CN113288438A - Orthognathic surgery operation robot - Google Patents
Orthognathic surgery operation robot Download PDFInfo
- Publication number
- CN113288438A CN113288438A CN202110687783.5A CN202110687783A CN113288438A CN 113288438 A CN113288438 A CN 113288438A CN 202110687783 A CN202110687783 A CN 202110687783A CN 113288438 A CN113288438 A CN 113288438A
- Authority
- CN
- China
- Prior art keywords
- freedom
- degree
- arc
- guide rail
- cutter
- 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.)
- Pending
Links
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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61C—DENTISTRY; APPARATUS OR METHODS FOR ORAL OR DENTAL HYGIENE
- A61C19/00—Dental auxiliary appliances
- A61C19/06—Implements for therapeutic treatment
-
- 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)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Dentistry (AREA)
- Epidemiology (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of medical robots, in particular to an orthognathic surgery robot, which is characterized in that: the three-degree-of-freedom positioning mechanism and the three-degree-of-freedom orientation mechanism are characterized in that the three-degree-of-freedom positioning mechanism and the working space limiting block are fixedly connected through nuts to form a working space limiting mechanism, and the working space limiting mechanism and the orientation mechanism form a six-degree-of-freedom orthognathic surgical robot. When the positioning device is used, the surgical knife head can realize the three-degree-of-freedom positioning function and the three-degree-of-freedom orientation function, and can reach the position in the oral cavity more flexibly.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a mechanical structure of an orthognathic surgery robot by utilizing gear engagement and gear and rack movement.
Background
Orthognathic surgery is the most common means for correcting malformation of jaw bone at present, and the surgery can effectively improve the human body jaw protrusion, correct the matching relationship of the upper jaw and the lower jaw and restore the normal face shape of the human body. Compared with other operations, the orthognathic surgery has the advantages that the operable space of a doctor in the oral cavity is small, the difficulty is increased, the precision requirement is high, and the requirements on the operation capability and physical strength of the doctor are higher. The hot problem of replacing doctor's surgery with orthognathic surgical robots is being studied by many scholars, and there are also considerable efforts in this field of orthognathic robots. However, the application of orthognathic robots to orthognathic surgery still faces some problems: in a first aspect, the orthognathic surgical robot is small and convenient enough in size so that the entire process of orthognathic surgery is performed in the narrow space of the human mouth; in a second aspect, the orthognathic surgical robot takes protective measures against the patient, and applies "virtual constraints" to the robot by means of a plurality of orthognathic robot software, i.e. programming languages, to avoid injuring the patient; in a third aspect, the orthognathic surgical robot should be sufficiently rigid to ensure that the surgical robot is small enough in size while also being sufficiently rigid to perform osteotomy actions such as cutting, displacing, etc. the jaw bone.
Disclosure of Invention
The invention overcomes the defects of the prior art, provides the orthognathic surgical robot, and effectively solves the problems of overstaffed structure, low flexibility, low positioning precision and narrow range of reaching the organs of the human body by the scalpel of the prior surgical robot.
The invention adopts the following technical scheme for realizing the purpose:
a six-degree-of-freedom orthognathic surgical robot comprises a three-degree-of-freedom positioning mechanism and a three-degree-of-freedom positioning mechanism.
Furthermore, the front end plate and the rear end plate of the three-degree-of-freedom positioning mechanism are respectively fixed at the front end and the rear end of a slide block guide rail in the degree of freedom assembly I through threaded connection, the flange plate penetrates into a sleeve of the degree of freedom assembly I, a baffle integrated lead screw in the degree of freedom assembly II is connected with the flange plate through threads to form a lead screw nut pair, the lower end of a supporting cutter head screw is connected with the flange plate through a screw, the flange plate penetrates out of the supporting cutter head screw, and the cutter head is fixedly connected with the supporting cutter head screw through a bearing and threads.
Furthermore, a cutter in the rolling adjustment assembly of the three-degree-of-freedom orientation mechanism is longitudinally placed in the cutter frame, a cutter fixing block is fixedly connected with the periphery of the cutter of the rolling adjustment assembly through threads, the cutter fixing block is connected with the cutter square frame through a screw, the arc-shaped protruding block on the right side of the cutter square frame is sleeved in the arc-shaped hole of the pitching adjusting component, the right side cover plate is fixedly connected with the right side arc-shaped protruding block of the cutter square frame in the height direction through a screw, the arc-shaped convex block on the right side of the cutter square frame can slide, the arc-shaped convex block on the stretching plate of the pitching adjusting component is sleeved in the arc-shaped hole of the yawing adjusting component, the rear end cover plate and the arc-shaped convex block on the stretching plate of the pitching adjusting assembly are fixedly connected in the height direction through screws, and the arc-shaped convex block of the rear end cover plate can slide.
