CN209644986U - A kind of 3-degree-of-freedom electrical type stapler driving device - Google Patents
A kind of 3-degree-of-freedom electrical type stapler driving device Download PDFInfo
- Publication number
- CN209644986U CN209644986U CN201820541005.9U CN201820541005U CN209644986U CN 209644986 U CN209644986 U CN 209644986U CN 201820541005 U CN201820541005 U CN 201820541005U CN 209644986 U CN209644986 U CN 209644986U
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- driving device
- stapler
- nail
- push rod
- interface
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Abstract
The utility model discloses a kind of 3-degree-of-freedom electrical type stapler driving device, which includes that stapler interface and stapler drive two parts, is suitable for disposable flexible nail kit.Stapler interface is connect with nail kit, realizes that the mechanical connection and power between nail kit and driving device transmit.Stapler driving device drive part is provided with the 3DOF movement of 3 motor driven staplers, is that advancing and retreating movement, nail cabin pitching movement and the stapler of blade rotate integrally movement respectively.3 motors, which are circular layout, keeps driving device compact overall structure.The advancing and retreating movement of blade and nail cabin pitching movement realize that stapler rotates integrally movement and realized by the gear drive of a pair of meshing by feed screw nut's structure driven.The driving device has the characteristics that Fast Installation or nail kit can be unloaded.The replaceable traditional operation doctor of the device operates the control of stapler control handle, convenient for being integrated in surgical robot system, enriches the available surgical instrument type of operating robot.
Description
Technical field
The utility model belongs to robotic technology field, and in particular to it is a kind of suitable for disposable flexible nail kit three from
By degree power type stapler driving device.
Background technique
Stapler is a kind of surgical instrument of modernization, and current commercial coinciding machine relies primarily on doctor and operates hand-held
Lever realizes nail cabin closed/open, and blade cuts the operations such as tissue, the control of stapler angle at the end and integral-rotation, operation
Both hands are needed to complete to operate jointly in the process.It yet there are no the report performed the operation in relation to operating robot using stapler
Road.
Operating robot technology is the trend of current surgical operation development.Current operating robot needs in sewing process
It is long to execute operation, the operation complicated and time consumptions such as complicated fine suture, knotting, cutting pathological tissues.Anastomosis apparatus has suture, stops
The multiple functions such as blood, cutting are in one, and operating process is very simple, and especially suitable robot is operated.Therefore, for
It is currently being widely used the power type stapler driving device that the design of disposable flexible nail kit has enough freedom degrees, meaning weight
Greatly.Stapler can be integrated to surgical robot system by such driving device, enhance the function of operating robot, simplify operation
Operating process when robot is sutured shortens operating time, reduces operation risk.
It is primary with Covidien Corp. here for the ease of the structure design and the course of work of stapler driving device is hereinafter described
For the flexible nail kit (hereinafter referred nail kit) of property, its design feature is briefly introduced.As shown in Figure 1 is that Covidien Corp. is disposable
Flexible nail kit.There are two freedom degrees for such nail kit tool itself, are advancing and retreating movement J1, the nail cabin pitching movement J2 of blade respectively.
Blade is placed on inside nail kit, and blade end is equipped with bayonet, convenient to connect with blade push rod.Cabin pitching movement is followed closely by following closely cabin push rod
Move forward and backward realization, there is protrusion branch mouth in nail cabin push rod end, convenient to connect with driving part.It is prominent that nail kit tail portion is equipped with limit
It rises, nail kit and driving part is facilitated to fix.Detailed construction in relation to nail kit can refer to document [1].
Bibliography:
[1] design patent, the disposable nail kit of stapler, Authorization Notice No.: 303495233 S of CN
Summary of the invention
The purpose of the utility model is to provide a kind of driving device suitable for disposable flexible nail kit, it can be achieved that
(the pitching movement of nail cabin and stapler integral-rotation fortune in blade advancing and retreating movement, nail kit in nail kit of stapler three degree of freedom
Move) self-movement is completed under motor driven.
