CN113491573A - Combined type electrosurgical instrument - Google Patents
Combined type electrosurgical instrument Download PDFInfo
- Publication number
- CN113491573A CN113491573A CN202110636455.2A CN202110636455A CN113491573A CN 113491573 A CN113491573 A CN 113491573A CN 202110636455 A CN202110636455 A CN 202110636455A CN 113491573 A CN113491573 A CN 113491573A
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- Prior art keywords
- arm
- supporting arm
- electrosurgical instrument
- fixedly arranged
- display screen
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- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000011282 treatment Methods 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 claims description 3
- 238000009413 insulation Methods 0.000 claims description 3
- 238000000034 method Methods 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000000694 effects Effects 0.000 abstract description 6
- 238000001356 surgical procedure Methods 0.000 description 3
- 238000002682 general surgery Methods 0.000 description 2
- 230000000399 orthopedic effect Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 238000013132 cardiothoracic surgery Methods 0.000 description 1
- 230000015271 coagulation Effects 0.000 description 1
- 238000005345 coagulation Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000002500 effect on skin Effects 0.000 description 1
- 238000009297 electrocoagulation Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
- A61G13/107—Supply appliances
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00595—Cauterization
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/10—General characteristics of devices characterised by specific control means, e.g. for adjustment or steering
- A61G2203/20—Displays or monitors
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Otolaryngology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Plasma & Fusion (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Physics & Mathematics (AREA)
- Accommodation For Nursing Or Treatment Tables (AREA)
Abstract
The invention discloses a combined type electrosurgical instrument which comprises an assembling plate and an electric clamping arm, wherein a wireless communicator is arranged on the surface of the bottom of a control box below the assembling plate, a driving box is arranged on the surface of the bottom of the control box on one side of the wireless communicator through a first supporting arm, a touch display screen is arranged on the surface of the bottom of the driving box, a hydraulic telescopic cylinder is arranged on the side surface of the driving box on one side of the touch display screen through a second supporting arm, a rotating table is arranged on the side surface of one end, far away from the second supporting arm, of the hydraulic telescopic cylinder through an adjusting arm, a Z-shaped assembling plate is fixedly arranged on the side surface of a main shaft on one end of the rotating table, and a panoramic camera is fixedly arranged on the side surface of the assembling plate on one side of the electric clamping arm. The distance between the first support arm, the second support arm and the use position is reduced by utilizing the first support arm, the second support arm and the adjusting arm, the hydraulic telescopic cylinder is matched with the rotating platform to coordinately control the rotation of the electric clamping arm so as to finish the accurate adjustment operation of the operation position, the operation precision is ensured, meanwhile, the safety is higher, and the use effect is good.
Description
Technical Field
The invention relates to the technical field of surgical instruments, in particular to a combined type electrosurgical instrument.
Background
Electrosurgery is a surgical treatment performed with coagulation and cauterization of high frequency current. The effect on the skin is generally to conduct heat to the tissue or to generate a thermal response in the tissue by means of an electric current. The electrosurgery commonly used in dermal surgery is electrocoagulation and electrosection, which are the same as those used in general surgery, while electrocautery, electro-desiccation and electrocautery are used in dermatology in combination with other treatments. The surgical instruments refer to medical instruments used in clinical operations, and mainly comprise forceps, tweezers, knives, scissors, draw hooks and the like. In addition to conventional surgical instruments, there are also specialized instruments: orthopedics, urology, gynecology, burn, orthopedics, brain surgery, cardiothoracic surgery, general surgery, and the like. The control of current surgical instruments for electrosurgery mostly be fixed structure and when using needs artifical manual completion, and the accurate stability of operation is not enough, and the continuous operation ability is weak, and the practicality is poor.
