CN114191092B - From end delivery device of intervention operation robot - Google Patents
From end delivery device of intervention operation robot Download PDFInfo
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- CN114191092B CN114191092B CN202111329462.4A CN202111329462A CN114191092B CN 114191092 B CN114191092 B CN 114191092B CN 202111329462 A CN202111329462 A CN 202111329462A CN 114191092 B CN114191092 B CN 114191092B
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- extension board
- support plate
- delivery device
- centre gripping
- driving
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- 230000033001 locomotion Effects 0.000 claims abstract description 5
- 238000013152 interventional procedure Methods 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 6
- 238000006073 displacement reaction Methods 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 abstract description 5
- 238000013459 approach Methods 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 230000005855 radiation Effects 0.000 description 3
- 230000002792 vascular Effects 0.000 description 3
- 239000003814 drug Substances 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 201000011066 hemangioma Diseases 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an intervention operation robot is from end delivery device for realize the centre gripping and the delivery of elongated medical equipment, it includes the support frame, installs the fixed extension board on the support frame, first drive assembly, by the first drive assembly drive with fixed extension board relative motion's movable extension board in first direction, install respectively in two centre gripping groups on fixed extension board and movable extension board, with the second drive assembly that one or two sets of centre gripping group are connected, first drive assembly drives movable extension board and is close to or keep away from at first direction fixed extension board, let the centre gripping group that installs in movable extension board and the centre gripping group that installs in fixed extension board cooperate in order to press from both sides tight or loosen elongated medical equipment, the second drive assembly drives the elongated medical equipment that is pressed from both sides and sends or withdraw from along the second direction that is different from first direction. The invention has good transmission effect and strong practicability, meets the operation requirement of doctors, has compact structure and smaller occupied space, greatly assists the operation of interventional operation and has strong popularization significance.
Description
Technical Field
The invention relates to a medical robot field device, in particular to a slave-end delivery device of an interventional operation robot.
Background
The interventional therapy is a minimally invasive therapy by using modern high-tech means, namely, under the guidance of medical imaging equipment, special precise medical instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and treat the in vivo pathological condition locally.
The interventional therapy adopts the digital imaging technology, expands the visual field of doctors, prolongs the hands of the doctors by means of the catheter and the guide wire, and can treat a plurality of diseases which cannot be treated in the past, have surgical treatment or internal medicine treatment but have poor curative effect, such as tumors, hemangiomas, various bleeding and the like, only by the size of rice grains and without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is a development trend of future medicine.
In vascular intervention, a doctor needs to receive X-ray radiation for a long time, and a master-slave vascular intervention robot operated remotely is developed on the engineering. The slave end of the master-slave vascular interventional operation robot can work in a strong radiation environment, and a doctor controls the slave end outside the radiation environment through the master end.
During the advancing, retreating and rotating process of the guide wire (or the guide pipe), the interventional operation robot needs to be driven by a corresponding transmission mechanism, however, the transmission mechanism of the existing interventional operation robot is unreasonable in structural design, poor in transmission effect and incapable of meeting the use requirement.
Disclosure of Invention
Based on this, there is a need to provide an improved interventional surgical robot slave guidewire catheter twisting device that addresses the deficiencies in the prior art.
The utility model provides an intervention operation robot is from end delivery device for realize the centre gripping and the delivery of elongated medical equipment, it includes the support frame, installs the fixed extension board on the support frame, first drive assembly, by the first drive assembly drive with fixed extension board relative motion's movable extension board in first direction, install respectively in two centre gripping groups on fixed extension board and movable extension board, with the second drive assembly that one or two sets of centre gripping group are connected, first drive assembly drives and moves the fixed extension board in first direction and be close to or keep away from, when moving extension board and fixed extension board are close to in first direction, let the centre gripping group that installs in movable extension board and install in the centre gripping group of fixed extension board mutually support in order to press from both sides tight or loosen elongated medical equipment, simultaneously the second drive assembly drives the elongated medical equipment that is pressed from both sides and sends or withdraw from along the second direction that is different from first direction.
Further, the second driving component is arranged on the fixed support plate and transmits power to the clamping group arranged on the fixed support plate.
Further, the second driving component is arranged on the movable support plate and transmits power to the clamping group arranged on the movable support plate.