Furthermore, the output shaft of the driving motor of the degree of freedom assembly I is fixedly connected with a pinion, the pinion is meshed with a gearwheel, the gearwheel is sleeved on a side lead screw, a nut integrated rack is connected with the side lead screw through threads to form a lead screw nut pair, the nut integrated rack is meshed with a gear in a gear integrated sleeve, the gear integrated sleeve is sleeved in a hole in the center of the supporting platform, a supporting platform guide rail penetrates into the hole of the supporting platform to form a moving pair, and a rack guide rail penetrates into the hole of the nut integrated rack to form a moving pair.
Furthermore, an output shaft of a driving motor of the freedom degree assembly II is fixedly connected with the baffle plate integrated lead screw.
Furthermore, an output shaft of a driving motor of the yaw adjusting assembly is connected with a pinion, and the pinion is meshed with the arc-shaped rack guide rail I.
Furthermore, the output shaft of a driving motor of the pitching adjustment assembly is connected with a pinion, the pinion is meshed with the arc-shaped rack guide rail II, the arc-shaped guide rail is fixedly connected with the arc-shaped rack guide rail II through a screw, the stretching plate is perpendicular to the arc-shaped rack guide rail II and welded into a whole, and the side connecting plate is fixedly connected with the stretching plate through a screw.
Furthermore, an output shaft of a driving motor of the rolling adjusting assembly is connected with a pinion, the pinion is meshed with a gearwheel, and a cutter penetrates into the gearwheel and is welded into a whole.
Has the advantages that:
compared with the prior art, the invention has the beneficial effects that:
the effect of the technical solution is described textually. The six motors are used for driving the cutter head to realize the three-degree-of-freedom positioning function and the three-degree-of-freedom positioning function, so that the problems that the current surgical instrument is heavy, occupies unnecessary space and cannot protect a human body can be solved.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural view (front side) of the three-degree-of-freedom positioning mechanism;
FIG. 3 is a schematic structural diagram (reverse side) of the three-degree-of-freedom positioning mechanism;
FIG. 4 is a schematic structural view (front side) of a three-degree-of-freedom orientation mechanism;
FIG. 5 is a schematic structural diagram (reverse side) of a three-degree-of-freedom orientation mechanism;
FIG. 1-workspace restriction Block; 2-front end plate; 3-rear end plate; 4-a flange plate; 5-supporting a cutter head screw; 6-cutter head; 7-a slider guide rail; 8-tool square frame; 9-a cutter fixing block; 10-right side cover plate; 11-rear end cover plate; 12-nut integrated rack; 13-side lead screw; 14-a drive motor; 15-bull gear; 16-pinion gear; 17-a gear integrated sleeve; 18-a support platform; 19-supporting a platform rail; 20-rack guide rail; 21-a drive motor; 22-baffle integrated lead screw; 23-pinion gear; 24-arc rack guide rail I; 25-a drive motor; 26-a lateral connection plate; 27-an arc-shaped guide rail; 28-arc rack guide rail II; 29-a drive motor; 30-pinion gear; 31-stretching the sheet.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings
As shown in fig. 1 to 5, an orthognathic surgical robot according to the present invention includes a three-degree-of-freedom positioning mechanism and a three-degree-of-freedom positioning mechanism.
Specifically, three degree of freedom positioning mechanism's front end plate 2 and rear end plate 3 are fixed in the front and back both ends of slider guide rail 7 in the I subassembly of degree of freedom respectively through threaded connection, and ring flange 4 pierces into the sleeve of the I subassembly of degree of freedom in, baffle integration lead screw 22 in the subassembly II of degree of freedom with ring flange 4 pass through threaded connection and form screw nut pair, support cutter head screw 5 lower extreme with ring flange 4 pass through the screw connection, and follow ring flange 4 in wear out, cutter head 6 with support cutter head screw 55 through supporting and screw thread fixed connection.