In order to achieve the above objectives, the utility model provides the following technical solutions:
A kind of 3-degree-of-freedom electrical type stapler driving device, the device include stapler driving device interface section and kiss
Clutch driving device drive part is suitable for disposable flexible nail kit (hereinafter referred nail kit)；Stapler driving device interface
Part is made of interface matrix, nail cabin push rod plectrum, interface bolt, blade push rod and interface shells, for connecting nail kit, is realized
Mechanical connection and power transmitting between nail kit and driving device；Stapler driving device drive part is by fixed rack, dynamic bracket, two
Group gear pair, two groups of screw pairs and three motor forms, the blade advancing and retreating movement in nail kit, nail for driving stapler
The pitching movement of nail cabin and stapler in casket rotate integrally movement；There is the driving device nail kit to be easy to install quickly or unload
Feature.
The stapler driving device interface section: slideway is arranged in two sides to interface matrix up and down, places and connects in sliding way
Mouth bolt, glide path is interior to place nail cabin push rod plectrum；Interface matrix is hollow, and blade push rod is placed in cavity；Follow closely cabin push rod plectrum
It axially moves along interface matrix lower wall, the nail cabin in nail kit is driven to do pitching movement；Interface bolt is on the upside of interface matrix
Wall axially moves, and forms clutch when nail kit disassembly；Blade push rod passes through interface matrix center and axially moves, and drives knife
Piece advancing and retreating movement.
The stapler driving device interface section: interface matrix front end is equipped with open slot；Setting on front side of interface bolt
There is spacing breach.
The stapler driving device drive part: fixed rack constitutes U-shaped structure by bottom plate, front apron and rear baffle；
Fixed rack front and rear baffle is equipped with concentric axis hole, is equipped with internal tooth race on front side of fixed rack rear baffle；Bracket is moved by upper supporting plate, lower branch
Plate, front apron and rear baffle constitute enclosed construction；The front and rear baffle of dynamic bracket is equipped with prominent axis with one heart；Dynamic bracket front and rear baffle
Prominent axis is each passed through the axis hole of fixed rack front and rear baffle, moves bracket clamp in the U-type groove of fixed rack；Bracket is moved with respect to fixed rack
Only rotary motion, no axial movement.
The stapler driving device drive part: it is equipped with lead screw 1 on the upside of dynamic bracket, lead screw 1 is connected across dynamic bracket
Between front and rear baffle, 1 rear end of lead screw is fixed with gear 1；Lead screw 1 is equipped with nut 1, and 1 side of nut is plane, the side and dynamic
The contact of bracket upper supporting plate；Nut 1 and blade push rod plectrum are connected；It is fixed with motor 1 and motor 2 in the middle part of dynamic bracket rear baffle, electricity
1 output shaft of machine is fixed with gear 2,2 external toothing of gear 1 and gear, and 2 output shaft of motor is fixed with gear 3, gear 3 and fixed rack
The internal tooth race of rear baffle engages；Fixed motor 3 on the downside of dynamic bracket, 3 output shaft of motor with lead screw 2 is concentric is fixedly connected；Lead screw 2
It is equipped with nut 2, nut 2 and nail cabin push rod plectrum B are connected, and the lower edge of nail cabin push rod plectrum B is plane, the plane and dynamic bracket
Lower carrier plate contact；Through-hole is equipped on the upside of dynamic bracket front apron, clutch push rod passes through the through-hole and interface bolt B is connected, and clutch pushes away
Pressure spring is equipped between bar and dynamic bracket front apron.
