CN203468740U - Auxiliary manipulator system for flexible ureteroscope operation - Google Patents
Auxiliary manipulator system for flexible ureteroscope operation Download PDFInfo
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- CN203468740U CN203468740U CN201320482031.6U CN201320482031U CN203468740U CN 203468740 U CN203468740 U CN 203468740U CN 201320482031 U CN201320482031 U CN 201320482031U CN 203468740 U CN203468740 U CN 203468740U
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Abstract
The utility model discloses an auxiliary manipulator system for a flexible ureteroscope operation. The auxiliary manipulator system comprises a manipulator, a central controller, an actuating controller and control operation table, wherein the manipulator is used for enabling a flexible ureteroscope to conduct five-dimensional movement, the central controller is used for collecting and processing control signals of an operation rod and a touch screen and transmitting the control signals to a central controller of the actuating controller through a communication module, the actuating controller is used for receiving the control signals and driving a corresponding motor to achieve the five-dimensional movement, the control operation table is used for mounting the operation rod and a touch display screen and controlling an auxiliary device, the actuating controller is respectively connected with the manipulator and the control operation table through cables, and the control operation table is arranged outside an operation room. The auxiliary manipulator system for the flexible ureteroscope operation solves the problems in the prior art that radiation to doctors is large, the flexible ureteroscope is inaccurate in locating and the hands of the doctors shake during the operation, and has advantages of being simple in structure, low in manufacturing cost, stable in locating, good in effect and the like. The radiation to the doctors is small, and the flexible ureteroscope is accurate and achieves the five-dimensional movement.
Description
Technical field
This utility model relates to medical device technology, is the auxiliary arm-and-hand system of soft lens operation specifically.
Background technology
Along with soft lens technological progress, the operation of ureter soft lens becomes the main operation of intracavity Urology Surgery gradually, compare with traditional ureterscopy, ureter soft lens has the bendable mirror body of high suppleness, bending freely, dexterous convenient, can enter into urinary bladder channel ureteric orifice to the through renal pelvis of ureter and each renal calices from human body natural's passage urethra.Owing to having perfusion and service aisle, ureter soft lens can be processed kidney aggregation system various diseases, as calculus, and tumor.Not only comparatively safe, and therapeutic effect is remarkable, with respect to underwent percutaneous renal-scope treatment method, have safer, damage little, recover the advantage such as fast.In the tumor of renal pelvis of diagnosing and treatment is difficult to make a definite diagnosis, renal calculus, proximal ureteral calculus, there is the advantage that other equipment are incomparable and replace.Specific as follows:
1) check non-blind area: this is also the most outstanding advantage of soft lens.Because mirror body is soft, and mirror body head end can upwards be bent downwardly very wide-angle, accomplishes not fail to pinpoint a disease in diagnosis, and can see the blind area that hard mirror be can't see.
2) damage little: due to mirror body soft (similar to catheter), caliber thin (< 6Fr), under anesthesia, direct-view is gently inserted and substantially can not caused damage to urethra, bladder, ureter etc.With respect to hard mirror, soft lens is more easily accepted by patient.
3) visual field is relatively clear: soft lens damage is little, can reduce to greatest extent damaging hematuria to the impact of observing, thereby guarantees to get a clear view.In addition, soft lens belongs to electronic digital imaging, has high image resolution ratio, can the more early stage and small pathological changes of clear discovery, and disease is effectively treated in early days, improved patient's curative effect.Soft lens can also reach computer by digitized image by image capturing system, and even online realizes synchronous remote medical consultation with specialists.
4) to position require low: patient can check in calculi position, dorsal position and lateral position, is particularly suitable for putting the patient (as lower limb malformation, serious arthritis and hemiplegic patient etc.) of calculi position and internal organs clinostatism.
5) can check urethra, bladder simultaneously, ureter, renal pelvis and the whole urinary tract system of each renal calices: and hard mirror is to accomplish.
But when doing the operation of ureter soft lens, for safety is entered mirror, find renal calices mouth, when particularly row kidney stone is performed the operation, need to rely on X-ray to irradiate location, it is larger that surgical doctor is subject to radiation amount, for this reason, how to reduce the radiation that doctor is subject to, realize soft lens accurately, stable position, avoid that doctor's prolonged operations is tired and to cause hand tremor moving be instant problem.
In recent years, many in medical robot and mechanical hand utility model and application both at home and abroad, comparative maturity have Leonardo da Vinci (DaVinci) system, Zeus system, Aesop (AESOP) 3000 medical surgery operating robots etc.
Leonardo da Vinci (DaVinci) system is mainly by doctor's control station (Surgeon Console); The other mechanical arm tower (Patient Cart) of bed and a high-precision 3D HD visual system (Vision Cart) that four mutual arms of 7 degree of freedom are housed forms.By means of high technology equipments such as high definition three-dimensional imaging, the control of multi-joint arm automatization and the transmission of optical cable signal, make it possess the advantages such as three-dimensional high definition visual area, arm non-jitter, camera lens are fixed, range of activity is wide, apparatus degree of excursion is large, and changed patient and stood in the other traditional mode operating of operating-table, before being sitting in control station by operator doctor, complete whole process of operation, meet base of principle of human engineering, be more suitable in long-time complicated operation.This system is widely used in department of general surgery, Urology Surgery, gynecological laparoscopic operation.
ZEUS robotic surgical system is made by Computer Motion company, in Europe, can use, ZEUS system and Leonardesque device are similar, and it has a computer workstation, video display units, joystick (for the surgical unit of installing on mobile operating-table).ZEUS system is only approved for medical treatment test in the U.S. at present, and German doctor has been used this system to carry out coronary heart disease bypass surgery.
Aesop (AESOP) 3000 robot systems are by Computer Motion company in issue in 1994, and AESOP is that the First that FDA approval is used can be for the robot of operating room assisting operation.AESOP is more simply too much than Leonardo da Vinci system and ZEUS system, and AESOP is a mechanical arm substantially, for doctor, locates endoscope---the surgery photographing unit in a kind of patient body of insertion.Pedal or sound software is for doctor's position cameras, and this proceeds operation with regard to allowing doctor's hands be available.AESOP provides several endoscopies control form, comprises that voice are controlled, manually location and manually control.
