CN1238166C - Micro mechanical arm for micro surgery - Google Patents
Micro mechanical arm for micro surgery Download PDFInfo
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- CN1238166C CN1238166C CN 03100038 CN03100038A CN1238166C CN 1238166 C CN1238166 C CN 1238166C CN 03100038 CN03100038 CN 03100038 CN 03100038 A CN03100038 A CN 03100038A CN 1238166 C CN1238166 C CN 1238166C
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Abstract
The present invention discloses a micro mechanical arm for micro surgery, which comprises a body, a finger tip instrument mechanism, an instrument disassembling and replacing mechanism, an instrument rotary mechanism, an instrument opening and closing mechanism and an instrument spacing mechanism, wherein the instrument spacing mechanism comprises a spacing screw arranged on the body and a stopper arranged on a flange. The tail end of the body is connected with a step-by-step motor in the instrument rotary mechanism by a flange connection component, the instrument spacing mechanism is connected with the instrument rotary mechanism by the spacing screw and the stopper, and the front end of the body is connected with the instrument disassembling and replacing mechanism by a bearing part. The instrument disassembling and replacing mechanism is connected with the finger tip instrument mechanism by a steel ball drawing gear structure, and the instrument rotary mechanism is connected with the instrument opening and closing mechanism by a dual spring and a screw thread pair structure. Thereby, the rotary motion of the step-by-step motor in the instrument rotary mechanism is converted to the rectilinear motion of the threaded rod in the instrument opening and closing mechanism. The instrument opening and closing mechanism is connected with the finger tip instrument by pin connection to make the finger tip instrument opened and closed.
Description
Technical field
The present invention relates to a kind of Medical Devices, relate in particular to the parts of used Medical Devices in a kind of microsurgery.
Background technology
At present, external existing micro mechanical band for microsurgery mainly is to adopt Piezoelectric Driving and memory alloy driven mode.The open distance of finger of the mechanical arm of employing Piezoelectric Driving mode is less, and the chucking power that produces is also less, and when producing relatively large chucking power in use as if requirement, then the volume and weight of this manipulator will be very big; Adopt the reaction speed of memory alloy driven mechanical arm slower, and chucking power and range of movement also are difficult to control.Up to now, the domestic manipulator that only is applied in the industry also is not used in the mechanical arm in the microsurgery.
Summary of the invention
At deficiency of the prior art, technical problem to be solved by this invention has provided a kind of micro mechanical band for microsurgery, be by adopting two micro computer stepper motors to drive the closed and rotation of mechanical arm finger, use piezo-electric crystal as the power sensor simultaneously, thereby can accurately control the chucking power of mechanical arm, satisfy the requirement of mechanical arm at aspects such as size, weight, speed, range of movement and chucking powers.
In order to solve the problems of the technologies described above, the technical scheme of a kind of micro mechanical band for microsurgery of the present invention is that it comprises body, finger end device mechanism, device unloading replacement mechanism, apparatus rotating mechanism, device opening and closing mechanism and apparatus position-limit mechanism; Described body adopts tube-in-tube structure; Described finger end device mechanism comprises finger tip parts and stay pipe; One end of described finger end device mechanism is arranged in the hole of described body barrel forward end; Described device unloading replacement mechanism adopts steel ball dop structure, it comprises a plurality of steel balls, operation ring, drive sleeve and spring, the drive sleeve front end is provided with a plurality of holes in the described device unloading replacement mechanism, the diameter in described a plurality of holes and the diameter of described steel ball coincide, and described a plurality of steel balls are separately positioned in described a plurality of hole; Described apparatus rotating mechanism comprises stepper motor, flange, adapter sleeve, drive sleeve; Described device opening and closing mechanism comprises and is arranged on intrinsic stepper motor, actuating sleeve, barrel nuts, screw rod, dual spring, drive pin, piezo-electric crystal and pin; Described apparatus position-limit mechanism comprises stop screw that is arranged on the body and the block that is arranged on the above-mentioned flange; The tail end of described body relies on the flange attaching parts to be connected with stepper motor in the described apparatus rotating mechanism, described apparatus position-limit mechanism relies on stop screw to be connected with the apparatus rotating mechanism with block, and the front end of described body relies on parts of bearings to be connected with described device unloading replacement mechanism; Described device unloading replacement mechanism relies on steel ball dop structure to be connected with finger end device mechanism; Described device opening and closing mechanism relies on helicitic texture to be connected with described finger tip apparatus, rotatablely moving of stepper motor is converted to the rectilinear motion of described screw rod in the device opening and closing mechanism thereby make, described device opening and closing mechanism relies on the pin connection to be connected with the finger tip apparatus, finishes the folding of finger tip apparatus.