Specifically, the cutter 35 in the rolling adjustment assembly 42 of the three-degree-of-freedom orientation mechanism is longitudinally placed in the cutter frame 8, the cutter fixing block 9 is fixed around the cutter 35 of the rolling adjustment assembly 42 through threaded connection, the cutter fixing block 9 is connected with the cutter frame 8 through screws, the arc-shaped protrusion block on the right side of the cutter frame 8 is sleeved in the arc-shaped hole of the pitching adjustment assembly 41, the right side cover plate 10 is fixedly connected with the arc-shaped protrusion block on the right side of the cutter frame 8 through screws in the height direction, the arc-shaped protrusion block on the right side of the cutter frame 8 can slide, the arc-shaped protrusion block on the stretching plate 31 of the pitching adjustment assembly 41 is sleeved in the arc-shaped hole of the yawing adjustment assembly 40, and the arc-shaped protrusion block on the stretching plate 31 of the pitching adjustment assembly 41 and the rear end cover plate 11 are fixedly connected with the arc-shaped protrusion block on the stretching plate 31 of the pitching adjustment assembly 41 through screws in the height direction, the arc-shaped convex block of the rear end cover plate 11 can slide.
Specifically, an output shaft of a driving motor 14 of the degree of freedom assembly I is fixedly connected with a pinion 16, the pinion 16 is meshed with a gearwheel 15, the gearwheel 15 is sleeved on a side lead screw 13, a nut integrated rack 12 is in threaded connection with the side lead screw 13 to form a lead screw-nut pair, the nut integrated rack 12 is meshed with a gear in a gear integrated sleeve 17, the gear integrated sleeve 17 is sleeved in a hole in the center of a supporting platform 18, a supporting platform guide rail 19 penetrates into the hole of the supporting platform 18 to form a moving pair, and a rack guide rail 20 penetrates into the hole of the nut integrated rack 12 to form a moving pair.
Specifically, an output shaft of a driving motor 21 of the degree of freedom assembly II is fixedly connected with a baffle plate integrated lead screw 22.
Specifically, an output shaft of a driving motor 25 of the yaw adjusting assembly is connected with a pinion 23, and the pinion 23 is meshed with an arc-shaped rack guide rail I24.
Specifically, an output shaft of a driving motor 29 of the pitching adjustment assembly is connected with a pinion 30, the pinion 30 is meshed with an arc-shaped rack guide rail II 28, an arc-shaped guide rail 27 and the arc-shaped rack guide rail II 28 are fixedly connected through screws, a stretching plate 31 and the arc-shaped rack guide rail II 28 are vertically welded into a whole, and a side connecting plate 26 is fixedly connected with the stretching plate 31 through screws.
Specifically, an output shaft of a driving motor 33 of the rolling adjustment assembly is connected with a pinion gear 32, the pinion gear 32 is meshed with a bull gear 34, and a cutter 35 penetrates through the bull gear 34 and is welded into a whole.
The working process of the invention is as follows:
when the positioning mechanism works, the driving motor 14 drives the pinion 16 to rotate, the pinion 16 drives the bull gear 15 to rotate through meshing relation, the bull gear 15 drives the side lead screw 13 to rotate, the nut integrated rack axially moves on the side lead screw 13 due to meshing relation, and the processes can be performed on the left side and the right side of the three-degree-of-freedom positioning mechanism;
when the processes are carried out on the left side and the right side of the three degrees of freedom, if the rotation directions of the driving motor 14 and the right motor are the same, the rotation directions of the side lead screws 13 on the two sides are consistent, and due to the meshing relationship, the sleeve integrated gear 17 axially moves along the side lead screws 13, so that the flange plate 4, the supporting cutter head screw 5 and the cutter head 6 move in the same direction, and the front-back movement of the cutter head 6 is realized;
if the driving motor 14 and the right motor rotate in different directions, the sleeve integrated gear 17 rotates due to the meshing relationship, and the cutter head 6 is driven to rotate around the rotation center of the sleeve integrated gear, so that the rotary motion of the cutter head 6 is realized;
when the driving motor 21 works, the baffle plate integrated lead screw is driven to rotate, and the flange plate 4 axially moves along the central lead screw due to the meshing relation, so that the cutter head 6 is driven to move up and down, and the up-and-down movement of the cutter head 6 is realized;
when the driving motor 25 works, the pinion 23 moves in a groove on the arc-shaped rack guide rail I in a gear-rack connection mode, so that the stretching plate 31 and the cutter frame 8 are driven to move along an arc line;
when the driving motor 29 works, the pinion 30 moves on the outer side of the arc-shaped rack guide rail II 28 in a gear-rack connection mode, so that the cutter frame 8 is driven to move along an arc line;
when the driving motor 33 works, the pinion 32 drives the bull gear 34 to rotate, thereby driving the cutter to rotate;
the above embodiments are merely illustrative of the present patent and do not limit the scope of the patent, and those skilled in the art can make modifications to the parts thereof without departing from the spirit and scope of the patent.