In prior art, there is following technical problem:
(1), existing mechanical hand is generally used for rigid apparatus and controls, and controlling flexible instrument, as soft lens aspect exists certain limitation;
(2), the motion mode of existing machinery hands and method of clamping easily cause the damage of flexible instrument;
(3), existing mechanical hand cannot be realized accurately multi-faceted controlling of flexible instrument;
(4) if, operation manual operation, doctor's hands has shake;
(5), general strict differentiation is manually controlled and automatically controls in existing control system, in a cover system, general employing manually controlled or automatically controlled, and both do not organically combined;
(6), existing control system cannot control each degree of freedom of flexible instrument flexibly as the motion of bending etc., precision is also inadequate;
(7), existing control system cannot realize multidimensional and is synchronized with the movement.
Utility model content
The purpose of this utility model is to overcome the deficiency that above prior art exists, provide that a kind of simple in structure, low cost, doctor are subject to that radiation is little, soft lens accurately, stable position, soft lens realize the auxiliary arm-and-hand system of soft lens operation that five maintenance and operations are moving and result of use is good.
In order to achieve the above object, this utility model by the following technical solutions: the auxiliary arm-and-hand system of soft lens operation, comprises for making the moving mechanical hand of soft lens five maintenance and operations;
For collecting and process the control signal of action bars and touch display screen, and by communication module, control signal is transferred to the central controller of implementation controller;
Be used for reception control signal and drive corresponding motor to realize the moving implementation controller of five maintenance and operations;
Control operation platform for fitting operation bar, touch display screen and control auxiliary facilities; Wherein, implementation controller connects respectively mechanical hand and control operation platform by cable, and control operation platform is placed in out operating-room.
Described mechanical hand comprise base, vertically upper and lower mechanical arm, level left and right mechanical arm, elastic mechanical arm, soft lens clamper, tie up drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors up and down, wherein, vertically upper and lower mechanical arm is provided with the first leading screw and the first feed screw nut, the first feed screw nut is connected with the first slide block, tie up up and down drive motors and drive the first leading screw rotation, drive the first slide block to slide, in the mechanical arm of level left and right, be provided with the second leading screw and the second feed screw nut, the second feed screw nut is connected with the second slide block, left and right dimension drive motors drives the second leading screw to drive the second slide block to slide, the first slide block of vertically upper and lower mechanical arm is connected with the second slide block of level left and right mechanical arm, elastic mechanical arm is provided with the 3rd leading screw and the 3rd feed screw nut, the 3rd feed screw nut is connected with the 3rd slide block, front and back dimension drive motors drives the 3rd leading screw to drive the 3rd slide block to slide, the 3rd slide block of elastic mechanical arm is connected with vertically upper and lower mechanical arm one end, the affixed rotating shaft dimension of elastic mechanical arm one end surfaces drive motors, rotating shaft dimension drive motors and soft lens slewing equipment one end are rotationally connected, the soft lens slewing equipment other end connects soft lens clamper, soft lens clamper is connected with soft lens driver plate dimension drive motors, tie up up and down drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors are connected with controller respectively.
Described soft lens slewing equipment is " L " shape turning cylinder; Described drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and the soft lens driver plate dimension drive motors tieed up is up and down motor or servomotor.
Described soft lens clamper comprises soft lens clamper body, soft lens clamping movable block, soft lens driver plate fixed card, the first adjustment screw and the second adjustment screw; Wherein, soft lens driver plate dimension drive motors passes soft lens clamper body and is fixed on soft lens clamper body, axle and the soft lens driver plate fixed card of soft lens driver plate dimension drive motors are rotationally connected, and soft lens clamping movable block is provided with the first adjustment screw, and soft lens driver plate fixed card is provided with the second adjustment screw.
Described base is travelling carriage, travelling carriage inside is provided with some installation positions, on travelling carriage side plate, offer cable through hole, travelling carriage bottom is provided with 1 above brake block caster, travelling carriage bottom is equipped with jack device or height-adjustable fixed feet, in operation process, castor is risen, guarantee that travelling carriage fixes.
Described controller comprise for realize various input modes input and be converted into the signal of telecommunication and show the central controller of relevant information, for the communication module of various signal transmission passages and signal conversion is provided, for realizing the implementation controller module of multidimensional Synchronous motion control; Wherein, central controller, communication module and implementation controller module signal connection successively.
Described central controller comprises main control module, action bars input module, touch screen input module, display module and a CAN module; Wherein, main control module is connected gather information with action bars input module, touch screen input module, display module and a CAN module respectively, and a CAN module is connected with communication module; Described communication module comprises first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, the one CAN module output signal is given a CAN transceiving chip, the one CAN transceiving chip outputs signal to secondary signal isolation module, secondary signal isolation module flows to implementation controller module signal, implementation controller module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to first signal isolation module, first signal isolation module outputs signal to a CAN module, the one CAN module is to main control module signal, main control module is to display module signal, and display module shows result; Described implementation controller module comprises multi-dimensional movement control module, auxiliary facilities interface, some servo-drivers, the 2nd CAN module and some rotating speed displacement detecting sensors; Wherein, multi-dimensional movement control module is connected with auxiliary facilities interface, some servo-drivers and the 2nd CAN module respectively, the 2nd CAN module is connected with secondary signal isolation module, 1 servo drive motor of the corresponding connection of each servo-driver, the rear axle place of each servo drive motor is provided with 1 rotating speed displacement detecting sensor.