Further, the number of the second driving components is two, and the two second driving components respectively drive the two clamping groups to deliver or withdraw the slender medical equipment.
Further, the second driving assembly comprises a driving motor, a gear set and a delivery gear, wherein the delivery gear is arranged on the clamping set, and the gear set of the second driving assembly is connected with the second driving motor and the delivery gear.
Further, the first driving assembly comprises an electromagnetic driver, a connecting plate driven by the electromagnetic driver and a limiting rod arranged on the connecting plate, and the limiting rod supports the movable support plate and can enable the movable support plate to slide.
Further, the support frame comprises a bottom plate, a support plate arranged on the bottom plate, a fixed block connected with the support plate and a guide rod slidably arranged on the fixed block, wherein the guide rod supports the fixed support plate and can enable the fixed support plate to slide.
Further, the support frame also comprises a guide block arranged on the bottom plate, a guide pin is convexly arranged at the bottom of the connecting plate of the first driving assembly, the guide pin is inserted on the guide block along the first direction, and the connecting plate of the first driving assembly slides on the bottom plate of the support frame along the first direction through sliding fit of the guide pin and the guide block.
Further, the slave end delivery device of the interventional operation robot further comprises a detection device, the detection device is a grating sensor, the grating sensor comprises a grating ruler and a grating reading head, the grating ruler is arranged on the bottom plate along a first direction, and the grating reading head is arranged on the connecting plate and faces the grating ruler.
Further, the first direction and the second direction are perpendicular to each other.
In summary, the slave end delivery device of the interventional operation robot disclosed by the invention is provided with the first driving component and the second driving component, the first driving component drives one clamping group to approach or separate from the other clamping group to execute the clamping operation of the guide wire catheter, and the second driving component drives the guide wire catheter to execute the delivery operation through the clamping group, so that the transmission effect is good, the practicability is strong, the device is more in line with the operation requirement of doctors, the structure is compact, the occupied space is smaller, the interventional operation robot is greatly helpful to the operation of interventional operation, and the popularization significance is stronger.
Drawings
FIG. 1 is a schematic view of the structure of a slave-end delivery device of an interventional surgical robot according to the present invention;
FIG. 2 is a schematic view of the interventional procedure robot of FIG. 1 with the housing removed from the end delivery device;
FIG. 3 is a schematic view of the interventional procedure robot of FIG. 1 from another perspective after the outer cover has been removed from the end delivery device;
FIG. 4 is a schematic view of the interventional procedure robot of FIG. 2 with portions of the components further removed from the end delivery apparatus;
Fig. 5 is a front view of the slave end delivery device of the interventional procedure robot of fig. 4.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 5, the present invention provides an interventional surgical robot slave delivery device, which is mounted on the interventional surgical robot slave, and pushes an elongated medical device (guide wire or catheter) 100 to perform clamping and delivery operations, the movement of the elongated medical device (guide wire or catheter) 100 being divided into forward delivery into a body of a surgical patient and backward withdrawal from the body of the surgical patient (specifically, a blood vessel within the body). In this embodiment, the interventional procedure robot slave delivery device is fixedly mounted on the interventional procedure robot slave, distal to the interventional procedure robot slave. In other embodiments, the interventional surgical robot slave delivery device is slidably mounted on the interventional surgical robot slave.
The secondary end delivery device of the interventional operation robot comprises a support frame 10, a fixed support plate 20 movably arranged on the support frame 10 in a second direction, a movable support plate 30 moving relative to the fixed support plate 20 in a first direction, two clamping groups 60 respectively arranged on the fixed support plate 20 and the movable support plate 30, a first driving component 40 driving the movable support plate 30 to approach or separate from the fixed support plate 20 along the first direction, and a second driving component 50 arranged on the fixed support plate 20 and connected with the clamping groups 60, wherein when the movable support plate 30 approaches or separates from the fixed support plate 20 in the first direction, the clamping groups 60 arranged on the movable support plate 30 and the clamping groups 60 arranged on the fixed support plate 20 are mutually matched to enable the two clamping groups 60 arranged on the fixed support plate 20 and the movable support plate 30 to clamp or loosen the long medical equipment 100, and the second driving component 50 drives the clamping groups 60 arranged on the fixed support plate 20 and the clamping groups 60 arranged on the movable support plate 30 to synchronously move, so that the clamped long medical equipment 100 is delivered along a second direction different from the first direction, and the first direction is perpendicular to the second direction.