In a kind of micro mechanical band for microsurgery of the present invention, the drive sleeve front end is provided with three equally distributed holes in the described device unloading replacement mechanism, stay pipe afterbody in the described finger end device mechanism is provided with groove, described steel ball is arranged in the described groove, described operation ring has following two kinds of location status: described operation ring is sealed steel ball from the end face of described drive sleeve, because described steel ball is to the restriction of groove on the described stay pipe, described stay pipe can not be moved, thereby secure the above finger end device mechanism; Or promote described operation ring and compress described spring and move described steel ball is deviate from, this moment, described stay pipe was no longer restricted, detachable described finger end device mechanism.In described apparatus position-limit mechanism, described flange is provided with a link stopper, is connected with screw between described flange and the described link stopper, and described body is provided with a long spiro nail, the rotation under the stepper motor of apparatus rotating mechanism drives of described flange drives described block and together rotates.Described finger tip parts are scissors member or operating forceps or sew up device.Described stepper motor adopts 1524 series, and its drive circuit adopts and the supporting driver of described stepper motor.Described drive circuit adopts AD-VL-M or AD-VM-M or AD-CM-M.Piezo-electric crystal in the described device opening and closing mechanism and dual spring structure dynamometry scope are 0～100g, and its certainty of measurement is 100 ± 5%g.
A kind of micro mechanical band for microsurgery of the present invention compared with prior art has following beneficial effect:
1. because a kind of micro mechanical band for microsurgery of the present invention has adopted two stepper motor structures, thereby the finger tip of mechanical arm also can be rotated in 300 ° of scopes in the clamping operating theater instruments neatly, and the clamping, rotation and the unlatching that realize operating theater instruments.
2. power sensor described in a kind of micro mechanical band for microsurgery of the present invention all adopts piezo crystals muscle power sensor, can detect the size of operation chucking power, and regulate in real time; Owing to adopt the dual spring structure, can guarantee the fine adjustment of chucking power in the described device opening and closing mechanism; Dynamometry scope in a kind of micro mechanical band for microsurgery of the present invention is 0～100g, and its certainty of measurement is 100 ± 5%g
3. adopt steel ball dop structure described in a kind of micro mechanical band for microsurgery of the present invention in the device unloading replacement mechanism, can guarantee the quick replacing of operating theater instruments.
Description of drawings
Fig. 1 is the structure cutaway view of a kind of micro mechanical band for microsurgery of the present invention;
Fig. 1 (a) and Fig. 1 (b) are the partial enlarged drawings of finger end device mechanism among the present invention;
Fig. 1 (c) and Fig. 1 (d) are the partial enlarged drawings of device unloading replacement mechanism and device opening and closing mechanism among the present invention;
Fig. 1 (e) is the partial enlarged drawing of apparatus rotating mechanism and apparatus position-limit mechanism among the present invention;
Fig. 2 and Fig. 3 are a kind of micro mechanical band for microsurgery user mode of the present invention figure.