Dimension driver before and after described servo-driver comprises, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down; Wherein, the driver of each dimension is connected respectively the drive motors of each dimension, and each servo drive motor and servo-driver form closed-loop control system; Described action bars input module comprises the first action bars, the first lever position sensor, the second action bars, the second lever position sensor; Wherein, the first lever position sensor is located in the first action bars, and the second lever position sensor is located in the second action bars; The first action bars has 5 directions, is respectively front, rear, left and right and rotation, former and later two directions respectively corresponding dimension up and down upwards, downwards; Left and right both direction respectively corresponding left and right dimension left, to the right; When turning clockwise, medical apparatus and instruments also turns clockwise, and while being rotated counterclockwise, medical apparatus and instruments is also rotated counterclockwise; The second action bars has 3 directions, is respectively forward and backward and rotation, former and later two direction correspondences before and after dimension forward, backward, rotation is corresponding driver plate dimension, is controlling the flexibility of medical apparatus and instruments; Described touch screen input module comprises touch screen, start button, stop button, the straight button of auto back are set on touch screen, recover status button, record data button before Hui Zhi, recover data button, parameter arranges button and peripheral unit control button.
Described control operation platform comprises control operation playscript with stage directions body and some auxiliary facilities interfaces; Wherein, the first action bars, the second action bars, some auxiliary facilities interfaces and touch screen input module are set on control operation playscript with stage directions body; Auxiliary facilities interface comprises the excitation apparatus interface of holmium laser, the flow velocity of bath and hydraulic devices interface, X-ray exposing device interface, high-pressure contrast injector interface.
A control method for the auxiliary arm-and-hand system of soft lens operation, comprises the following steps:
(1), first soft lens is delivered to the place that needs operation;
(2), the handle of soft lens is placed and is fixed on soft lens clamper as requested by manual type;
(3), by X-ray exposing device, high-pressure contrast injector with display observe soft lens periphery;
(4), according to actual needs, by controlling action bars input module and the touch screen input module of central controller, input, display module shows corresponding operation, main control module is collected also and processes the signal of action bars input module, the input of touch screen input module, and passes to communication module by a CAN module;
(5), a CAN transceiving chip of communication module receives the signal of telecommunication that a CAN module passes over, a CAN transceiving chip outputs signal to secondary signal isolation module, secondary signal isolation module flows to implementation controller module signal;
(6), the 2nd CAN module passes to multi-dimensional movement control module after receiving signal, multi-dimensional movement control module is tieed up driver before and after controlling respectively according to signal content, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver drive respectively corresponding drive motors motion, realize multidimensional operation, the rotating speed displacement detecting sensor at the rear axle place of each drive motors, operation displacement for detection of each drive motors, auxiliary facilities interface connects auxiliary facilities,
(7), multi-dimensional movement control module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to first signal isolation module, first signal isolation module outputs signal to a CAN module, the one CAN module is to main control module signal, main control module is to display module signal, and display module shows result;
(8), when mechanical hand need to be done while vertically moving up and down, controller is controlled and is tieed up up and down drive motors, tie up up and down drive motors and drive the first leading screw rotation on vertically upper and lower mechanical arm, the first leading screw drives the first slide block to slide, and the motion of the first slide block is made vertically soft lens clamper to move up and down;
(9), when mechanical hand need to be done horizontal side-to-side movement, controller is controlled left and right dimension drive motors, left and right dimension drive motors drives the second leading screw rotation on the mechanical arm of level left and right, and the second leading screw drives the second slide block to slide, and the motion of the second slide block makes soft lens clamper do horizontal side-to-side movement;
(10), when mechanical hand need to be done elastic motion, controller is tieed up drive motors before and after controlling, front and back dimension drive motors drives the 3rd leading screw rotation on elastic mechanical arm, and the 3rd leading screw drives the 3rd slide block to slide, and the motion of the 3rd slide block makes soft lens clamper do elastic motion;
(11), when mechanical hand need to be done rotating shaft campaign, controller is controlled rotating shaft dimension drive motors, rotating shaft dimension drive motors drives the rotation of soft lens slewing equipment, thereby makes soft lens clamper do rotating shaft campaign;
(12), when mechanical hand, need to do driver plate when motion, controller is controlled soft lens driver plate dimension drive motors, and soft lens driver plate dimension drive motors drives the rotation of soft lens driver plate fixed card, thereby makes soft lens clamper do driver plate motion.
Described step (6) first regulates speed ring and the electric current loop of each servomotor and forms internal ring, then adjust position ring, form position, speed double closed loop system, because servo controller itself can carry out by the data of rotating speed displacement detecting sensor three ring closed-loop adjustment of speed and electric current, simultaneously, the monitoring information of rotating speed displacement detecting sensor also will feed back to implementation controller module, convert feedack to positional information, be transferred to main control module; Described front and back dimension driver, tie up dimension servomotor before and after driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver correspondence up and down, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down, at each servomotor, connect 1 reduction box, gear ratio is 1: n, if servomotor turns an angle W, the slide rail displacement of medical apparatus and instruments mechanical arm is L, it is N that rotating speed displacement detecting sensor returns to umber of pulse, and displacement is: Displacement=(360/nW) * N*L.
This utility model, with respect to prior art, has following advantage and effect:
1, this utility model adopted comprise for make the moving mechanical hand of soft lens five maintenance and operations, for collect and process the control signal of action bars and touch screen and drive corresponding motor realize the moving controller of five maintenance and operations, for giving controller mechanical action and controlling the control operation platform of auxiliary facilities, have that simple in structure, low cost, doctor are subject to that radiation is little, soft lens accurately, stable position, soft lens realize the features such as the moving and result of use of five maintenance and operations is good.
2, this utility model can pass through soft lens slewing equipment, soft lens driver plate fixed card, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors, realizes the control in the wrong of soft lens front and back, to tackle complicated surgery situation.
4, the drive motors of dimension up and down in this utility model, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors, first set each motor position corner accuracy, then by the continuous small control of each motor of signal controlling.
5, this utility model replaces doctor's artificial hand operation, and mechanical hand stability is high, prevents shake, avoids dangerous, has improved successful surgery probability.
6, this utility model, by controlling each electric machine rotation, moves thereby realize five maintenance and operations, and flexibly, without operation dead angle, result of use is good in motion.
7, this utility model can according to signal content, control respectively by multi-dimensional movement control module before and after dimension driver, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down, driver drives respective drive motor, drive motors as required correspondence arranges reduction box, thereby realize flexible motion, to tackle complicated surgery situation.