Claims (8)
1. A six-degree-of-freedom orthognathic surgical robot is characterized in that: the three-degree-of-freedom positioning mechanism (36) and the three-degree-of-freedom positioning mechanism (37) are characterized in that the three-degree-of-freedom positioning mechanism and the working space limiting block (1) are fixedly connected through a nut to form a working space limiting mechanism (43), and the working space limiting mechanism and the three-degree-of-freedom positioning mechanism form a six-degree-of-freedom orthognathic surgical robot.
2. The orthognathic surgical robot according to claim 1, wherein the three-degree-of-freedom positioning mechanism (36) comprises: the device comprises a front end plate (2), a rear end plate (3), a flange plate (4), a supporting cutter head screw (5), a cutter head (6), a slide block guide rail (7), a freedom degree assembly I (38) and a freedom degree assembly II (39). Front end plate (2) and rear end plate (3) are fixed in the front and back both ends of slider guide rail (7) in degree of freedom subassembly I (38) respectively through threaded connection, and ring flange (4) are worn into the sleeve of degree of freedom subassembly I (38) in, baffle integration lead screw (22) in the degree of freedom subassembly II (39) with ring flange (4) through threaded connection formation screw nut pair, support blade disc screw (5) lower extreme with ring flange (4) pass through the screw connection, and follow ring flange (4) in wear out, blade disc (6) with support blade disc screw (5) through supporting and screw thread fixed connection.
3. A six-degree-of-freedom orthognathic surgical robot according to claim 1, wherein the three-degree-of-freedom orientation mechanism (37) comprises: the device comprises a cutter frame (8), a cutter fixing block (9), a right side cover plate (10), a rear end cover plate (11), a yaw adjusting assembly (40), a pitching adjusting assembly (41) and a rolling adjusting assembly (42). A cutter (35) in the rolling adjustment assembly (42) is longitudinally placed in a cutter frame (8), a cutter fixing block (9) is fixedly connected with the periphery of the cutter (35) of the rolling adjustment assembly (42) through threads, the cutter fixing block (9) is connected with the cutter frame (8) through screws, an arc-shaped convex block on the right side of the cutter frame (8) is sleeved in an arc-shaped hole of the pitching adjustment assembly (41), a right side cover plate (10) is fixedly connected with the arc-shaped convex block on the right side of the cutter frame (8) in the height direction through screws, the arc-shaped convex block on the right side of the cutter frame (8) can slide, the arc-shaped convex block on a stretching plate (31) of the pitching adjustment assembly (41) is sleeved in the arc-shaped hole of the yawing adjustment assembly (40), and the arc-shaped convex block on the stretching plate (31) of the pitching adjustment assembly (41) is fixedly connected with the rear end cover plate (11) in the height direction through screws, the arc-shaped convex block of the rear end cover plate (11) can slide.
4. The six-degree-of-freedom orthognathic robot according to claim 2, wherein the degree-of-freedom component i comprises: the device comprises a nut integrated rack (12), a side lead screw (13), a driving motor (14), a large gear (15), a small gear (16), a gear integrated sleeve (17), a supporting platform (18), a supporting platform guide rail (19) and a rack guide rail (20). An output shaft of a driving motor (14) is fixedly connected with a pinion (16), the pinion (16) is meshed with a gearwheel (15), the gearwheel (15) is sleeved on a side lead screw (13), a nut integrated rack (12) is in threaded connection with the side lead screw (13) to form a lead screw-nut pair, the nut integrated rack (12) is meshed with a gear in a gear integrated sleeve (17), the gear integrated sleeve (17) is sleeved in a hole in the center of a supporting platform (18), a supporting platform guide rail (19) is penetrated in the hole of the supporting platform (18) to form a moving pair, and a rack guide rail (20) is penetrated in the hole of the nut integrated rack (12) to form a moving pair.
