the circumferential rotating component of the pipe conveying mechanism is designed to realize the function of the rotary motion of the pipe around the axis of the pipe conveying mechanism under the driving of the motor. Among the mechanisms, the mechanisms capable of ensuring the rotation of the catheter around its own axis mainly include: a parallelogram mechanism, a gear transmission mechanism, a motor shaft direct drive rotating mechanism, a turbine worm transmission mechanism and the like. The relevant performance parameters of the mechanisms are comprehensively analyzed and compared, and a gear mechanism is selected to realize a circumferential rotation motion scheme, as shown in fig. 2. The gear mechanism can realize the rotation of the guide pipe around the axis of the guide pipe, and has the advantages of accurate transmission ratio, high transmission efficiency, long service life, safety and reliability in working and easy guarantee of the precision in processing. According to the requirement of the vascular intervention operation, the rotating part of the tube delivery mechanism has to meet the characteristics of compact structure, light weight, small volume, few parts and the like.
The overall motion scheme of the pipe conveying mechanism is determined by analyzing and comparing the axial linear feed motion scheme and the circumferential rotation motion scheme, a principal axis linear feed mechanism and a subordinate axis linear feed mechanism are selected in the design of an axial linear feed component to realize the corresponding motion transmission function, and a gear transmission mechanism is selected in the design of a circumferential rotation component to realize the corresponding motion transmission function.
The circumferential rotating mechanism comprises a second motor 41, a main transmission gear 42 and a rotating gear 43 which are sequentially driven, the second motor 41 is fixed on the fixing plate 5, the rotating gear 43 is fixed on the right side plate, a round hole for penetrating the guide pipe 2 is formed in the center of the rotating gear, the left end of the fixing plate 5 is connected with the hollow rotating shaft 6 arranged on the left side plate, and the fixing plate can rotate along with the hollow rotating shaft 6 to realize circumferential rotation of the guide pipe 2.
When rotation is required, the second motor 41 drives the main transmission gear 42, and the rotating gear 43 meshed with the main transmission gear 42 is fixed on the right side plate, so that the fixing plate 5 where the second motor 41 is located is caused to rotate, and the hollow rotating shaft 6 provides rotation support at the other end.
3. Design of driving mode of pipe conveying rotating shaft
The tube delivery mechanism of the minimally invasive vascular interventional surgical robot can realize axial linear feed motion and circumferential rotation motion of a catheter in a blood vessel by depending on a driving system consisting of a motor, an encoder, a speed reducer and the like. According to the requirements of minimally invasive vascular interventional operations and based on the characteristics of low rotating speed, high control precision, convenience in control and the like during motor model selection, a high-precision direct current micro-motor RE series produced by Maxon corporation of Switzerland is selected. The motor has the characteristics of no tooth groove effect, small volume, low electromagnetic interference, high reliability, small inertia, realization of high acceleration performance of the rotor and the like. Meanwhile, the integrated motor, the speed reducer and the encoder fully ensure the reliability and the precision of the whole driving scheme.
4. Model machine design of pipe conveying rotating shaft
The tube delivery mechanism of the minimally invasive vascular interventional surgical robot is used as an end effector of the minimally invasive vascular interventional surgical robot and mainly comprises an axial line linear feeding mechanism and a circumferential rotating mechanism, wherein the axial line linear feeding mechanism is used for pushing a catheter to advance linearly, and the circumferential rotating mechanism is used for changing the advancing direction of the catheter in a blood vessel.
In the design process, the axial feeding component structure of the pipe conveying mechanism of the minimally invasive vascular interventional surgery robot is shown in figures 3 and 4. Mainly comprises a set of gear set, a set of main driven roller and an elastic adjusting mechanism. The first motor 31 drives the main transmission gear 32 to move, the gear 33 at the input end of the torque sensor is meshed with the main transmission gear 32 to move, and power is transmitted to the gear 33 at the output end of the torque sensor through a sensor shaft; meanwhile, the output end gear 33 of the torque sensor drives a pair of driving gears meshed with the driving gears to synchronously and reversely rotate, a pair of driven gears meshed with the driving gears are driven by the driving gears to move and transmit the motion to two pairs of driving and driven rollers 35 through a gear shaft, and the two pairs of driving and driven rollers 35 reversely rotate to drive a guide pipe between the driving and driven rollers to move, so that the axial feeding linear motion is realized. The elastic adjusting mechanism is used for adjusting the gap between the two pairs of main and driven rollers and is suitable for catheters of different models. The torque sensor is used for detecting torque signals generated by different stresses on two sides of the input end gear and the output end gear of the torque sensor and feeding back the torque signals, when the catheter is in contact with the inner wall of the blood vessel in the feeding process and is subjected to the resistance of the inner wall of the blood vessel, the friction force between the main driven roller and the driven roller, which are matched with the concave-convex parts of the two pairs of concave-convex parts for clamping the catheter, and the catheter is correspondingly increased, and the main driven gear and the driven gear which are respectively connected with the main driven roller and the driven. First main drive gear will power transmission rather than on the torque sensor output gear of meshing, the gear atress difference at torque sensor both ends produces torque signal, send corresponding instruction behind the signal is received to the computer of pipe feeding mechanism system, make pipe feeding mechanism's operating means's motor produce one with the moment of operation opposite direction, make the operator can feel the pipe and receive the hindrance, thereby the operator can stop the pipe and intervene the operation or change the direction that the pipe gos forward, avoided pipe and vascular wall to produce too big power and pierce the vascular wall, the security of operation is intervened to the blood vessel has been guaranteed.