8, the front and back in this utility model dimensions drive motors, tie up drive motors, left and right dimension drive motors, rotating shaft dimension drive motors and driver plate dimension drive motors up and down, first set each drive motors position corner accuracy, then by the continuous small control of each drive motors of signal controlling.
9, the first action bars in this utility model has 5 directions, and the second action bars has 3 directions, and status button before the straight button of auto back being set on touch screen and recovering Hui Zhi, can as required, realize exercises.
10, this utility model is provided with action bars input module and touch screen input module, more has position sense when action bars input pattern operates doctor, realizes flexibly various exceedingly difficult movements; As need are as straight or while recovering before Hui Zhi state in needed auto back, adopt touch screen input pattern, these two kinds of control modes can be used in conjunction with, and convenient use, improves accuracy rate.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the auxiliary arm-and-hand system of soft lens operation;
Fig. 2 is the overall structure schematic diagram of mechanical hand in this utility model;
Fig. 3 is vertically upper and lower mechanical arm, level left and right mechanical arm, elastic mechanical arm place structural representation in this utility model;
Fig. 4 is the syndeton schematic diagram of elastic mechanical arm and soft lens clamper in this utility model;
Fig. 5 is the syndeton schematic diagram of soft lens clamper and soft lens in this utility model;
Fig. 6 is the structural representation of soft lens clamper in this utility model;
Fig. 7 is this utility model middle controller structured flowchart;
Fig. 8 is the FB(flow block) of this utility model middle controller;
Fig. 9 is master system closed loop control algorithm schematic diagram in this utility model.
Number in the figure and title are as follows:
| 1 | |
2 | Vertically upper and lower mechanical arm |
| 3 | Level left and right |
4 | Elastic |
| 5 | |
6 | Tie up up and down |
| 7 | Left and right |
8 | Front and back |
| 9 | Rotating shaft dimension drive |
10 | Soft lens driver plate dimension drive motors |
| 11 | The first |
12 | The first |
| 13 | The |
14 | The second |
| 15 | The second feed screw nut | 16 | The |
| 17 | The 3rd |
18 | The 3rd |
| 19 | The |
20 | Soft |
| 21 | Soft |
22 | Soft lens clamping |
| 23 | Soft lens driver plate fixed |
24 | First adjusts |
| 25 | Second adjusts |
26 | |
| 27 | |
28 | |
| 29 | |
30 | |
| 31 | |
32 | Control operation platform |
The specific embodiment
For ease of it will be appreciated by those skilled in the art that the utility model is described in further detail below in conjunction with drawings and Examples.
Embodiment 1:
As shown in Fig. 1～9, the auxiliary arm-and-hand system of soft lens operation, comprises for making the moving mechanical hand of soft lens five maintenance and operations; For the signal of the signal of action bars and touch screen is converted into the signal of telecommunication, then by communication module, control signal is transferred to the central controller of implementation controller; Be used for reception control signal and drive corresponding motor to realize the moving implementation controller of five maintenance and operations; Control operation platform for fitting operation bar, touch display screen and control auxiliary facilities; Wherein, implementation controller connects respectively mechanical hand and control operation platform by cable, and control operation platform is placed in out operating-room.
As shown in Fig. 1～6, the mechanical hand in the present embodiment comprise base 1, vertically upper and lower mechanical arm 2, level left and right mechanical arm 3, elastic mechanical arm 4, soft lens clamper 5, tie up drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 up and down, wherein, as shown in Figure 2, vertically upper and lower mechanical arm 2 is provided with the first leading screw 11 and the first feed screw nut 12, the first feed screw nut 12 is connected with the first slide block 13, tie up up and down drive motors 6 and drive the first leading screw 11 rotations, drive the first slide block 13 to slide, in level left and right mechanical arm 3, be provided with the second leading screw 14 and the second feed screw nut 15, the second feed screw nut 15 is connected with the second slide block 16, left and right dimension drive motors 7 drives the second leading screw 14 to drive the second slide block 16 to slide, the first slide block 13 is connected with the second slide block 16, elastic mechanical arm 4 is provided with the 3rd leading screw 17 and the 3rd feed screw nut 18, the 3rd feed screw nut 18 is connected with the 3rd slide block 19, front and back dimension drive motors 8 drives the 3rd leading screws 17 to drive the 3rd slide blocks 18 to slide, the 3rd slide block 18 is connected with vertically upper and lower mechanical arm 2 one end, the affixed rotating shaft dimension of elastic mechanical arm 4 one end surfaces drive motors 9, rotating shaft dimension drive motors 9 is rotationally connected with soft lens slewing equipment 20 one end, soft lens slewing equipment 20 other ends connect soft lens clamper 5, soft lens clamper 5 is connected with soft lens driver plate dimension drive motors 10, tie up up and down drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 are connected with controller respectively, vertically upper and lower mechanical arm 2, level left and right mechanical arm 3, elastic mechanical arm 4 can any connected mode form rectangular coordinate system motion.
Soft lens slewing equipment 20 in the present embodiment is " L " shape turning cylinder, tie up up and down drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 and be motor, controller is the control operation platform of tape input equipment.
As shown in Figure 5,6, soft lens clamper 5 comprises soft lens clamper body 21, soft lens clamping movable block 22, soft lens driver plate fixed card 23, the first adjustment screw 24 and the second adjustment screw 25; Wherein, soft lens driver plate dimension drive motors 10 passes soft lens clamper body 5 and is fixed on soft lens clamper body 5, axle and the soft lens driver plate fixed card 23 of soft lens driver plate dimension drive motors 10 are rotationally connected, soft lens clamping movable block 22 is provided with the first adjustment screw 24, and soft lens driver plate fixed card 23 is provided with the second adjustment screw 25.
As shown in Fig. 7～9, controller comprise for realize various input modes input and be converted into the signal of telecommunication and show the central controller 1 of relevant information, for the communication module 2 of various signal transmission passages and signal conversion is provided, for realizing the implementation controller module 3 of multidimensional Synchronous motion control; Wherein, central controller 1, communication module 2 and implementation controller module 3 signal connection successively.