5. The six degree of freedom orthognathic robot according to claim 2 wherein the degree of freedom component ii comprises: a driving motor (21) and a baffle plate integrated lead screw (22). An output shaft of the driving motor (21) is fixedly connected with a baffle plate integrated lead screw (22).
6. The orthognathic robot with six degrees of freedom according to claim 3, wherein the yaw adjustment assembly comprises a pinion (23), an arc-shaped rack guide rail I (24), and a drive motor (25). An output shaft of the driving motor (25) is connected with a pinion (23), and the pinion (23) is meshed with the arc-shaped rack guide rail I (24).
7. The six degree of freedom orthognathic robot according to claim 3 wherein the pitch adjustment assembly comprises: the device comprises a side connecting plate (26), an arc-shaped guide rail (27), an arc-shaped rack guide rail II (28), a driving motor (29), a pinion (30) and a stretching plate (31). An output shaft of the driving motor (29) is connected with a pinion, the pinion (30) is meshed with the arc rack guide rail II (28), the arc guide rail (27) is fixedly connected with the arc rack guide rail II (28) through screws, the stretching plate (31) is perpendicular to the arc rack guide rail II (28) and welded into a whole, and the side connecting plate (26) is fixedly connected with the stretching plate (31) through screws.
8. The six degree of freedom orthognathic robot according to claim 3 wherein the roll adjustment assembly comprises: a pinion (32), a driving motor (33), a gearwheel (34) and a cutter (35). An output shaft of the driving motor (33) is connected with the small gear (32), the small gear (32) is meshed with the large gear (34), and the cutter (35) penetrates into the large gear (34) and is welded into a whole.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110687783.5A CN113288438A (en) | 2021-06-21 | 2021-06-21 | Orthognathic surgery operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110687783.5A CN113288438A (en) | 2021-06-21 | 2021-06-21 | Orthognathic surgery operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113288438A true CN113288438A (en) | 2021-08-24 |
Family
ID=77329020
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110687783.5A Pending CN113288438A (en) | 2021-06-21 | 2021-06-21 | Orthognathic surgery operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113288438A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113855289A (en) * | 2021-11-15 | 2021-12-31 | 北京航空航天大学 | Space five-degree-of-freedom tooth implant implanter |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103919610A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure |
| CN104146772A (en) * | 2014-07-29 | 2014-11-19 | 北京理工大学 | Robot for accurate diagnosis and treatment of maxillofacial diseases |
| CN104739512A (en) * | 2015-02-28 | 2015-07-01 | 天津大学 | Thoracocentesis surgical robot based on CT or MRI image navigation |
| CN105662587A (en) * | 2016-04-18 | 2016-06-15 | 山东科技大学 | Orthopaedics operation robot |
| CN105919670A (en) * | 2016-07-11 | 2016-09-07 | 哈尔滨理工大学 | Minimally-invasive surgery assistant robot |
| CN106725855A (en) * | 2016-06-08 | 2017-05-31 | 中国矿业大学 | A kind of series-parallel connection six degree of freedom minimally invasive surgical operation robot |
| CN107411821A (en) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN107981931A (en) * | 2018-01-02 | 2018-05-04 | 廖容 | A kind of tumor resection robot arm |
| CN110368117A (en) * | 2019-07-15 | 2019-10-25 | 电子科技大学 | A kind of four-degree-of-freedom chewing robot and monitoring system |
| CN110478044A (en) * | 2019-09-12 | 2019-11-22 | 上海交通大学医学院附属第九人民医院 | Multiple degrees of freedom operating robot based on high rigidity parallelogram telecentricity mechanism |
| CN112190372A (en) * | 2020-10-09 | 2021-01-08 | 东南大学 | Rope-driven parallel bionic mouth-jaw robot with high pair constraint |
-
2021
- 2021-06-21 CN CN202110687783.5A patent/CN113288438A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103919610A (en) * | 2014-04-25 | 2014-07-16 | 哈尔滨工程大学 | Multi-freedom-degree minimally-invasive-surgery instrument-holding arm structure |