The circumferential rotating part mainly comprises an outer cover, an upper fixing plate, a lower fixing plate, a rotating gear and a main transmission gear. The motor drives the main transmission gear to move, and simultaneously, power is transmitted to the rotating gear meshed with the main transmission gear, so that the pipe conveying mechanism is driven to rotate circumferentially integrally, and the advancing direction of the guide pipe is changed. The lower fixing plate is connected with the conductive slip ring, so that the problem of wire winding in the integral rotation process can be effectively avoided. In addition, the cover clamp is unscrewed, and the outer cover can be opened by moving the upper cover, so that the cleaning, the disinfection and the maintenance of the parts at the inner side are facilitated.
The analysis shows that the tube conveying mechanism designed by the invention has two degrees of freedom, high positioning precision, strong intuition of movement, large integral rigidity of the system, compact volume and light weight, and meets the requirements of the vascular interventional operation. The overall structure of the tube delivery mechanism of the minimally invasive vascular interventional surgical robot is shown in fig. 5.
According to the mechanism design of the axial linear feeding and circumferential rotating module, the overall structure diagram of the minimally invasive vascular interventional surgery robot tube delivery mechanism meeting the requirements is synthesized, wherein the axial linear feeding mechanism is selected as the axial linear feeding motion scheme, and the gear transmission mechanism is selected as the circumferential rotating motion scheme.
Claims (8)
1. The utility model provides an intervene surgical robot and send a tub device from hand for realize the axial of pipe (2) and feed and the circumference rotation, its characterized in that, the device include cylindrical cavity casing (1), set up axis straight line feed mechanism and the circumference rotary mechanism on casing (1) internal fixation board (5), pipe (2) penetrate from casing (1) left side panel center, wear out from casing (1) right side panel center behind axis straight line feed mechanism and circumference rotary mechanism respectively.
2. The hand-held holding and twisting device of the interventional surgical robot as claimed in claim 1, wherein the axial linear feeding mechanism comprises a first motor (31), a driving gear (32), a torque sensor input end gear (33) and two pairs of main and auxiliary gears (34) which are sequentially driven by two pairs of rolling wheels (35), the two pairs of main and auxiliary gears (34) are respectively arranged at two sides of the torque sensor input end gear (33), each pair of main and auxiliary gears (34) are respectively driven by the corresponding rolling wheels (35), and the guide tube (2) passes through and is pre-tightened between each pair of rolling wheels (35) to realize the axial linear feeding motion.
3. The hand-held rotary twisting device of an interventional surgical robot as claimed in claim 2, wherein the input gear (33) of the torque sensor is connected to the input of the torque sensor for detecting torque signals generated by different forces on the two sides of the input gear and the output gear of the torque sensor, and the torque sensor is connected to the controller of the surgical robot.
4. The hand-held twisting device of an interventional surgical robot as claimed in claim 2, wherein each pair of rolling wheels (35) comprises a main rolling wheel and a slave rolling wheel, the edge of the main rolling wheel is concave, the edge of the slave rolling wheel is convex, and the conduit (2) passes through the concave part and the convex part.
5. The device of claim 4, wherein the gap between the master and slave rollers is adjustable to accommodate different types of catheters.
6. The hand-held holding and twisting device of the interventional operation robot as claimed in claim 1, wherein the circumferential rotating mechanism comprises a second motor (41), a main transmission gear (42) and a rotating gear (43) which are sequentially transmitted, the second motor (41) is fixed on the fixing plate (5), the rotating gear (43) is fixed on the right side plate, a round hole for passing through the catheter (2) is formed in the center of the rotating gear, the left end of the fixing plate (5) is connected with the hollow rotating shaft (6) arranged on the left side plate, and the rotating gear can rotate along with the hollow rotating shaft (6) to realize circumferential rotation of the catheter (2).
7. The hand-held twisting device of claim 1, wherein the fixing plate (5) is provided with a conductive slip ring for preventing twisting during circumferential rotation.
8. The hand-held twist device of an interventional surgical robot as claimed in claim 1, wherein the housing (1) comprises a bottom cover and an upper cover having a semicircular shape, and one end of the bottom cover and one end of the upper cover are hinged to each other and the other end of the bottom cover and the other end of the upper cover are fastened to each other.