Disclosure of Invention
The present invention is directed to a combined electrosurgical instrument that solves the problems of the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: a combined type electrosurgical instrument comprises an assembling plate and an electric clamping arm, wherein a cylindrical control box is fixedly arranged in the middle of the bottom surface of the assembling plate, a wireless communicator is transversely and fixedly arranged at one end of the bottom surface of the control box, a first supporting arm is obliquely and movably arranged on the bottom surface of the control box at one side of the wireless communicator through a mounting seat, a driving box is vertically and fixedly arranged on the side surface of the first supporting arm far away from one end of the control box, a touch display screen is vertically and movably arranged at one end of the bottom surface of the driving box through a shaft pin, a second supporting arm is obliquely and movably arranged on the side surface of the driving box at one side of the touch display screen through a groove, a distance measuring camera is fixedly arranged on the side surface of the second supporting arm far away from one end of the driving box through a connecting seat, and a hydraulic telescopic cylinder is movably arranged on the side surface of the second supporting arm at one side of the distance measuring camera through the mounting seat, the utility model discloses a hydraulic telescopic cylinder, including hydraulic telescopic cylinder, second support arm, regulation arm, revolving stage, electronic arm lock, through-hole, the fixed panoramic camera that is provided with in equipment board side of electronic arm lock one side, hydraulic telescopic cylinder keeps away from second support arm one end side activity and is provided with the regulation arm, the fixed revolving stage that is provided with in hydraulic telescopic cylinder one end side is kept away from to the regulation arm, the fixed Z-shaped mounting panel that is provided with in main shaft side of revolving stage one end, the fixed setting of electronic arm lock is kept away from the through-hole that revolving stage one end side was seted up at the mounting panel, the fixed panoramic camera that is provided with in equipment board side of electronic arm lock one side.
Preferably, the assembling plate is of a circular flange disc-shaped structure and is integrated with the control box into a whole by adopting a welding process.
Preferably, the wireless communicator supports WiFi and UWB communication and is in signal connection with equipment in the control box.
Preferably, the first supporting arm is a self-rotating double-shaft mechanical arm, an included angle between the first supporting arm and the plane of the control box is 45 degrees, and an adjusting angle between an inclination angle of the first supporting arm at one end of the driving box and the vertical plane ranges from 0 degree to 60 degrees.
Preferably, the driving box is internally provided with a rotating motor and controls the rotation of the second supporting arm through a gear turntable, and the angle adjusting range between the inclined plane of the second supporting arm and the horizontal plane is-30-45 degrees.
Preferably, the touch display screen is an integrated information screen, and a signal end of the touch display screen is in signal connection with the ranging camera and the panoramic camera respectively.
Preferably, a fine adjustment spiral handle is longitudinally and movably arranged on the side surface of the driving box at the outer side of the touch display screen, and the rotation angle of the touch display screen controlled by the fine adjustment spiral handle is 0-45 degrees.
Preferably, the rotation between the hydraulic telescopic cylinder and the mounting seat is controlled by a gear, and the rotation angle ranges from-45 degrees to 45 degrees.
Preferably, the adjusting arm and the rotating platform are matched with the panoramic camera to form an industrial intelligent positioning manipulator, and the rotating angle range of the rotating platform control mounting plate is 0-180 degrees.
Preferably, the electric clamping arm is a gear transmission type mechanical claw and is subjected to insulation treatment, and the maximum expansion angle of the electric clamping arm is 120 degrees.
Compared with the prior art, the invention has the beneficial effects that: according to the invention, the side surface of the driving box at one side of the touch display screen is provided with the hydraulic telescopic cylinder through the second supporting arm, one end of the hydraulic telescopic cylinder is provided with the rotary table through the adjusting arm, the electric clamping arm is arranged at the side surface of the rotary table through the assembling plate, the distance between the electric clamping arm and the use position is reduced by utilizing the first supporting arm, the second supporting arm and the adjusting arm, the hydraulic telescopic cylinder is matched with the rotary table to coordinately control the rotation of the electric clamping arm so as to complete the accurate adjustment operation of the operation position, the operation position is controlled by adopting a full-automatic mechanical adjustment structure, the operation precision is ensured, meanwhile, the safety is higher, and the use effect is good.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the expanded structure of the present invention.
Fig. 3 is a schematic view of the internal transmission structure of the driving box of the present invention.