Be the explanation of main Reference numeral in the Figure of description of the present invention below:
1---left jamming claw 2---right jamming claw 3,4---pin 5---driving seat
6,11,67--- spring 9,61,62---back-up ring 12---screw rod 13,25---stay pipes
14---end multiple level marketing 16 and---operate and encircle 18---circle nut 19---sealing shroud
20---thrust bearing 21---gland 22--- barrel nuts 23,24---pins
26---actuating sleeve 27,33---straight end-face key 28---spacer shell 29---drive sleeve
30---body 31---adapter sleeve 32---spiro caudal pin 34---blocks
35,36--- flange 46,48,49,50,54,55,56---screw
44,53---stepper motor 57---iron wire 60,64---bearings
65---O type ring 66,69---piezo-electric crystal 68---steel balls
The specific embodiment
Below in conjunction with the drawings and specific embodiments a kind of micro mechanical band for microsurgery of the present invention is done to describe in further detail.
As shown in Figure 1, a kind of micro mechanical band for microsurgery of the present invention comprises body 30, finger end device mechanism, device unloading replacement mechanism, apparatus rotating mechanism, device opening and closing mechanism and apparatus position-limit mechanism; Described body 30 adopts tube-in-tube structure; Described finger end device mechanism comprises finger tip parts and stay pipe 13; One end of described finger end device mechanism is arranged in the hole of described body 30 barrel forward end; Described device unloading replacement mechanism adopts steel ball dop structure, it comprises a plurality of steel balls 68, operation ring 16, drive sleeve 29 and spring 67, drive sleeve 29 front ends are provided with a plurality of holes in the described device unloading replacement mechanism, the diameter of the diameter in described a plurality of holes and described steel ball 68 coincide, and described a plurality of steel balls 68 are separately positioned in described a plurality of hole; Described apparatus rotating mechanism comprises stepper motor 44, flange 35, adapter sleeve 31, drive sleeve 29, described stepper motor 44 is connected with flange 35 by screw 48, described flange 35 is connected with adapter sleeve 31 by straight end-face key 33, described adapter sleeve 31 is connected with drive sleeve 29 by the square groove of its end face, described device opening and closing mechanism comprises the stepper motor 53 that is arranged in the body 30, actuating sleeve 26, barrel nuts 22, screw rod 12, dual spring 11 and 6, drive seat 5, piezo-electric crystal 66 and pin 4, described stepper motor 53 is connected with actuating sleeve 26 with iron wire 57 by screw 55, described actuating sleeve relies on pin 23 to be connected with barrel nuts 22 with 24, and described barrel nuts 22 is threaded with screw rod 12; Described apparatus position-limit mechanism comprises stop screw 50 that is arranged on the body 30 and the block 34 that is arranged on the above-mentioned flange 35, the tail end of described body 30 relies on flange 36 attaching parts to be connected with stepper motor 44 in the described apparatus rotating mechanism, described apparatus position-limit mechanism relies on stop screw 50 to be connected with the apparatus rotating mechanism with block 34, the front end of described body 30 relies on the shaft shoulder and the parts of bearings in the body apertures to be connected with drive sleeve 29 in the described device unloading replacement mechanism, and described parts of bearings comprises the bearing 64 that is distributed in stay pipe 25 both sides, O type ring 65, gland 21 sealing shrouds 19 and circle nut 18 etc.; Described device unloading replacement mechanism relies on steel ball dop structure to be connected with finger end device mechanism; Described apparatus rotating mechanism relies on drive disk assembly to be connected with described apparatus, and described drive disk assembly comprises adapter sleeve 31, drive sleeve 29, ends multiple level marketing 14, stay pipe 13 and pin 3; Described device opening and closing mechanism relies on helicitic texture to be connected with described finger tip apparatus, and rotatablely moving of stepper motor is converted to the rectilinear motion of described screw rod 12 in the device opening and closing mechanism thereby make; Support component between the actuating sleeve 26 in the described apparatus rotating mechanism in drive sleeve 29 and the described device opening and closing mechanism comprises spacer shell 28, screw 55, bearing 60 and back-up ring 61 and 62; Described screw 54 and iron wire 57 be stepper motor 53 fixedly, and described device opening and closing mechanism relies on the pin connection to be connected with the finger tip apparatus, finishes the folding of finger tip apparatus, and described finger tip apparatus comprises claw 1 and 2, drive pin etc.