Display module is the status information for each dimension that demonstrates input message and feed back of image.Mechanical outlet terminal at every one dimension is equipped with high accuracy rotating speed displacement detecting sensor, and this sensing, for the implementation status of the servo control system of the every one dimension of verification, is guaranteed actuator safety, stable, accurate, reliable.We have installed rotating speed displacement detecting sensor to detect speed and the position of drive motors on the drive motors of every one dimension.Tieing up up and down, dimension before and after the peacekeeping of left and right, we first set the position corner accuracy of each drive motors, by check, show that drive motors turns an angle W, the slide rail displacement of mechanical arm is L, then by rotating speed displacement detecting sensor is returned to umber of pulse N, count, a pulse represents that motor makes a circle, and can calculate displacement and be:
Displacement＝(360/W)*N*L
And in rotating shaft peacekeeping driver plate dimension, we only need to detect an angle value that drive motors rotates just by rotating speed displacement detecting sensor.Dimension, ties up before and after the peacekeeping of left and right up and down, and three dimensions have formed a three dimensions.By detecting the positional information of these three dimensions, can clearly know the space bit (x of soft lens, y, and rotating shaft peacekeeping driver plate dimension is by displacement or the detected angle position w1 of angle detection detecting sensor, w2 z),, it is the more concrete location to the locus of soft lens, so locus coordinate (x, y, the z of soft lens, w1, w2).
But considered precision problem here, because the action of each dimension of soft lens in human body all requires very slow, very accurate, and movement range is also very little, be generally several millimeters, if displacement is several millimeters, it is very little that the angle that drive motors rotates also can become, measurement is accurate not like this, and error can be larger.Therefore, we have added a gear reduction box on drive motors, gear ratio is 1: n, can play the effect of a deceleration to motor, reached action requirement slowly, gear ratio is 1 simultaneously: n is that drive motors turns an angle W before not adding in other words, and the slide rail displacement of mechanical arm is L; After adding gear reduction box, the slide rail displacement of mechanical arm is L, and the angle of electric machine rotation becomes nW so, and the displacement calculating becomes:
Displacement＝(360/nW)*N*L
And rotating shaft peacekeeping driver plate dimension is also the same, not adding before gear reduction box is that the angle that drive motors rotates is exactly angle w1, the w2 that soft lens rotates, and adds drive motors rotates after gear reduction box angle w1 ', w2 ', be the n of soft lens rotational angle doubly:
w1＝nw1’
w2＝nw2’
These data are transferred to main control module after the processing of actuating station controller, and main control module shows these data by display screen, the executing state of seeing current drive motors that user just can be real-time.Can allow and control doctor and find sooner the sense of mechanical position, realize flexibly various exceedingly difficult movements, and reduce and control doctor's working strength.
Communication module in the present embodiment comprises first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, the one CAN module output signal is given a CAN transceiving chip, the one CAN transceiving chip outputs signal to secondary signal isolation module, secondary signal isolation module flows to implementation controller module signal, implementation controller module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to first signal isolation module, first signal isolation module outputs signal to a CAN module, the one CAN module is to main control module signal, main control module is to display module signal, and display module shows result.Signal isolation module principal security signal, power supply, between definitely independent, avoid interference.
Implementation controller module in the present embodiment comprises multi-dimensional movement control module, auxiliary facilities interface, some servo-drivers, the 2nd CAN module and some rotating speed displacement detecting sensors; Wherein, multi-dimensional movement control module is connected with auxiliary facilities interface, some servo-drivers and the 2nd CAN module respectively, the 2nd CAN module is connected with secondary signal isolation module, 1 drive motors of the corresponding connection of each servo-driver, the rear axle place of each drive motors is provided with 1 rotating speed displacement detecting sensor.Actuating station controller receives the driving signal of each dimension that main control module transmits, thereby control servo-driver, drives drive motors to move accordingly.The action situation of rotating speed displacement detecting sensor monitoring driving motor, and real-time servo controller and actuating station controller that monitoring information is fed back to.
As shown in Figure 9, in figure, V is the rotating speed of input, and x is symbol relatively, the equal structure as shown in Figure 3 of the algorithm of dimension, left and right dimension, rotating shaft dimension and driver plate dimension up and down, and just driver is not identical with motor.
Dimension driver before and after servo-driver in the present embodiment comprises, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down, before and after dimension driver, up and down tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver be connected respectively before and after dimension drive motors, tie up drive motors, left and right dimension drive motors, rotating shaft dimension drive motors and driver plate dimension drive motors, each drive motors and servo-driver formation closed-loop control system up and down.
Action bars input module in the present embodiment comprises the first action bars, the first lever position sensor, the second action bars, the second lever position sensor; Wherein, the first lever position sensor is located in the first action bars, and the second lever position sensor is located in the second action bars; The first action bars has 5 directions, is respectively front, rear, left and right and rotation, former and later two directions respectively corresponding dimension up and down upwards, downwards; Left and right both direction respectively corresponding left and right dimension left, to the right; Rotation corresponding the rotation of rotating shaft dimension, when turning clockwise, medical apparatus and instruments also turns clockwise, while being rotated counterclockwise, medical apparatus and instruments is also rotated counterclockwise; The second action bars has 3 directions, is respectively forward and backward and rotation, former and later two direction correspondences before and after dimension forward, backward, rotation is corresponding driver plate dimension, is controlling the bending of medical apparatus and instruments.The signal of action bars detects by installation site sensor in action bars, when manipulation operations bar, obtain the signal of position sensor, sensor acquisition is to these signals and this signal is sent to master controller, master controller will be transferred to actuating station controller by CAN signal after the processing of signal, and actuating station controller receives signal and immediately drives the action of servo-control system drive motors.