In the figure: 1. assembling a plate; 2. an electric clamping arm; 3. a control box; 4. a wireless communicator; 5. a first support arm; 6. a drive box; 7. a touch display screen; 8. a second support arm; 9. a ranging camera; 10. a hydraulic telescopic cylinder; 11. an adjusting arm; 12. a rotating table; 13. mounting a plate; 14. a panoramic camera; 15. a gear turntable; 16. finely adjusting a spiral handle; 17. and (7) mounting a seat.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1 to 3, in the embodiment of the present invention, a combined electrosurgical instrument includes an assembly plate 1 and an electric clamp arm 2, a cylindrical control box 3 is fixedly disposed at the middle of the bottom surface of the assembly plate 1, a wireless communicator 4 is transversely and fixedly disposed at one end of the bottom surface of the control box 3, a first support arm 5 is obliquely and movably disposed on the bottom surface of the control box 3 at one side of the wireless communicator 4 through a mounting seat, a driving box 6 is vertically and fixedly disposed at the side of the first support arm 5 away from one end of the control box 3, a touch display screen 7 is vertically and movably disposed at one end of the bottom surface of the driving box 6 through a shaft pin, a second support arm 8 is obliquely and movably disposed at the side of the driving box 6 at one side of the touch display screen 7 through a groove, a distance measuring camera 9 is fixedly disposed at the side of the second support arm 8 away from one end of the driving box 6 through a connecting seat, a hydraulic cylinder 10 is movably disposed at the side of the second support arm 8 at one side of the distance measuring camera 9 through a mounting seat 17, an adjusting arm 11 is movably arranged on the side surface of one end, far away from the second supporting arm 8, of the hydraulic telescopic cylinder 10, a rotating table 12 is fixedly arranged on the side surface of one end, far away from the hydraulic telescopic cylinder 10, of the adjusting arm 11, a Z-shaped mounting plate 13 is fixedly arranged on the side surface of a main shaft at one end of the rotating table 12, an electric clamping arm 2 is fixedly arranged in a through hole formed in the side surface, far away from the rotating table 12, of the mounting plate 13, and a panoramic camera 14 is fixedly arranged on the side surface of an assembling plate 1 at one side of the electric clamping arm 2; the assembling plate 1 is of a circular flange disc-shaped structure and is integrated with the control box 3 into a whole by adopting a welding process, so that the fixing reliability during assembling is ensured; the wireless communicator 4 supports WiFi and UWB communication and is in signal connection with equipment in the control box 3, so that the wireless control requirement is met; the first supporting arm 5 is a self-rotating double-shaft mechanical arm, the included angle between the first supporting arm 5 and the plane of the control box 3 is 45 degrees, and the adjusting angle range between the inclination angle of the first supporting arm 5 at one end of the driving box 6 and the vertical plane is 0-60 degrees, so that all-dimensional adjustment is realized; a rotating motor is arranged in the driving box 6, the rotation of the second supporting arm 8 is controlled through a gear turntable 15, the adjusting angle range between the inclined plane of the second supporting arm 8 and the horizontal plane is-30-45 degrees, and the adjusting and controlling requirements of different positions are met; the touch display screen 7 is an integrated information screen, and a signal end of the touch display screen 7 is in signal connection with the ranging camera 9 and the panoramic camera 14 respectively, so that observation requirements are met to ensure positioning accuracy; a fine adjustment spiral handle 16 is longitudinally and movably arranged on the side surface of the driving box 6 at the outer side of the touch display screen 7, and the rotation angle of the touch display screen 7 controlled by the fine adjustment spiral handle 16 is 0-45 degrees, so that the coordination of the plane operation of the touch display screen 7 during the position adjustment of the first supporting arm 5 is ensured; the rotation between the hydraulic telescopic cylinder 10 and the mounting seat 17 is controlled by a gear, and the rotating angle range is-45 degrees, so that the requirement of angle adjustment is met; the adjusting arm 11 and the rotating platform 12 are matched with the panoramic camera 14 to form an industrial intelligent positioning manipulator, the rotating platform 12 controls the rotating angle range of the mounting plate 13 to be 0-180 degrees, and omnibearing regulation and control are realized to meet the operation requirements of different angles; the electric clamping arm 2 is a gear transmission type mechanical claw and is subjected to insulation treatment, and the maximum expansion angle of the electric clamping arm 2 is 120 degrees, so that the clamping and assembling requirements of different surgical instruments are met.