Be that operating forceps is the structure that embodiment further specifies a kind of micro mechanical band for microsurgery of the present invention with the finger tip parts now.Shown in Fig. 1, Fig. 1 (a) and Fig. 1 (b), left jamming claw 1 and right jamming claw 2 lump together by pin 3 and are riveted on the stay pipe 13, a straight pin are housed as drive pin 4 simultaneously in the groove of two claws 1 and 2, and described drive pin links to each other with driving seat 5.Drive the head that screw rod 12 is arranged in the seat 5, drive seat 5 pressing springs 6, the another side of spring 6 is pressed on the piezo-electric crystal 69, and then by back-up ring 9 power is passed to and to drive seat 5, spring 11 then provides an opposite power driving on the seat 5, and the official post of two power on spring 6 and the spring 11 drives seat 5 and can horizontally slip in stay pipe 13.Shown in Fig. 1 (c), screw rod 12 and barrel nuts 22 connect together by screw thread pair, cartridge type nut 22 supports from the left side by thrust bearing 20, thrust bearing 20 can pass to power piezo-electric crystal 66 again, the right-hand member of cartridge type nut 22 has inserted a drive pin 23, and described drive pin 23 is connected by straight pin 24 with cartridge type nut 22.In stay pipe 13 some insertion actuating sleeve 29, three steel balls 68 are operated in the groove that ring 16 is enclosed in the hole of actuating sleeve 29 and stay pipe 13, with of the motion of restriction stay pipe 13 with respect to actuating sleeve 29, when push operation ring 16 is to the right deviate from steel ball, then finger tip apparatuses such as stay pipe 13 and cartridge type nut 22, drive pin 23 can be unloaded, change other apparatus then apace,, can realize the quick change of finger tip apparatus like this as scissors etc.The turret head that Fig. 1 (d) illustrates drive pin 23 is contained in 12 jiaos of holes of actuating sleeve 26, and actuating sleeve 26 is stirred rotation by the spindle nose upper surface key 27 that is contained in stepper motor 53, needs two bearings 60 to support so actuating sleeve 26 will rotate.Two bearings 60 is contained in 28 li of spacer shells, and spacer shell 28 cooperates with drive sleeve 29 again, and is fixing by trip bolt 56.Stepper motor 53 cooperates with drive sleeve 29, and is fixing by trip bolt 54.The left end of drive sleeve 29 has two grooves and stirs and be fixed on stay pipe 13 and end multiple level marketings 14, drives stay pipe 13 rotations, the tooth engagement of the teeth groove of right-hand member and adapter sleeve 31, realization transmission.Shown in Fig. 1 (c), the outer surface of drive sleeve 29 cooperates with two bearings 64, and two bearings 64 is contained in the hole of body 30, by the circle spiral shell emit 18, sealing shroud 19, gland 21, O type ring 65 and stay pipe 25 realize fixing and sealing.Fig. 1 (e) illustrates adapter sleeve 31 and stirs rotation by being contained in the straight end-face key 33 that drives on the flange 35.Drive flange 35 and be contained in by trip bolt 48 on the spindle nose of stepper motor 44, stepper motor 44 rotations drive its rotation, act on mutually at the screw 50 that drives on a block 34 being housed and being contained in body 30 on the flange 35, and the angle of restriction finger tip rotation is no more than 360 degree.Stepper motor 44 is fitted together to be contained in by screw 46 with counter flange 36 again realizes the fixing of stepper motor 44 on the body 30.
The following describes the process of the action realization of a kind of micro mechanical band for microsurgery of the present invention.