Touch screen input module in the present embodiment comprises touch screen, start button, stop button, the straight button of auto back are set on touch screen, recover status button, record data button before Hui Zhi, recover data button, parameter arranges button and peripheral unit control button.When touch screen presses the button, main control module obtains data, and the data that different buttons is corresponding are different, and when when touch screen presses the button, main control module obtains data, and the data that different buttons is corresponding are different.Once main control module has been read data, judge these data corresponding be respectively the data of which button, then data real-time be transferred to actuating station controller, actuating station controller receives data and drives the corresponding servo controller of tieing up to drive servomotor action at once, realizes the synchronicity of input signal and servomotor.The wherein straight button of auto back and reduction load button, be provided with that auto back is straight, locus memory function.While clicking " auto back is straight " button, control end is preserved current spatial position data automatically, medical apparatus and instruments is got back to straightened condition automatically, in the time of need getting back to the locus of originally recording, click " recovering the front status button of Hui Zhi " button, mechanical hand automatic control is controlled medical apparatus and instruments and is got back on the control position of original memory.The method can better be controlled medical apparatus and instruments (as soft lens) and realize flexibly exercises, accelerates the driving efficiency of mechanical hand.
A CAN module and the 2nd CAN module in the present embodiment are CAN bus or serial communication.
A control method for the auxiliary arm-and-hand system of soft lens operation, comprises the following steps:
(1), first soft lens 27 is delivered to the place that needs operation;
(2), the handle of soft lens 27 is placed and is fixed on soft lens clamper 5 as requested by manual type;
(3), by X-ray exposing device, high-pressure contrast injector with display observe soft lens periphery;
(4), according to actual needs, central controller is operated, by manipulation operation bar input module and touch screen input module, input, display module shows corresponding operation, main control module is collected and is processed the signal of action bars input module, the input of touch screen input module, and passes to communication module by a CAN module;
(5), a CAN transceiving chip of communication module receives the signal of telecommunication that a CAN module passes over, a CAN transceiving chip outputs signal to secondary signal isolation module, secondary signal isolation module flows to implementation controller module signal;
(6), the 2nd CAN module passes to multi-dimensional movement control module after receiving signal, multi-dimensional movement control module is tieed up driver before and after controlling respectively according to signal content, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver, front and back dimension driver, tie up up and down driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver drive respectively corresponding drive motors motion, realize multidimensional operation, the rotating speed displacement detecting sensor at the rear axle place of each drive motors, operation displacement for detection of each drive motors, auxiliary facilities interface connects auxiliary facilities,
(7), multi-dimensional movement control module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to first signal isolation module, first signal isolation module outputs signal to a CAN module, the one CAN module is to main control module signal, main control module is to display module signal, and display module shows result;
(8), when mechanical hand need to be done while vertically moving up and down, controller is controlled and is tieed up up and down drive motors 6, tie up up and down drive motors 6 and drive the first leading screw 11 rotations on vertically upper and lower mechanical arm 2, the first leading screw 11 drives the first slide blocks 13 to slide, and the motion of the first slide block 13 is made vertically soft lens clamper 5 to move up and down;
(9), when mechanical hand need to be done horizontal side-to-side movement, controller is controlled left and right dimension drive motors 7, left and right dimension drive motors 7 drives the second leading screw 14 rotations on level left and right mechanical arm 3, the second leading screw 14 drives the second slide block 16 to slide, and the motion of the second slide block 16 makes soft lens clamper 5 do horizontal side-to-side movement;
(10), when mechanical hand need to be done elastic motion, controller is tieed up drive motors 8 before and after controlling, front and back dimension drive motors 8 drives the 3rd leading screw 17 rotations on elastic mechanical arm 4, the 3rd leading screw 17 drives the 3rd slide block 19 to slide, and the motion of the 3rd slide block 19 makes soft lens clamper 5 do elastic motion;
(11), when mechanical hand need to be done rotating shaft campaign, controller is controlled rotating shaft dimension drive motors 9, rotating shaft dimension drive motors 9 drives 20 rotations of soft lens slewing equipments, thereby makes soft lens clamper 5 do rotating shaft campaign;
(12), when mechanical hand, need to do driver plate when motion, controller is controlled soft lens driver plate dimension drive motors 10, and soft lens driver plate dimension drive motors 10 drives 23 rotations of soft lens driver plate fixed cards, thereby makes soft lens clamper 5 do driver plate motion.
Described step (6) first regulates speed ring and the electric current loop of each servomotor and forms internal ring, then adjust position ring, form position, speed double closed loop system, because servo controller itself can carry out by the data of rotating speed displacement detecting sensor three ring closed-loop adjustment of speed and electric current, simultaneously, the monitoring information of rotating speed displacement detecting sensor also will feed back to implementation controller module, convert feedack to positional information, be transferred to main control module; Described front and back dimension driver, tie up dimension servomotor before and after driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver correspondence up and down, tie up servomotor, left and right dimension servomotor, rotating shaft dimension servomotor and driver plate dimension servomotor up and down, at each servomotor, connect 1 reduction box, gear ratio is 1: n, if servomotor turns an angle W, the slide rail displacement of medical apparatus and instruments mechanical arm is L, it is N that rotating speed displacement detecting sensor returns to umber of pulse, and displacement is: Displacement=(360/nW) * N*L.
When carry out simultaneously described step (11) and (12), soft lens clamper 5 drives soft lens 27 to do soft lens front and back and bends motion.
Above-mentioned control method can be used in the middle of the scientific research prosthese of operation or non-medical object, and the concrete control method of the present embodiment acts on prosthese.During concrete practical application, can proceed as follows:
First by soft lens 27, by ureter, guide urethra, the ureter that sheath enters prosthese, and send into renal pelvis, then soft lens handle is placed and is fixed on soft lens clamper 5 by manual type as requested.At the upper demonstration of touch screen (thering is demonstration image function) soft lens, enter the whole process of kidney aggregation system, comprise renal pelvis, upper small cup, middle small cup, inferior calyx, and kidney aggregation system is observed; By the corresponding function button of clicking on control operation platform touch screen, open the excitation device transmitting holmium laser of controlling holmium laser; In operation, by control operation platform, open the flow velocity of priming petock and hydraulic pressure control equipment priming petock to increase the definition in the visual field; When entering kidney aggregation system, open control X-ray exposure device and carry out X-ray irradiation to determine the position of soft lens 27; In operation, by touch screen, check at any time kidney aggregation system, carry out X-ray irradiation to determine the physical location of soft lens simultaneously.According to soft lens surgical protocols, the operating grip on operation control operation platform, or the upper corresponding function button of point touching screen, upper and lower, all around motion of the arm of operating machine, the rotation of mechanical hand and gyration.Meanwhile, according to practical situation, can control the brake block caster 26 of travelling carriage, carry out brake hard, and then control upper and lower, all around, rotation and the gyration of soft lens 27, adjust soft lens 27 positions and state.