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| CN201910424155.0A CN111973276A (en) | 2019-05-21 | 2019-05-21 | Intervene operation robot and carry tub device from hand |
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| CN201910424155.0A CN111973276A (en) | 2019-05-21 | 2019-05-21 | Intervene operation robot and carry tub device from hand |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113116519A (en) * | 2021-04-26 | 2021-07-16 | 武汉联影智融医疗科技有限公司 | Force feedback main manipulator and puncture surgical robot system |
| CN113456236A (en) * | 2021-06-29 | 2021-10-01 | 北京理工大学 | Rope-driven parallel main manipulator |
| CN113598951A (en) * | 2021-07-28 | 2021-11-05 | 上海卓昕医疗科技有限公司 | Catheter driving mechanism, blood vessel interventional robot and catheter driving method |
| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
| CN114224493A (en) * | 2021-12-21 | 2022-03-25 | 苏州润迈德医疗科技有限公司 | Intervene operation robot from end drive arrangement and consumptive material module |
| CN114452005A (en) * | 2021-01-23 | 2022-05-10 | 王�华 | Blood vessel intervention robot with force feedback |
| CN114522326A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Guide wire intervention device and blood vessel intervention operation robot |
| CN114587611A (en) * | 2022-04-02 | 2022-06-07 | 广州市精谷智能科技有限公司 | Wire feeding device of interventional robot |
| CN115281746A (en) * | 2022-07-04 | 2022-11-04 | 中国科学院自动化研究所 | Flexible tip controllable medical instrument feeding system and feeding method |
| CN115500953A (en) * | 2022-10-21 | 2022-12-23 | 中国科学院深圳先进技术研究院 | Magnetic control system and magnetic control method for vascular interventional guide wire |
| CN116058974A (en) * | 2023-02-23 | 2023-05-05 | 之江实验室 | Surgical robot and surgical system |
| CN116058962A (en) * | 2023-02-23 | 2023-05-05 | 之江实验室 | Rotating mechanism and surgical robot |
| WO2024050966A1 (en) * | 2022-09-05 | 2024-03-14 | 深圳市爱博医疗机器人有限公司 | Slender medical instrument driving apparatus |
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| CN114452005A (en) * | 2021-01-23 | 2022-05-10 | 王�华 | Blood vessel intervention robot with force feedback |
| CN113116519B (en) * | 2021-04-26 | 2022-09-20 | 武汉联影智融医疗科技有限公司 | Force feedback main manipulator and puncture surgical robot system |
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| CN113456236A (en) * | 2021-06-29 | 2021-10-01 | 北京理工大学 | Rope-driven parallel main manipulator |
| CN113456236B (en) * | 2021-06-29 | 2022-05-27 | 北京理工大学 | Rope-driven parallel main manipulator |
| CN113598951A (en) * | 2021-07-28 | 2021-11-05 | 上海卓昕医疗科技有限公司 | Catheter driving mechanism, blood vessel interventional robot and catheter driving method |
| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
| CN113633382B (en) * | 2021-07-28 | 2023-07-21 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention operation robot and vascular intervention operation robot |
| CN113598951B (en) * | 2021-07-28 | 2022-11-04 | 上海卓昕医疗科技有限公司 | Catheter driving mechanism, blood vessel interventional robot and catheter driving method |
| CN114224493A (en) * | 2021-12-21 | 2022-03-25 | 苏州润迈德医疗科技有限公司 | Intervene operation robot from end drive arrangement and consumptive material module |
| CN114224493B (en) * | 2021-12-21 | 2024-03-22 | 苏州生科智能科技有限公司 | Slave end driving device of interventional operation robot and consumable module |
| CN114522326A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Guide wire intervention device and blood vessel intervention operation robot |
| CN114522326B (en) * | 2022-02-24 | 2023-11-24 | 上海神玑医疗科技有限公司 | Guide wire interventional device and vascular interventional operation robot |
| CN114587611A (en) * | 2022-04-02 | 2022-06-07 | 广州市精谷智能科技有限公司 | Wire feeding device of interventional robot |
| CN115281746A (en) * | 2022-07-04 | 2022-11-04 | 中国科学院自动化研究所 | Flexible tip controllable medical instrument feeding system and feeding method |
| CN115281746B (en) * | 2022-07-04 | 2023-10-31 | 中国科学院自动化研究所 | Flexible end-controllable medical instrument feeding system and feeding method |
| WO2024050966A1 (en) * | 2022-09-05 | 2024-03-14 | 深圳市爱博医疗机器人有限公司 | Slender medical instrument driving apparatus |
| CN115500953A (en) * | 2022-10-21 | 2022-12-23 | 中国科学院深圳先进技术研究院 | Magnetic control system and magnetic control method for vascular interventional guide wire |
| CN115500953B (en) * | 2022-10-21 | 2023-10-13 | 中国科学院深圳先进技术研究院 | Magnetic control system and magnetic control method for vascular intervention guide wire |
| CN116058974A (en) * | 2023-02-23 | 2023-05-05 | 之江实验室 | Surgical robot and surgical system |
| CN116058962A (en) * | 2023-02-23 | 2023-05-05 | 之江实验室 | Rotating mechanism and surgical robot |
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Application publication date: 20201124 |