The main finger tip parts of action of a kind of micro mechanical band for microsurgery of the present invention itself around the folding of the rotation of self axis and operating theater instruments to meet in the operation requirement to the finger tip apparatus.
Mechanical arm finger tip parts are to be driven by trip bolt 48 by stepper motor 44 to drive flange 35 around the rotation of self axis, driving has the straight end-face key of being fixed by spiro caudal pin 32 33 along with flange 35 motions on the flange 35, thereby drive adapter sleeve 31, adapter sleeve 31 drives drive sleeve 29 by square tooth, drive sleeve 29 is stirred the spline pin 14 that is fixed on the stay pipe 13 again and is driven stay pipe 13 motions, and the bearing pin 3 that passes on the shift fork that the front end of stay pipe 13 stretches out drives two fingers again and realizes rotation.
In addition, the folding of finger tip apparatus is driven by stepper motor 53, stepper motor 53 drives straight end-face key 26 by trip bolt 55, straight end-face key 26 is stirred actuating sleeve 25, actuating sleeve 25 drives a turret head drive pin 22 by its bihexagonal endoporus, turret head drive pin 22 drives 22 rotations of cartridge type nut by straight pin 23, cartridge type nut 22 is fitted together with screw rod 12, rotatablely moving of nut 22 becomes the rectilinear motion of screw rod 12 by screw thread, screw rod 12 rectilinear motions make spring 6 and spring 11 elongations or compression, two springs 6 and 11 elastic force difference promote to drive seat 5, straight pin 4 is housed on the seat 5 promotes operating forcepses two finger claws 1 and 2 and realize opening with closed of finger tips around straight pin 3 rotations thereby drive.When screw rod 12 was in the limit on the right-right-hand limit position, two claws 1 and 2 can be opened greatest limit, are about 2.5mm, and in addition, the maximum opening angle of finger tip parts claw can reach 20 °.Stepper motor 53 rotations are moved to the left screw rod 12, and spring 11 stretches spring force gradually and also reduces gradually, and claw 1 and 2 is closed gradually.When the power of spring 11 is reduced to claw 1 and 2 closures when equating with the power of spring 6, this moment, the clamping force at claw 1 and 2 places was zero.Screw rod 12 continues to be moved to the left, and spring 13 no longer extends, and spring 6 begins to stretch, and the clamping force at claw place increases gradually.When extreme position that screw rod moves to left, spring 6 reaches the longest, and this moment, the clamping force at claw 1 and 2 places increased to maximum.Thereby realized the adjustable of claw clamping force, the claw maximum clamping force can be realized by the parameter that designs two springs simultaneously, thereby can obtain bigger clamping force.
The operation principle of each appropriate authority in a kind of micro mechanical band for microsurgery of the present invention or relevant parts is described respectively below:
At first, piezo-electric crystal 69 realizes regulating in real time the operation chucking power among the present invention, promptly detect and the operation principle of adjustment and opening angle etc.: piezo-electric crystal 69 is when being subjected to spring 6 applied pressures, the surface produces electric charge, detect magnitude of voltage by charge amplifying circuit, by with calibration value, promptly the power that piezo-electric crystal 69 applies known dimensions is detected voltage, power that obtains applying and the relation between the output voltage are by relatively calculating the chucking power that can draw finger tip this moment.The scope of piezo-electric crystal and dual spring structure dynamometry is 0-100g, and precision can reach 100 ± 5%g.