The present embodiment and embodiment 1 difference are: tie up up and down drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 and be servomotor, travelling carriage bottom is equipped with height adjustable fixed feet.During concrete operations, first by soft lens, by ureter, guide urethra, the ureter that sheath enters prosthese, and send into renal pelvis, then soft lens handle is placed and is fixed on soft lens clamper by manual type as requested.At the upper demonstration of touch screen (thering is demonstration image function) soft lens, enter the whole process of kidney aggregation system, comprise renal pelvis, upper small cup, middle small cup, inferior calyx, and kidney aggregation system is observed; By the corresponding function button of clicking on control operation platform touch screen, open the excitation device transmitting holmium laser of controlling holmium laser; In operation, by control operation platform, open the flow velocity of priming petock and hydraulic pressure control equipment priming petock to increase the definition in the visual field; When entering kidney aggregation system, open control X-ray exposure device and carry out X-ray irradiation to determine the position of soft lens; By control operation platform, open control high-pressure contrast equipment and carry out radiography; In operation, by touch screen, check at any time kidney aggregation system, carry out X-ray irradiation to determine the physical location of soft lens simultaneously.According to soft lens surgical protocols, operating grip on operation control operation platform, or the upper corresponding function button of point touching screen, upper and lower, all around motion of the arm of operating machine, the rotation of mechanical hand and gyration, simultaneously, according to practical situation, can control the brake block caster of travelling carriage, carry out brake hard, and then control upper and lower, all around, rotation and the gyration of soft lens 27, adjust soft lens 27 positions and state.
The above-mentioned specific embodiment is preferred embodiment of the present utility model; can not limit this utility model; other any change that does not deviate from the technical solution of the utility model and make or other equivalent substitute mode, within being included in protection domain of the present utility model.
Claims (9)
1. the auxiliary arm-and-hand system of soft lens operation, is characterized in that: comprise for making the moving mechanical hand of soft lens five maintenance and operations;
For collecting and process the control signal of action bars and touch display screen, and by communication module, control signal is transferred to the central controller of implementation controller;
Be used for reception control signal and drive corresponding motor to realize the moving implementation controller of five maintenance and operations;
Control operation platform for fitting operation bar, touch display screen and control auxiliary facilities; Wherein, implementation controller connects respectively mechanical hand and control operation platform by cable, and control operation platform is placed in out operating-room.
2. the auxiliary arm-and-hand system of soft lens according to claim 1 operation, is characterized in that: described mechanical hand comprises base, vertically upper and lower mechanical arm, level left and right mechanical arm, elastic mechanical arm, soft lens clamper, ties up drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors up and down, wherein, vertically upper and lower mechanical arm is provided with the first leading screw and the first feed screw nut, the first feed screw nut is connected with the first slide block, tie up up and down drive motors and drive the first leading screw rotation, drive the first slide block to slide, in the mechanical arm of level left and right, be provided with the second leading screw and the second feed screw nut, the second feed screw nut is connected with the second slide block, left and right dimension drive motors drives the second leading screw to drive the second slide block to slide, the first slide block of vertically upper and lower mechanical arm is connected with the second slide block of level left and right mechanical arm, elastic mechanical arm is provided with the 3rd leading screw and the 3rd feed screw nut, the 3rd feed screw nut is connected with the 3rd slide block, front and back dimension drive motors drives the 3rd leading screw to drive the 3rd slide block to slide, the 3rd slide block of elastic mechanical arm is connected with vertically upper and lower mechanical arm one end, the affixed rotating shaft dimension of elastic mechanical arm one end surfaces drive motors, rotating shaft dimension drive motors and soft lens slewing equipment one end are rotationally connected, the soft lens slewing equipment other end connects soft lens clamper, soft lens clamper is connected with soft lens driver plate dimension drive motors, tie up up and down drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors are connected with controller respectively.
3. the auxiliary arm-and-hand system of soft lens operation according to claim 2, is characterized in that: described soft lens slewing equipment is " L " shape turning cylinder; Described drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and the soft lens driver plate dimension drive motors tieed up is up and down motor or servomotor.
4. the auxiliary arm-and-hand system of soft lens operation according to claim 2, is characterized in that: described soft lens clamper comprises soft lens clamper body, soft lens clamping movable block, soft lens driver plate fixed card, the first adjustment screw and the second adjustment screw; Wherein, soft lens driver plate dimension drive motors passes soft lens clamper body and is fixed on soft lens clamper body, axle and the soft lens driver plate fixed card of soft lens driver plate dimension drive motors are rotationally connected, and soft lens clamping movable block is provided with the first adjustment screw, and soft lens driver plate fixed card is provided with the second adjustment screw.
5. arm-and-hand system is assisted in soft lens operation according to claim 2, it is characterized in that: described base is travelling carriage, travelling carriage inside is provided with some installation positions, on travelling carriage side plate, offer cable through hole, travelling carriage bottom is provided with 1 above brake block caster, travelling carriage bottom is equipped with jack device or height-adjustable fixed feet, in operation process, castor is risen, and guarantees that travelling carriage fixes.
6. the auxiliary arm-and-hand system of soft lens according to claim 1 operation, is characterized in that: described controller comprise for realize various input modes input and is converted into the signal of telecommunication and show the central controller of relevant information, for the communication module that provides various signal transmission passages and signal to change, for realizing the implementation controller module of multidimensional Synchronous motion control; Wherein, central controller, communication module and implementation controller module signal connection successively.