The stapler driving device drive part: 3 motors, which are circular layout, to be fixed on dynamic bracket, keeps stapler
Driving device drive part is compact-sized；The inside engaged gear that motor 1 is made up of the internal gear of gear 3 and fixed rack rear baffle
Pair drives dynamic bracket to make rotating motion with respect to fixed rack；The external gear pump pair driving that motor 2 is made up of gear 2 and gear 1
Lead screw 1 rotates, and 1 rotate driving nut 1 of lead screw slides back and forth along dynamic bracket upper supporting plate；3 output shaft of motor drives lead screw 2 to rotate,
2 rotate driving nut 2 of lead screw slides back and forth along dynamic bracket lower carrier plate.
Connection between the stapler driving device interface section and drive part: interface matrix rear end and dynamic bracket
Front apron is fixedly connected；Blade end inlay card connection in the front end and nail kit of blade push rod, the rear end inlay card of blade push rod exist
In blade push rod plectrum, blade push rod plectrum and nut 1 are connected；Nail cabin push rod plectrum A is connect with nail cabin push rod plectrum B inlay card,
It follows closely cabin push rod plectrum B and nut 2 is connected.
The stapler driving device: nut 1 drives blade advancing and retreating movement along the back-and-forth motion of lead screw 1, and nut 2 is along silk
The back-and-forth motion driving nail cabin push rod advancing and retreating movement of thick stick 2, so that the nail cabin in nail kit be pulled to do pitching movement, gear 3 is along determining branch
The gear motion driving stapler of frame rear baffle external gear rotates integrally movement.
The Fast Installation process of the nail kit: by nail kit insertion interface matrix until nail cabin push rod end bayonet face nail
Cabin push rod plectrum A opening, in nail kit insertion process, the nail cabin restriction protrusion compressing interface bolt of nail kit moves backward a spacing
From forcing spring compression；Then, rotation nail kit is completely embedded into nail cabin push rod end bayonet in the opening of nail cabin push rod plectrum A,
At this point, nail cabin restriction protrusion face interface bolt notch, interface bolt move forward under the action of the spring make interface bolt notch and
Nail cabin restriction protrusion is just engaged, and so far, nail kit installs.
The quick disassembly process of the nail kit: when needing to remove nail kit from stapler interface, firstly, after press from
Push rod holddown spring is closed, interface bolt notch is forced to separate with nail cabin restriction protrusion；Later, rotation nail kit makes to follow closely cabin push-pull rod end
End bayonet is deviate from from the opening of nail cabin push rod plectrum A, meanwhile, blade push-pull rod and blade are detached from；Finally, moving forward nail kit
It can be taken off nail kit.
The utility model has the beneficial effects that: the driving device structure is simple, there are 3 independent freedom of motion,
The operational requirements of disposable nail kit can be met, the disassembly install convenient of nail kit is, it can be achieved that be integrated to operating robot for stapler
System enhances the function of operating robot, simplifies operating process when operating robot is sutured, shortens operating time, subtract
Few operation risk.
Detailed description of the invention
In order to keep the purpose of this utility model, technical scheme and beneficial effects clearer, the utility model provides as follows
Attached drawing is illustrated:
Fig. 1 disposable flexible nail box structure schematic diagram
Fig. 2 stapler Vidacare corp schematic diagram
Fig. 3 stapler Vidacare corp installs the schematic diagram after disposable nail kit
The interface section schematic diagram of Fig. 4 stapler driving device
The drive part schematic diagram of Fig. 5 stapler driving device
The interface and drive part connection schematic diagram of Fig. 6 stapler driving device
Fig. 7 stapler driving device installs nail kit key state 1
Fig. 8 stapler driving device installs nail kit key state 2
Wherein: 101, following closely cabin push rod；102, restriction protrusion；103, cabin is followed closely；104, blade；1, stapler driving device interface
Part；2, stapler driving device drive part；3, disposable flexible nail kit；4, interface matrix；5a, nail cabin push rod plectrum A；
5b, nail cabin push rod plectrum B；6a, interface bolt A；6b, interface bolt B；7, blade push rod；8a, fixed rack bottom plate；8b, fixed rack
Front apron；8c, fixed rack rear baffle；9a, dynamic bracket upper supporting plate；9b, dynamic bracket lower carrier plate；9c, dynamic bracket front apron；9d, it moves
Bracket rear baffle；10, motor 2；11a, gear 3；11b, gear 4；12a, lead screw 1；12b, nut 1；13, blade push rod plectrum；
14a, gear 1；14b, gear 2；15, motor 1；16, motor 3；17a, lead screw 2；17b, nut 2；18, clutch push rod；19, it presses
Spring；
Specific embodiment
Below in conjunction with attached drawing, the preferred embodiment of the utility model is described in detail.