The structure and the preferred size of steel ball dop parts in the described device unloading replacement mechanism are arranged again.Shown in Fig. 1 (c), the front end of drive sleeve 29 get out three equally distributed, and the hole that diameter and steel ball 68 are consistent, but the hole can not be bored, accomplish that steel ball 68 can expose in the groove that a part snaps into stay pipe 13 afterbodys, but steel ball 68 is placed on wherein and can not drop, like this when steel ball 68 being sealed with operation ring 16, because the restriction of 68 pairs of grooves of steel ball can not be moved stay pipe 13.In the time will changing operating theater instruments, promotion operation ring 16 compression springs 67 move to steel ball 68 and deviate from, this moment, stay pipe 13 was no longer restricted, thereby can pull out original apparatus mechanism easily, change new operating theater instruments and decontrol operation ring 16 again and seal steel ball 68, so just can finish the quick replacing of operating theater instruments as required.
In addition, the angle of described restriction finger tip apparatus rotation is no more than 360 degree.Shown in Fig. 1 (e), driving on the flange 35 with block 34 of screw 49 installations, a long spiro nail 50 is installed on body 30, when driving flange 35 rotates under the driving of stepper motor 44, block 34 will be run into screw 50, the rotation that drives flange 35 so just can not surpass 360 degree, thereby the angle of restriction finger tip rotation is no more than 360 degree.
In a kind of micro mechanical band for microsurgery of the present invention, adopt the bi-motor structure to realize the rotation of finger tip and the folding of operating theater instruments; Certainly, also do not get rid of only to cooperate with a motor and utilize clutch to make a motor finish the function of above-mentioned rotation and opening and closing movement, promptly clutch is fashionable, and the motor-driven finger tip rotates; When clutch leaves, the folding of motor-driven operating theater instruments.In addition, the motor-driven in the described device opening and closing mechanism is to utilize screw thread pair to make the screw rod rectilinear motion, does not adopt the direct drive rod of electromagnet to move but also do not get rid of.Also have piezoeletric quartz sensor to detect power, also can utilize foil gauge.
As shown in Figures 2 and 3, a kind of micro mechanical band for microsurgery of the present invention is mainly used in the end of master-slave mode microsurgery robot, carries out work such as vascular suture in microsurgery; Fig. 2 shows the duty of the finger tip parts 70 clamping vascular walls in a kind of micro mechanical band for microsurgery of the present invention; Fig. 3 shows the duty that the finger tip parts 70 clip suture pins in a kind of micro mechanical band for microsurgery of the present invention are sewed up.
Two stepper motors that adopted among the present invention can adopt the product of Switzerland ARSAPE company, and model is 1524 series, and drive circuit adopts and the supporting driver of described stepper motor, and available model is respectively AD-VL-M, AD-VM-M, AD-CM-M.
Although in conjunction with the accompanying drawings the preferred embodiments of the present invention are described above; but the present invention is not limited to the above-mentioned specific embodiment; the above-mentioned specific embodiment only is schematic; rather than it is restrictive; those of ordinary skill in the art is under the enlightenment of this reality invention; not breaking away under the scope situation that aim of the present invention and claim protect, can also make a lot of forms, these all belong within the protection of the present invention.
Claims (7)
1. a micro mechanical band for microsurgery is characterized in that, comprises body, finger end device mechanism, device unloading replacement mechanism, apparatus rotating mechanism, device opening and closing mechanism and apparatus position-limit mechanism;
Described body adopts tube-in-tube structure; Described finger end device mechanism comprises finger tip parts and stay pipe; One end of described finger end device mechanism is arranged in the hole of described body barrel forward end; Described device unloading replacement mechanism adopts steel ball dop structure, it comprises a plurality of steel balls, operation ring, drive sleeve and spring, the drive sleeve front end is provided with a plurality of holes in the described device unloading replacement mechanism, the diameter in described a plurality of holes and the diameter of described steel ball coincide, and described a plurality of steel balls are separately positioned in described a plurality of hole; Described apparatus rotating mechanism comprises stepper motor, flange, adapter sleeve, drive sleeve; Described device opening and closing mechanism comprises and is arranged on intrinsic stepper motor, actuating sleeve, barrel nuts, screw rod, dual spring, drive pin, piezo-electric crystal and pin; Described apparatus position-limit mechanism comprises stop screw that is arranged on the body and the block that is arranged on the above-mentioned flange;
The tail end of described body relies on the flange attaching parts to be connected with stepper motor in the described apparatus rotating mechanism, described apparatus position-limit mechanism relies on stop screw to be connected with the apparatus rotating mechanism with block, and the front end of described body relies on parts of bearings to be connected with described device unloading replacement mechanism; Described device unloading replacement mechanism relies on steel ball dop structure to be connected with finger end device mechanism; Described device opening and closing mechanism relies on the rib-loop structure to be connected with described finger tip apparatus, rotatablely moving of stepper motor is converted to the rectilinear motion of described screw rod in the device opening and closing mechanism thereby make, described device opening and closing mechanism relies on the pin connection to be connected with the finger tip apparatus, finishes the folding of finger tip apparatus.