The supporting frame 10 comprises a bottom plate 11, a supporting plate 12 and a guide block 13 which are arranged on the bottom plate 11, two fixing blocks 14 connected to the inner side surface of the supporting plate 12, and a guide rod 15 which is fixedly arranged, wherein the fixed support plate 20 is arranged on the guide rod 15.
The first driving assembly 40 includes a connecting plate 42, and a stop lever 43 mounted on the connecting plate 42, the stop lever 43 is disposed on the moving support plate 30 by penetrating one end of the moving support plate 30 (i.e., the end of the stop lever 43), a guide pin 421 is protruding on the bottom of the connecting plate 42, the guide pin 421 is inserted on the guide block 13 along the first direction, and the connecting plate 42 of the first driving assembly 40 can slide along the first direction on the bottom plate 11 of the support frame 10 through the cooperation of the guide pin 421 and the guide block 13. The first driving assembly 40 further includes an electromagnetic driver 41, where the electromagnetic driver 41 is connected with the connecting plate 42 of the first driving assembly 40 in a direct or indirect manner, and by adjusting the open-close state of the electromagnetic driver 41, the movable support 30 on the first driving assembly 40 is driven to move relatively along the first direction toward or away from the fixed support 20, so that the clamping group 60 mounted on the movable support 30 and the clamping group 60 mounted on the fixed support 20 can clamp or release. In this embodiment, the electromagnetic actuator 41 is mounted on the bottom plate 11 of the support frame 10.
It should be understood that, in the present embodiment, the electromagnetic driver 41 is used to drive the two clamping groups 60 to perform clamping or loosening, and in other embodiments, the first driving assembly 40 may also be used to drive the movable support 30 to slide in a motor manner, for example, the motor drives the rack to slide through a gear, so that the connecting plate 42 for mounting the rack slides synchronously, and drives the connecting plate 42 of the first driving assembly 40 to slide, so as to achieve clamping or loosening of the two clamping groups 70.
The present invention further includes a detection device 70, in this embodiment, the detection device 70 is a grating sensor, the grating sensor includes a grating ruler 72 and a grating reading head 71, the grating ruler 72 is mounted on the bottom plate 11 of the support frame 10 along the first direction, and the grating reading head 71 is mounted on the connecting plate 42 and faces the grating ruler 72. When the first driving unit 40 drives the two clamping groups 30 to clamp the elongated medical device (catheter guide wire) 100, the grating reading head 71 moves synchronously with the connecting plate 42, the displacement of the movement is obtained by the grating sensor, and the measurement result is transmitted to the system controller and converted into the diameter of the elongated medical device (guide wire or catheter) 100.
The second driving assembly 50 is mounted on the fixed support plate 20, the second driving assembly 50 and the clamping groups 60 which are also mounted on the fixed support plate 20 realize power transmission, each clamping group 60 comprises a plurality of rotating shafts 62 which are distributed side by side and rollers 61 which are mounted on each rotating shaft 62, the rotating shafts 62 on the two clamping groups 60 are respectively mounted on the fixed support plate 20 and the movable support plate 30 through bearings, and the rotating shafts 62 can rotate around the axes of the rotating shafts. The second driving assembly 50 comprises a second driving motor 51, a gear set 52 and a delivery gear 53, the delivery gear 53 is arranged on a clamping set 60 on the fixed support plate 20, the second driving motor 51 is arranged on the fixed support plate 20, and the gear set 52 of the second driving assembly 50 is connected with the second driving motor 51 and the delivery gear 53. When the clamping set 60 on the movable support plate 30 and the clamping set 60 on the fixed support plate 20 clamp the elongated medical device 100, the second driving motor 51 of the second driving assembly 50 drives the rotating shaft 62 in power connection with the second driving motor and the roller 61 mounted on the rotating shaft 62 to rotate together, and the roller 61 cooperates with the rotating shaft 62 and the roller 61 on the other clamping set 60 to rotate together in the rotating process, so that the elongated medical device 100 is delivered.