| CN104146772A (en) * | 2014-07-29 | 2014-11-19 | 北京理工大学 | Robot for accurate diagnosis and treatment of maxillofacial diseases |
| CN104739512A (en) * | 2015-02-28 | 2015-07-01 | 天津大学 | Thoracocentesis surgical robot based on CT or MRI image navigation |
| CN105662587A (en) * | 2016-04-18 | 2016-06-15 | 山东科技大学 | Orthopaedics operation robot |
| CN106725855A (en) * | 2016-06-08 | 2017-05-31 | 中国矿业大学 | A kind of series-parallel connection six degree of freedom minimally invasive surgical operation robot |
| CN105919670A (en) * | 2016-07-11 | 2016-09-07 | 哈尔滨理工大学 | Minimally-invasive surgery assistant robot |
| CN107411821A (en) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | Five degree of freedom flexibility Needle-driven Robot |
| CN107981931A (en) * | 2018-01-02 | 2018-05-04 | 廖容 | A kind of tumor resection robot arm |
| CN110368117A (en) * | 2019-07-15 | 2019-10-25 | 电子科技大学 | A kind of four-degree-of-freedom chewing robot and monitoring system |
| CN110478044A (en) * | 2019-09-12 | 2019-11-22 | 上海交通大学医学院附属第九人民医院 | Multiple degrees of freedom operating robot based on high rigidity parallelogram telecentricity mechanism |
| CN112190372A (en) * | 2020-10-09 | 2021-01-08 | 东南大学 | Rope-driven parallel bionic mouth-jaw robot with high pair constraint |
Non-Patent Citations (1)
| Title |
|---|
| 王沐楠，孙立宁: "多运动方式移动机器人控制***设计", 《电机与控制学报》, vol. 9, no. 4, 31 July 2005 (2005-07-31) * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113855289A (en) * | 2021-11-15 | 2021-12-31 | 北京航空航天大学 | Space five-degree-of-freedom tooth implant implanter |
| CN113855289B (en) * | 2021-11-15 | 2023-03-03 | 北京航空航天大学 | Space five-degree-of-freedom tooth implant implanter |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107049443A (en) | A kind of lung puncture robot main body mechanism of CT images guiding in real time | |
| CN107411821B (en) | Five degree of freedom flexibility Needle-driven Robot | |
| CN105361951B (en) | A kind of minimally invasive abdominal operation Chi Jing robots | |
| CN2796972Y (en) | Structure of fire freedom space location robot | |
| CN106344160B (en) | A kind of surgical operation robot containing arc prismatic pair | |
| CN106510848B (en) | A kind of transurethral operating robot and control system | |
| CN107789059B (en) | A kind of minimally invasive abdominal operation robot | |
| CN107714182B (en) | A kind of needle holder being applied to surgery Minimally robot | |
| CN108514448A (en) | Blood vessel intervention operation robot guide wire, conduit control device | |
| CN103598916B (en) | A kind of auxiliary device for craniofacial plastic surgery | |
| CN104146772A (en) | Robot for accurate diagnosis and treatment of maxillofacial diseases | |
| CN113288438A (en) | Orthognathic surgery operation robot | |
| CN110368083A (en) | A kind of orthopaedic trauma of accurate positionin is clamped with replacement and fixation | |
| CN115317094B (en) | RCM puncture device and puncture teaching method | |
| CN112220560A (en) | Application method of mechanical arm for spinal surgery | |
| CN215129679U (en) | Four-degree-of-freedom fixed support used in hospital lung puncture operation | |
| CN204797858U (en) | Novel C type arm of C type arm X line machine | |
| CN116672083A (en) | Implanted brain surgery robot with macro-micro combined serial-parallel structure | |
| CN207528478U (en) | Pathologic section slicer with pattern of double controlling | |
| CN214104668U (en) | Head adjusting and fixing equipment for medical ophthalmic surgery | |
| CN209004196U (en) | A kind of portable active constraint Minor articulus operating robot | |
| CN213182181U (en) | Left-right rotation and pitching adjustable mechanism for surgical microscope | |
| WO2019113867A1 (en) | Blood vessel interventional surgery robot guide wire and catheter operating apparatus | |
| CN1410031A (en) | Stereo positioning system in high strength focusing ultrasonic operation | |
| CN115229612A (en) | Guide wire and welding spot grinding method thereof |
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 | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20210824 |
|
| WD01 | Invention patent application deemed withdrawn after publication |