A kind of 3-degree-of-freedom electrical type stapler driving device (as shown in Figure 2), the device include stapler driving device
Interface section (as shown in Figure 4) and stapler driving device drive part (as shown in Figure 5), suitable for as shown in Figure 1 primary
The flexible nail kit (hereinafter referred nail kit) of property.As shown in figure 4, stapler driving device interface section is pushed away by interface matrix 4, nail cabin
Bar plectrum (5), interface bolt (6), blade push rod (7) and interface shells composition；Stapler driving device interface section is for connecting
It connects nail kit (3), realizes that the mechanical connection and power between nail kit (3) and driving device transmit.As shown in figure 5, stapler driving dress
Drive part is set by fixed rack (8), dynamic bracket (9), two groups of teeth wheel set (11a and 11b, 14a and 14b), two groups of screw pairs
(12a and 12b, 17a and 17b) He Santai motor (10,15,16) composition, for driving the 3DOF of stapler to move, respectively
Refer to the blade advancing and retreating movement (J1 as shown in figure 1) in nail kit, the nail cabin pitching movement (J2 in such as Fig. 1) in nail kit and coincide
Device rotates integrally movement (J3 as shown in figure 1)；The driving device has the characteristics that nail kit is easy to install quickly or unloads.
As shown in figure 4, the stapler driving device interface section: slideway is arranged in two sides to interface matrix (4) up and down, on
Interface bolt (6) are placed in slideway, nail cabin push rod plectrum (5) is placed in glide path；Interface matrix (4) is hollow, places in cavity
Blade push rod (7)；Nail cabin push rod plectrum (5) axially moves along interface matrix (4) lower wall, and the nail cabin in nail kit is driven to bow
Face upward movement；Interface bolt (6) axially moves along interface matrix (4) upper side wall, forms clutch when nail kit (3) disassembly；Knife
Piece push rod (7) passes through interface matrix (4) center and axially moves, and drives blade advancing and retreating movement.
The stapler driving device interface section: interface matrix (4) front end is equipped with open slot (see the top view in Fig. 4
Figure and bottom view)；It is provided with spacing breach on front side of interface bolt (6) (see the top view in Fig. 4).
As shown in figure 5, the stapler driving device drive part: fixed rack by bottom plate (8a), front apron (8b) and
Rear baffle (8c) constitutes U-shaped structure；Fixed rack front and rear baffle (8b, 8c) is equipped with concentric axis hole, fixed rack rear baffle (8c) front side
Equipped with internal tooth race (11b)；Dynamic bracket constitutes envelope by upper supporting plate (9a), lower carrier plate (9b), front apron (9c) and rear baffle (9d)
Close structure；The front and rear baffle of dynamic bracket is equipped with prominent axis with one heart；Before the protrusion axis of dynamic bracket front and rear baffle is each passed through fixed rack
The axis hole of rear baffle moves bracket clamp in the U-type groove of fixed rack；Dynamic bracket only has rotary motion with respect to fixed rack, without axial fortune
It is dynamic.