The working principle of the invention is as follows: during the use through equipment board 1 with equipment installation in the operating table top according to the operation demand, regulate and control first support arm 5 through control box 3, second support arm 8 and regulating arm 11 are in order to reduce with the distance between the service position, utilize 7 adjustment operating parameter of touch-control display screen and at range finding camera 9, the rotation of coordinated control hydraulic telescoping cylinder 10 and revolving stage 12 is in order to accomplish the accurate adjustment operation to 2 operation position of electronic arm lock under panoramic camera's 14 observation effect, adopt full-automatic mechanization adjustment structure control operation position, the security is higher when guaranteeing the operation precision, excellent in use effect.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A combined type electrosurgical instrument comprises an assembly plate (1) and an electric clamping arm (2), and is characterized in that a cylindrical control box (3) is fixedly arranged in the middle of the bottom surface of the assembly plate (1), a wireless communicator (4) is transversely and fixedly arranged at one end of the bottom surface of the control box (3), a first supporting arm (5) is obliquely and movably arranged on the bottom surface of the control box (3) on one side of the wireless communicator (4) through a mounting seat, a driving box (6) is vertically and fixedly arranged on the side surface of the first supporting arm (5) far away from one end of the control box (3), a touch display screen (7) is vertically and movably arranged at one end of the bottom surface of the driving box (6) through a shaft pin, a second supporting arm (8) is obliquely and movably arranged on the side surface of the driving box (6) on one side of the touch display screen (7) through a groove, a distance measuring camera (9) is fixedly arranged on the side surface of one end of the second supporting arm (8) far away from the driving box (6) through a connecting seat, a hydraulic telescopic cylinder (10) is movably arranged on the side surface of the second supporting arm (8) at one side of the distance measuring camera (9) through a mounting seat (17), an adjusting arm (11) is movably arranged on the side surface of one end of the hydraulic telescopic cylinder (10) far away from the second supporting arm (8), a rotating platform (12) is fixedly arranged on the side surface of one end of the adjusting arm (11) far away from the hydraulic telescopic cylinder (10), a Z-shaped mounting plate (13) is fixedly arranged on the side surface of the main shaft at one end of the rotating table (12), the electric clamping arm (2) is fixedly arranged in a through hole arranged on the side surface of one end of the mounting plate (13) far away from the rotary table (12), and a panoramic camera (14) is fixedly arranged on the side surface of the assembling plate (1) at one side of the electric clamping arm (2).
2. The combination electrosurgical instrument of claim 1, wherein: the assembling plate (1) is of a circular flange disc-shaped structure and is integrated with the control box (3) into a whole by adopting a welding process.
3. The combination electrosurgical instrument of claim 1, wherein: the wireless communicator (4) supports WiFi and UWB communication and is in signal connection with equipment in the control box (3).
4. The combination electrosurgical instrument of claim 1, wherein: the first supporting arm (5) is a rotation-type double-shaft mechanical arm, an included angle between the first supporting arm (5) and the plane of the control box (3) is 45 degrees, and an adjusting angle range between an inclination angle of the first supporting arm (5) at one end of the driving box (6) and a vertical plane is 0-60 degrees.
5. The combination electrosurgical instrument of claim 1, wherein: the driving box (6) is internally provided with a rotating motor and controls the rotation of the second supporting arm (8) through a gear turntable (15), and the angle adjusting range between the inclined plane of the second supporting arm (8) and the horizontal plane is-30-45 degrees.
6. The combination electrosurgical instrument of claim 1, wherein: the touch display screen (7) is an integrated information screen, and the signal end of the touch display screen (7) is in signal connection with the ranging camera (9) and the panoramic camera (14) respectively.
7. The combination electrosurgical instrument of claim 1, wherein: the side surface of the driving box (6) on the outer side of the touch display screen (7) is longitudinally and movably provided with a fine adjustment spiral handle (16), and the rotation angle of the touch display screen (7) controlled by the fine adjustment spiral handle (16) is 0-45 degrees.
8. The combination electrosurgical instrument of claim 1, wherein: the rotation between the hydraulic telescopic cylinder (10) and the mounting seat (17) is controlled by a gear, and the rotation angle range is-45 degrees.
9. The combination electrosurgical instrument of claim 1, wherein: the adjusting arm (11) and the rotating platform (12) are matched with the panoramic camera (14) to form an industrial intelligent positioning manipulator, and the rotating angle range of the rotating platform (12) for controlling the mounting plate (13) is 0-180 degrees.