2. a kind of micro mechanical band for microsurgery according to claim 1, it is characterized in that, a plurality of steel balls in the described device unloading replacement mechanism are three steel balls that diameter is identical, described drive sleeve front end is provided with three equally distributed holes, stay pipe afterbody in the described finger end device mechanism is provided with groove, described steel ball is arranged in the described groove, and described operation ring has following two kinds of location status:
Described operation ring is sealed steel ball from the end face of described drive sleeve, because described steel ball can not move described stay pipe, thereby secures the above finger end device mechanism the restriction of groove on the described stay pipe; Or
Promote described operation ring and compress described spring and move described steel ball is deviate from, this moment, described stay pipe was no longer restricted, detachable described finger end device mechanism.
3. a kind of micro mechanical band for microsurgery according to claim 1, it is characterized in that, in described apparatus position-limit mechanism, described flange is provided with a link stopper, be connected with screw between described flange and the described link stopper, a long spiro nail is set on described body, and the rotation under the stepper motor of apparatus rotating mechanism drives of described flange drives described block and together rotates.
4. a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that, described finger tip parts are scissors member or operating forceps or sew up device.
5. a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that described stepper motor adopts 1524 series, and its drive circuit adopts the driver with described electric drilling match.
6. a kind of micro mechanical band for microsurgery according to claim 5 is characterized in that, described drive circuit adopts AD-VL-M or AD-VM-M or AD-CM-M.
7. a kind of micro mechanical band for microsurgery according to claim 1 is characterized in that, piezo-electric crystal in the described device opening and closing mechanism and dual spring structure dynamometry scope are 0～100g, and its certainty of measurement is 100 ± 5%g.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03100038 CN1238166C (en) | 2003-01-07 | 2003-01-07 | Micro mechanical arm for micro surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 03100038 CN1238166C (en) | 2003-01-07 | 2003-01-07 | Micro mechanical arm for micro surgery |
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| CN1438097A CN1438097A (en) | 2003-08-27 |
| CN1238166C true CN1238166C (en) | 2006-01-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 03100038 Expired - Fee Related CN1238166C (en) | 2003-01-07 | 2003-01-07 | Micro mechanical arm for micro surgery |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1299883C (en) * | 2004-12-03 | 2007-02-14 | 天津大学 | Micro mechanical band for microsurgery |
| CN100398270C (en) * | 2006-06-08 | 2008-07-02 | 浙江大学 | Microtrauma operation cavity creating manipulator with four freedoms |
| US9901412B2 (en) | 2011-04-29 | 2018-02-27 | Vanderbilt University | Dexterous surgical manipulator and method of use |
| CN102320042B (en) * | 2011-09-09 | 2014-01-08 | 北京工业大学 | Nested automatic reciprocating mechanical gripper |
| US10149694B2 (en) | 2013-09-13 | 2018-12-11 | Vanderbilt University | Energy balance mechanism for flexure joint |
| CN105919670A (en) * | 2016-07-11 | 2016-09-07 | 哈尔滨理工大学 | Minimally-invasive surgery assistant robot |
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2003
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