As shown in figure 5, the stapler driving device drive part: being equipped with lead screw 1 (12a) on the upside of dynamic bracket, lead screw 1
(12a) is connected across between the front and rear baffle (9c and 9d) of dynamic bracket, and the rear end lead screw 1 (12a) is fixed with gear 1 (14a)；Lead screw 1
(12a) is equipped with nut 1 (12b), and the side (12b) of nut 1 is plane, which contacts with dynamic bracket upper supporting plate (9a)；Nut
1 (12b) and blade push rod plectrum (13) are connected；Motor 1 (15) and motor 2 (10), motor 1 are fixed in the middle part of dynamic bracket rear baffle
(15) output shaft is fixed with gear 2 (14b), and gear 1 (14a) and gear 2 (14b) external toothing, motor 2 (10) output shaft are fixed with
Gear 3 (11a), gear 3 (11a) are engaged with the internal tooth race (11b) of fixed rack rear baffle；Fixed motor 3 on the downside of dynamic bracket
(16), motor 3 (16) output shaft with lead screw 2 (17a) is concentric is fixedly connected；Lead screw 2 (17a) is equipped with nut 2 (17b), nut 2
(17b) and nail cabin push rod plectrum B (5b) are connected, and the lower edge of nail cabin push rod plectrum B (5b) is plane, prop up under the plane and dynamic bracket
Plate (9b) contact；Through-hole is equipped on the upside of dynamic bracket front apron, clutch push rod (18) passes through the through-hole and interface bolt B (6b) is solid
Even, pressure spring (19) are equipped between clutch push rod (18) and dynamic bracket front apron (9c).
As shown in figure 5, the stapler driving device drive part: 3 motors, which are circular layout, to be fixed on dynamic bracket,
Keep stapler driving device drive part compact-sized；Motor 1 (15) is dynamic by internal gear pair (11a and 11b) driving
Bracket makes rotating motion with respect to fixed rack；Motor 2 (10) is turned by external gear pump secondary (14a and 14b) driving lead screw 1 (12a)
Dynamic, (12a) rotate driving of lead screw 1 nut 1 (12b) slides back and forth along dynamic bracket upper supporting plate 9a；Motor 3 (16) output shaft drives silk
Thick stick 2 (17a) rotation, (17a) rotate driving of lead screw 2 nut 2 (17b) slide back and forth along dynamic bracket lower carrier plate (9b).
As shown in fig. 6, the connection between the stapler driving device interface section and drive part: interface matrix
(4) rear end is fixedly connected with dynamic bracket front apron (9c)；Blade end inlay card in the front end and nail kit of blade push rod (7) connects
It connects, for the rear end inlay card of blade push rod (7) in blade push rod plectrum (13), blade push rod plectrum (13) and nut 1 (12b) are solid
Even；Nail cabin push rod plectrum A (5a) is connect with nail cabin push rod plectrum B (5b) inlay card, nail cabin push rod plectrum B (5b) and nut 2 (17b)
It is connected；The rear end of interface bolt A (6a) is fixedly connected with the front end of interface bolt B (6b).
As shown in fig. 6, the stapler driving device: nut 1 (12b) drives knife along the back-and-forth motion of lead screw 1 (12a)
Piece advancing and retreating movement, nut 2 (17b) follows closely cabin push rod advancing and retreating movement along the back-and-forth motion driving of lead screw 2 (17a), to pull nail kit
In nail cabin do pitching movement, gear 3 (11a) is whole along the gear motion driving stapler of fixed rack rear baffle external gear (11b)
Body rotary motion.
The Fast Installation process of the nail kit: by nail kit (3) insertion interface matrix (4) until following closely the convex of cabin push rod end
Branch mouth face nail cabin push rod plectrum A (5a) opening is played, the relativeness of nail kit and stapler driving device is as shown in Figure 7 at this time；
In nail kit insertion process, the nail cabin restriction protrusion compressing interface bolt of nail kit moves backward certain distance, forces spring compression；
Then, rotation nail kit is completely embedded into nail cabin push rod end-boss branch mouth in the opening of nail cabin push rod plectrum A (5a), at this point, nail
The notch of cabin restriction protrusion face interface bolt, interface bolt moves forward under the action of the spring makes interface bolt notch and the limit of nail cabin
Protrusion is just engaged, and the relativeness of nail kit and stapler driving device is as shown in Figure 8 at this time；So far, nail kit installs.