It should be understood that in this embodiment, the second driving assembly 50 is mounted on the fixed support plate 20 and is in power connection with the clamping group 60 mounted on the fixed support plate 20, and in other embodiments, the second driving assembly 50 may be mounted on the movable support plate 30 and is in power connection with the clamping group 60 mounted on the movable support plate 30, however, two sets of second driving assemblies 50 may be used to drive the two clamping groups 60 respectively. In addition, the present invention further includes a housing 80, the housing 80 is matched with the support frame 10 to perform aseptic isolation on the fixed support plate 20, the movable support plate 30, the clamping group 60, the first driving assembly 40, the second driving assembly 50 and the second driving assembly 50, two sides of the housing 80 are respectively provided with a perforation 81 for installing the elongated medical device 100 to pass through, the perforation 81 arranged at two sides of the housing 80 are oppositely arranged along the second direction, and the elongated medical device 100 passing through the perforation 81 at two sides passes through between the two clamping groups 60. For a specific structure of the outer cover 80, see patent names: interventional operation robot slave end driving device with protection and isolation functions, patent application number: 202111018209.7, the entire contents of which are incorporated herein by reference. The housing 80 may include a first housing for receiving the medical consumable and a second housing disposed over the first housing.
In other embodiments, the clamping set 60 mounted on the fixed support plate 20 and the clamping set 60 mounted on the movable support plate 30 can be detachably mounted by manual fastening, so as to be convenient for replacement. In addition, the clamping set 60 or the rollers 61 thereof may be disposable medical consumables.
When the interventional operation robot slave delivery device works, at least the following two modes can be executed on the medical equipment 100 according to the use requirement:
1. In the clamping mode, the first driving assembly 40 drives the two clamping groups 60 to clamp the elongated medical device 100 in the first direction, so as to perform preliminary positioning on the elongated medical device 100;
2. In the grip and delivery mode, the second drive assembly 50 delivers the gripped elongate medical device 100, causing the elongate medical device 100 to perform delivery and withdrawal operations.
In summary, according to the slave end delivery device of the interventional operation robot, the first driving assembly 40 and the second driving assembly 50 are arranged, the first driving assembly 40 drives the clamping group 60 to approach or separate from the other clamping group 60, the clamping operation of the guide wire catheter is performed, and the second driving assembly 50 drives the guide wire catheter to perform the delivery operation through the clamping group 60.
The first direction and the second direction in the present invention are bidirectional. For example, when the first direction is a horizontal direction, it includes both a leftward direction and a rightward direction; when the second direction is the front-rear direction, it includes both the forward direction and the backward direction.
In addition, both the gripping position and the non-gripping position are variable. For example, the diameter of the guide wire tube clamped between the clamping groups 60 is different, the clamping position is changed, and the clamping force is different at any time, and the clamping position is slightly changed.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that variations and modifications can be made by those skilled in the art without departing from the inventive concept, which fall within the scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (9)
1. The utility model provides an intervention operation robot is from end delivery device for realize the centre gripping and the delivery of elongated medical equipment, its characterized in that includes detection device, support frame, install on the support frame decide the extension board, first drive assembly, by the drive of first drive assembly with decide the extension board relative motion's of extension board, install respectively on decide the extension board and move two centre gripping groups on the extension board, with the second drive assembly that one or two sets of centre gripping groups are connected, first drive assembly drive move the extension board in first direction and be close to or keep away from to decide the extension board, when moving the extension board and deciding the extension board and be close to in first direction, let the centre gripping group that installs in moving the extension board and install the centre gripping group mutually support in order to press from both sides tight or loosen elongated medical equipment, simultaneously the second drive assembly drives the elongated medical equipment that is pressed from both sides and sends or withdraw from along the second direction that is different from first direction;
Wherein the support frame comprises a bottom plate; the first driving assembly comprises an electromagnetic driver and a connecting plate driven by the electromagnetic driver; the opening and closing state of the electromagnetic driver is adjusted, and the driving connecting plate drives the movable support plate to move relatively along the first direction towards or away from the fixed support plate;
the detection device is a grating sensor, the grating sensor comprises a grating ruler and a grating reading head, the grating ruler is arranged on the bottom plate along a first direction, the grating reading head is arranged on the connecting plate and faces the grating ruler, so that the displacement of the connecting plate is obtained by the grating sensor, the displacement is transmitted to a system controller, and the displacement is converted into the diameter of the slender medical equipment.