7. the auxiliary arm-and-hand system of soft lens operation according to claim 6, is characterized in that: described central controller comprises main control module, action bars input module, touch screen input module, display module and a CAN module; Wherein, main control module is connected gather information with action bars input module, touch screen input module, display module and a CAN module respectively, and a CAN module is connected with communication module; Described communication module comprises first signal isolation module, a CAN transceiving chip, the 2nd CAN transceiving chip and secondary signal isolation module; Wherein, the one CAN module output signal is given a CAN transceiving chip, the one CAN transceiving chip outputs signal to secondary signal isolation module, secondary signal isolation module flows to implementation controller module signal, implementation controller module feeds back signal to the 2nd CAN transceiving chip, the 2nd CAN transceiving chip outputs signal to first signal isolation module, first signal isolation module outputs signal to a CAN module, the one CAN module is to main control module signal, main control module is to display module signal, and display module shows result; Described implementation controller module comprises multi-dimensional movement control module, auxiliary facilities interface, some servo-drivers, the 2nd CAN module and some rotating speed displacement detecting sensors; Wherein, multi-dimensional movement control module is connected with auxiliary facilities interface, some servo-drivers and the 2nd CAN module respectively, the 2nd CAN module is connected with secondary signal isolation module, 1 servo drive motor of the corresponding connection of each servo-driver, the rear axle place of each servo drive motor is provided with 1 rotating speed displacement detecting sensor.
8. the auxiliary arm-and-hand system of soft lens according to claim 7 operation, is characterized in that: dimension driver before and after described servo-driver comprises, tie up driver, left and right dimension driver, rotating shaft dimension driver and driver plate dimension driver up and down; Wherein, the driver of each dimension is connected respectively the drive motors of each dimension, and each servo drive motor and servo-driver form closed-loop control system; Described action bars input module comprises the first action bars, the first lever position sensor, the second action bars, the second lever position sensor; Wherein, the first lever position sensor is located in the first action bars, and the second lever position sensor is located in the second action bars; The first action bars has 5 directions, is respectively front, rear, left and right and rotation, former and later two directions respectively corresponding dimension up and down upwards, downwards; Left and right both direction respectively corresponding left and right dimension left, to the right; When turning clockwise, medical apparatus and instruments also turns clockwise, and while being rotated counterclockwise, medical apparatus and instruments is also rotated counterclockwise; The second action bars has 3 directions, is respectively forward and backward and rotation, former and later two direction correspondences before and after dimension forward, backward, rotation is corresponding driver plate dimension, is controlling the flexibility of medical apparatus and instruments; Described touch screen input module comprises touch screen, start button, stop button, the straight button of auto back are set on touch screen, recover status button, record data button before Hui Zhi, recover data button, parameter arranges button and peripheral unit control button.
9. the auxiliary arm-and-hand system of soft lens operation according to claim 1, is characterized in that: described control operation platform comprises control operation playscript with stage directions body and some auxiliary facilities interfaces; Wherein, the first action bars, the second action bars, some auxiliary facilities interfaces and touch screen input module are set on control operation playscript with stage directions body; Auxiliary facilities interface comprises the excitation apparatus interface of holmium laser, the flow velocity of bath and hydraulic devices interface, X-ray exposing device interface, high-pressure contrast injector interface.
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| CN201320482031.6U CN203468740U (en) | 2013-08-07 | 2013-08-07 | Auxiliary manipulator system for flexible ureteroscope operation |
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| CN201320482031.6U CN203468740U (en) | 2013-08-07 | 2013-08-07 | Auxiliary manipulator system for flexible ureteroscope operation |
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| CN201320482031.6U Withdrawn - After Issue CN203468740U (en) | 2013-08-07 | 2013-08-07 | Auxiliary manipulator system for flexible ureteroscope operation |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103356295A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Soft lens surgery auxiliary mechanical arm system and control method thereof |
| CN105030339A (en) * | 2015-07-24 | 2015-11-11 | 绵阳美科电子设备有限责任公司 | Endoscope operating hand and operating method thereof |
| CN105268086A (en) * | 2015-11-13 | 2016-01-27 | 中国人民解放军第二军医大学 | Magnetic guidance wire system |
| CN106344162A (en) * | 2016-11-22 | 2017-01-25 | 哈尔滨工业大学 | Minimally-invasive spine surgery robot |
| CN107320186A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The mobile handrail of operating robot surgeon console |
| 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 |
| DE102019201277A1 (en) | 2019-01-31 | 2020-08-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device for guiding a medical flexible shaft |
| CN113262046A (en) * | 2021-05-14 | 2021-08-17 | 北京美迪云机器人科技有限公司 | Soft lens lithotripsy system based on magnetic force induction remote positioning |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103356295A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Soft lens surgery auxiliary mechanical arm system and control method thereof |
| CN103356295B (en) * | 2013-08-07 | 2015-09-16 | 吴开俊 | Soft lens operation aided arm prosthesis system and control method thereof |
| CN105030339A (en) * | 2015-07-24 | 2015-11-11 | 绵阳美科电子设备有限责任公司 | Endoscope operating hand and operating method thereof |
| CN105268086A (en) * | 2015-11-13 | 2016-01-27 | 中国人民解放军第二军医大学 | Magnetic guidance wire system |
| CN105268086B (en) * | 2015-11-13 | 2018-03-30 | 中国人民解放军第二军医大学 | Magnetic control guiding wire system |
| CN106344162A (en) * | 2016-11-22 | 2017-01-25 | 哈尔滨工业大学 | Minimally-invasive spine surgery robot |
| CN107320186A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | The mobile handrail of operating robot surgeon console |
| 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 |
| DE102019201277A1 (en) | 2019-01-31 | 2020-08-06 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Device for guiding a medical flexible shaft |
| CN113262050A (en) * | 2021-05-13 | 2021-08-17 | 北京铸正机器人有限公司 | Two-degree-of-freedom tail end execution device |
| CN113262046A (en) * | 2021-05-14 | 2021-08-17 | 北京美迪云机器人科技有限公司 | Soft lens lithotripsy system based on magnetic force induction remote positioning |
| CN114224498A (en) * | 2021-12-13 | 2022-03-25 | 复旦大学 | Master-slave control system for complex airway multi-mode tracheal intubation robot |
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