The quick disassembly process of the nail kit: when needing to remove nail kit from stapler interface, firstly, after press from
Push rod holddown spring is closed, interface bolt notch is forced to separate with nail cabin restriction protrusion；Later, rotation nail kit makes to follow closely cabin push-pull rod end
End bayonet is deviate from from the opening of nail cabin push rod plectrum A (5a), meanwhile, blade push-pull rod and blade are detached from；Finally, moving forward
Nail kit can be taken off nail kit.
Finally, it is stated that preferred embodiment above is merely intended for describing the technical solutions of the present application, but not for limiting the present application, to the greatest extent
Pipe has been described in detail the utility model by above preferred embodiment, but those skilled in the art should manage
Solution, can make various changes, without departing from the utility model claims book institute to it in the form and details
The range of restriction.
Claims (8)
1. a kind of 3-degree-of-freedom electrical type stapler driving device, it is characterised in that: the device includes that stapler driving device connects
Oral area point and stapler driving device drive part are suitable for disposable flexible nail kit；Stapler driving device interface section
It is made of interface matrix, nail cabin push rod plectrum A, nail cabin push rod plectrum B, interface bolt, blade push rod and interface shells, for connecting
Nail kit is connect, realizes that the mechanical connection and power between nail kit and driving device transmit；Stapler driving device drive part by propping up surely
Frame, dynamic bracket, two groups of teeth wheel set, two groups of screw pairs and three motor forms, for driving the blade in stapler nail kit
The pitching movement of nail cabin and stapler in advancing and retreating movement, nail kit rotate integrally movement.
2. stapler driving device according to claim 1, it is characterised in that: stapler driving device interface section connects
Slideway is arranged in two sides to mouth matrix up and down, and interface bolt is placed in sliding way, and glide path is interior to place nail cabin push rod plectrum A；Interface base
Body is hollow, and blade push rod is placed in cavity；Nail cabin push rod plectrum A axially moves along interface matrix lower wall, drives in nail kit
Nail cabin do pitching movement；Interface bolt axially moves along interface matrix upper side wall, forms clutch when nail kit disassembly；Knife
Piece push rod passes through interface matrix center and axially moves, and drives blade advancing and retreating movement.
3. stapler driving device according to claim 1, it is characterised in that: stapler driving device interface section connects
Mouth matrix front end is equipped with open slot；Spacing breach is provided on front side of interface bolt.
4. stapler driving device according to claim 1, it is characterised in that: stapler driving device drive part is determined
Bracket constitutes U-shaped structure by bottom plate, front apron and rear baffle；Fixed rack front and rear baffle is equipped with concentric axis hole, fixed rack rear baffle
Front side is equipped with internal tooth race；Dynamic bracket constitutes enclosed construction by upper supporting plate, lower carrier plate, front apron and rear baffle；Before dynamic bracket
Rear baffle is equipped with prominent axis with one heart；The protrusion axis of dynamic bracket front and rear baffle is each passed through the axis hole of fixed rack front and rear baffle, moves branch
Frame is stuck in the U-type groove of fixed rack；Dynamic bracket only has rotary motion, no axial movement with respect to fixed rack.