10. The combination electrosurgical instrument of claim 1, wherein: the electric clamping arm (2) is a gear transmission type mechanical claw and is subjected to insulation treatment, and the maximum expansion angle of the electric clamping arm (2) is 120 degrees.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110636455.2A CN113491573A (en) | 2021-06-08 | 2021-06-08 | Combined type electrosurgical instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110636455.2A CN113491573A (en) | 2021-06-08 | 2021-06-08 | Combined type electrosurgical instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113491573A true CN113491573A (en) | 2021-10-12 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110636455.2A Pending CN113491573A (en) | 2021-06-08 | 2021-06-08 | Combined type electrosurgical instrument |
Country Status (1)
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|---|---|
| CN (1) | CN113491573A (en) |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160361123A1 (en) * | 2014-03-07 | 2016-12-15 | Cambridge Medical Robotics Limited | Surgical arm |
| US20170189126A1 (en) * | 2016-01-06 | 2017-07-06 | Ethicon Endo-Surgery, Llc | Methods, systems, and devices for controlling movement of a robotic surgical system |
| CN108338841A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN109315473A (en) * | 2018-11-30 | 2019-02-12 | 衢州学院 | A kind of Huang a species of small clam living in fresh water dead sorter living |
| CN208663865U (en) * | 2018-08-21 | 2019-03-29 | 福建中泰德玛智能设备有限公司 | A kind of shoemaking robotic device |
| CN110811678A (en) * | 2019-11-21 | 2020-02-21 | 义乌工商职业技术学院 | Ultrasonic branch of academic or vocational study B ultrasonic testing is with diversified inspection support |
| CN210359746U (en) * | 2019-06-28 | 2020-04-21 | 山东三通重型钢管制造有限公司 | Robot for welding steel plate |
| US20200138530A1 (en) * | 2017-05-23 | 2020-05-07 | Medineering Gmbh | Robotic manipulator for guiding an endoscope having a parallel linkage |
| CN111920523A (en) * | 2020-06-30 | 2020-11-13 | 南通大学附属医院 | Auxiliary arm for orthopedic surgery robot |
| CN111920519A (en) * | 2020-08-07 | 2020-11-13 | 北京纳通医学科技研究院有限公司 | Surgical instrument device at end of mechanical arm and surgical robot |
| CN111991086A (en) * | 2020-08-20 | 2020-11-27 | 河北工业大学 | Medical minimally invasive surgery robot and control method |
| CN112139641A (en) * | 2019-06-28 | 2020-12-29 | 江苏凯盛信息科技有限公司 | Robot for welding steel plate |
| US20200405405A1 (en) * | 2019-06-27 | 2020-12-31 | Ethicon Llc | Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs |
| CN212763453U (en) * | 2020-08-24 | 2021-03-23 | 西南石油大学 | Telescopic and rotary manipulator device |
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2021
- 2021-06-08 CN CN202110636455.2A patent/CN113491573A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20160361123A1 (en) * | 2014-03-07 | 2016-12-15 | Cambridge Medical Robotics Limited | Surgical arm |
| US20170189126A1 (en) * | 2016-01-06 | 2017-07-06 | Ethicon Endo-Surgery, Llc | Methods, systems, and devices for controlling movement of a robotic surgical system |
| US20200138530A1 (en) * | 2017-05-23 | 2020-05-07 | Medineering Gmbh | Robotic manipulator for guiding an endoscope having a parallel linkage |
| CN108338841A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN208663865U (en) * | 2018-08-21 | 2019-03-29 | 福建中泰德玛智能设备有限公司 | A kind of shoemaking robotic device |
| CN109315473A (en) * | 2018-11-30 | 2019-02-12 | 衢州学院 | A kind of Huang a species of small clam living in fresh water dead sorter living |
| US20200405405A1 (en) * | 2019-06-27 | 2020-12-31 | Ethicon Llc | Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs |
| CN210359746U (en) * | 2019-06-28 | 2020-04-21 | 山东三通重型钢管制造有限公司 | Robot for welding steel plate |
| CN112139641A (en) * | 2019-06-28 | 2020-12-29 | 江苏凯盛信息科技有限公司 | Robot for welding steel plate |
| CN110811678A (en) * | 2019-11-21 | 2020-02-21 | 义乌工商职业技术学院 | Ultrasonic branch of academic or vocational study B ultrasonic testing is with diversified inspection support |
| CN111920523A (en) * | 2020-06-30 | 2020-11-13 | 南通大学附属医院 | Auxiliary arm for orthopedic surgery robot |
| CN111920519A (en) * | 2020-08-07 | 2020-11-13 | 北京纳通医学科技研究院有限公司 | Surgical instrument device at end of mechanical arm and surgical robot |
| CN111991086A (en) * | 2020-08-20 | 2020-11-27 | 河北工业大学 | Medical minimally invasive surgery robot and control method |
| CN212763453U (en) * | 2020-08-24 | 2021-03-23 | 西南石油大学 | Telescopic and rotary manipulator device |
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Application publication date: 20211012 |