2. The interventional procedure robot slave delivery device of claim 1, wherein: the second driving component is arranged on the fixed support plate and transmits power to the clamping group arranged on the fixed support plate.
3. The interventional procedure robot slave delivery device of claim 1, wherein: the second driving component is arranged on the movable support plate and transmits power to the clamping group arranged on the movable support plate.
4. The interventional procedure robot slave delivery device of claim 1, wherein: the number of the second driving components is two, and the two groups of second driving components respectively drive the two clamping groups to deliver the slender medical equipment.
5. The interventional procedure robot slave delivery device of claim 1, wherein: the second driving assembly comprises a driving motor, a gear set and a delivery gear, the delivery gear is arranged on the clamping set, and the gear set of the second driving assembly is connected with the second driving motor and the delivery gear.
6. The interventional procedure robot slave delivery device of claim 5, wherein: the first driving assembly further comprises a limiting rod arranged on the connecting plate, and the limiting rod supports the movable support plate and can enable the movable support plate to slide.
7. The interventional procedure robot slave delivery device of claim 6, wherein: the support frame is characterized by further comprising a support plate arranged on the bottom plate, a fixed block connected with the support plate and a guide rod slidably arranged on the fixed block, wherein the guide rod supports the fixed support plate and can enable the fixed support plate to slide.
8. The interventional procedure robot slave delivery device of claim 7, wherein: the support frame is characterized in that the support frame further comprises a guide block arranged on the bottom plate, a guide pin is convexly arranged at the bottom of the connecting plate of the first driving assembly, the guide pin is inserted on the guide block along the first direction, and the connecting plate of the first driving assembly slides on the bottom plate of the support frame along the first direction through sliding fit of the guide pin and the guide block.
9. The interventional procedure robot slave delivery device of claim 1, wherein: the first direction and the second direction are mutually perpendicular.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111329462.4A CN114191092B (en) | 2021-11-10 | 2021-11-10 | From end delivery device of intervention operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111329462.4A CN114191092B (en) | 2021-11-10 | 2021-11-10 | From end delivery device of intervention operation robot |
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| Publication Number | Publication Date |
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| CN114191092A CN114191092A (en) | 2022-03-18 |
| CN114191092B true CN114191092B (en) | 2024-06-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111329462.4A Active CN114191092B (en) | 2021-11-10 | 2021-11-10 | From end delivery device of intervention operation robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114191101A (en) * | 2021-11-10 | 2022-03-18 | 深圳市爱博医疗机器人有限公司 | Multifunctional slave end driving device of interventional operation robot |
| 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 |
| CN115137492A (en) * | 2022-09-05 | 2022-10-04 | 深圳市爱博医疗机器人有限公司 | Driving device, interventional operation robot, driving method and storage medium |
| CN116846257B (en) * | 2023-09-01 | 2024-02-23 | 深圳爱博合创医疗机器人有限公司 | Method, apparatus and storage medium for driving an elongated instrument |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107307909A (en) * | 2017-07-06 | 2017-11-03 | 北京理工大学 | One kind intervention robot remote operating system and its control method |
| CN107374739A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot is from end device and its control method |
| CN111529065A (en) * | 2020-05-09 | 2020-08-14 | 中国科学院自动化研究所 | Vascular intervention instrument control device |
| CN213821701U (en) * | 2020-10-29 | 2021-07-30 | 北京唯迈医疗设备有限公司 | Intervene operation robot seal wire clamp force controlling means |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103157170B (en) * | 2013-02-25 | 2014-12-03 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device based on two-point clamping |
| ES2856865T3 (en) * | 2016-03-09 | 2021-09-28 | Memic Innovative Surgery Ltd | Modular surgical device comprising mechanical arms |
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2021
- 2021-11-10 CN CN202111329462.4A patent/CN114191092B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107307909A (en) * | 2017-07-06 | 2017-11-03 | 北京理工大学 | One kind intervention robot remote operating system and its control method |
| CN107374739A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot is from end device and its control method |
| CN111529065A (en) * | 2020-05-09 | 2020-08-14 | 中国科学院自动化研究所 | Vascular intervention instrument control device |
| CN213821701U (en) * | 2020-10-29 | 2021-07-30 | 北京唯迈医疗设备有限公司 | Intervene operation robot seal wire clamp force controlling means |
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| CN114191092A (en) | 2022-03-18 |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
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