5. stapler driving device according to claim 1, it is characterised in that: stapler driving device drive part moves
Lead screw one is equipped on the upside of bracket, lead screw one is connected across between the front and rear baffle of dynamic bracket, and one rear end of lead screw is fixed with gear one；Silk
Thick stick one is equipped with nut one, and nut one side is plane, which contacts with dynamic bracket upper supporting plate；Nut one and blade push rod are dialled
Piece is connected；It is fixed with motor one and motor two in the middle part of dynamic bracket rear baffle, one output shaft of motor is fixed with gear two, one He of gear
Two external toothing of gear, two output shaft of motor are fixed with gear 3, and gear 3 is engaged with the internal tooth race of fixed rack rear baffle；Dynamic bracket
Motor 3 is fixed in downside, 3 output shaft of motor with lead screw two is concentric is fixedly connected；Lead screw two is equipped with nut two, nut two and nail cabin
Push rod plectrum B is connected, and the lower edge of nail cabin push rod plectrum B is plane, which contacts with dynamic bracket lower carrier plate；Dynamic bracket front apron
Upside is equipped with through-hole, and clutch push rod passes through the through-hole and interface bolt B is connected, and is equipped between clutch push rod and dynamic bracket front apron
Pressure spring.
6. stapler driving device according to claim 1, it is characterised in that: the 3 of stapler driving device drive part
Platform motor, which is circular layout, to be fixed on dynamic bracket, keeps stapler driving device drive part compact-sized；Motor one passes through tooth
The internal gear pair that the internal tooth race of wheel two and fixed rack rear baffle is constituted drives dynamic bracket to make rotating motion with respect to fixed rack；
Motor two drives lead screw one to rotate by the external gear pump pair being made of gear two and gear one, one rotate driving nut of lead screw
One slides back and forth along dynamic bracket upper supporting plate；3 output shaft of motor drives lead screw two to rotate, and two rotate driving nut two of lead screw is along dynamic branch
Frame lower carrier plate slides back and forth.
7. stapler driving device according to claim 1, it is characterised in that: interface matrix rear end and dynamic bracket front apron
It is fixedly connected；Blade end inlay card connection in the front end and nail kit of blade push rod, the rear end inlay card of blade push rod are pushed away in blade
In bar plectrum, blade push rod plectrum and nut one are connected；Nail cabin push rod plectrum A is connect with nail cabin push rod plectrum B inlay card, and nail cabin pushes away
Bar plectrum B and nut two are connected.
8. stapler driving device according to claim 1, it is characterised in that: nut one drives along the back-and-forth motion of lead screw A
Cutting blade advancing and retreating movement, nut two follows closely cabin push rod advancing and retreating movement along the back-and-forth motion driving of lead screw two, to pull in nail kit
Pitching movement is done in nail cabin, and gear two is moved along the gear motion driving stapler integral-rotation of fixed rack rear baffle external gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820541005.9U CN209644986U (en) | 2018-04-17 | 2018-04-17 | A kind of 3-degree-of-freedom electrical type stapler driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820541005.9U CN209644986U (en) | 2018-04-17 | 2018-04-17 | A kind of 3-degree-of-freedom electrical type stapler driving device |
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| Publication Number | Publication Date |
|---|---|
| CN209644986U true CN209644986U (en) | 2019-11-19 |
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ID=68505156
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820541005.9U Active CN209644986U (en) | 2018-04-17 | 2018-04-17 | A kind of 3-degree-of-freedom electrical type stapler driving device |
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| CN (1) | CN209644986U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433768A (en) * | 2018-04-17 | 2018-08-24 | 重庆邮电大学 | A kind of 3-degree-of-freedom electrical type stapler driving device |
| CN113425351A (en) * | 2021-06-23 | 2021-09-24 | 北京航空航天大学 | Automatic wound anastomat with six spatial degrees of freedom |
-
2018
- 2018-04-17 CN CN201820541005.9U patent/CN209644986U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108433768A (en) * | 2018-04-17 | 2018-08-24 | 重庆邮电大学 | A kind of 3-degree-of-freedom electrical type stapler driving device |
| CN113425351A (en) * | 2021-06-23 | 2021-09-24 | 北京航空航天大学 | Automatic wound anastomat with six spatial degrees of freedom |
| CN113425351B (en) * | 2021-06-23 | 2022-04-26 | 北京航空航天大学 | Automatic wound anastomat with six spatial degrees of freedom |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |