WO2019200773A1 - 一种腹腔镜手术持镜机器人*** - Google Patents
一种腹腔镜手术持镜机器人*** Download PDFInfo
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- WO2019200773A1 WO2019200773A1 PCT/CN2018/097541 CN2018097541W WO2019200773A1 WO 2019200773 A1 WO2019200773 A1 WO 2019200773A1 CN 2018097541 W CN2018097541 W CN 2018097541W WO 2019200773 A1 WO2019200773 A1 WO 2019200773A1
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- Prior art keywords
- joint
- robot system
- surgical robot
- laparoscopic surgical
- arm
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- 238000002357 laparoscopic surgery Methods 0.000 title abstract description 7
- 238000000034 method Methods 0.000 claims description 3
- 230000003902 lesion Effects 0.000 abstract description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 5
- 238000001356 surgical procedure Methods 0.000 description 4
- 230000007704 transition Effects 0.000 description 3
- 238000012084 abdominal surgery Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 239000004020 conductor Substances 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011846 endoscopic investigation Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000003278 mimic effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
- A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00147—Holding or positioning arrangements
- A61B1/00149—Holding or positioning arrangements using articulated arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
- A61B50/10—Furniture specially adapted for surgical or diagnostic appliances or instruments
- A61B50/13—Trolleys, e.g. carts
Definitions
- the present invention relates to the field of robot control technology, and in particular to a laparoscopic surgery mirror robot system.
- minimally invasive surgery has been practiced and developed rapidly with many advantages such as quick recovery and small trauma.
- a minimally invasive laparoscopic minimally invasive surgery it has become a major revolution in traditional open surgery.
- the minimally invasive surgical robot system provides a new way to further improve minimally invasive surgery in view of the limitations of conventional endoscopic techniques in clinical applications.
- the present invention provides a laparoscopic surgical robot system for solving the technical problem that the prior art abdominal surgery robot has an inflexible operation and requires a doctor to perform an auxiliary operation.
- the present invention provides a laparoscopic surgical robot system, including a gantry frame, a surgical tool, and a mechanical arm disposed on the gantry frame, the surgical tool being fixed to a front end of the mechanical arm, wherein
- the robot arm has at least six degrees of freedom.
- the robot arm includes an end joint and an intermediate joint respectively connected to the first and second arms, the end joint including a first joint and a joint with the trolley frame The sixth joint to which the mounting of the surgical tool is attached.
- the intermediate joint includes a second joint rotatably coupled to the first joint, a third joint connecting the first and second arms, and the second limb Rotating the connected fourth joint and the fifth joint rotatably coupled to the fourth joint and the sixth joint, respectively.
- the maximum rotation angle is 360°.
- the maximum rotation angle is 180°.
- the trolley frame includes a base and a post fixedly disposed on the base, the mechanical arm being disposed on the upright.
- the side of the column is provided with a transfer flange, and the mechanical arm is fixedly connected to the transfer flange.
- the top end of the post is provided with a mechanical interface, the mechanical arm being fixedly coupled to the mechanical interface.
- a conduit is disposed on the first joint at a position connected to the trolley frame, and an axial direction of the conduit is respectively opposite to an axial direction of the first joint and a height direction of the pillar vertical.
- the bottom of the base is provided with two directional casters and two swivel casters with brake functions.
- the invention also provides a laparoscopic surgical robot system, comprising a trolley frame, a surgical tool and a mechanical arm disposed on the trolley frame, the front end of the mechanical arm being provided with an extension with a quick release device a plate, the surgical tool being secured to the extension plate by the quick release device, wherein the robot arm has at least six degrees of freedom.
- the robot arm includes an end joint and an intermediate joint respectively connected to the first and second arms, the end joint including a first joint and a joint with the trolley frame The sixth joint to which the mounting of the surgical tool is attached.
- the intermediate joint includes a second joint rotatably coupled to the first joint, a third joint connecting the first and second arms, and the second limb Rotating the connected fourth joint and the fifth joint rotatably coupled to the fourth joint and the sixth joint, respectively.
- the axis of rotation of the first joint is parallel to the height direction of the trolley frame and perpendicular to the axis of rotation of the second joint.
- the rotation axis of the fourth joint, the rotation axis of the fifth joint, and the rotation axis of the sixth joint are perpendicular to each other.
- the trolley frame includes a base and a post fixedly disposed on the base, the mechanical arm being disposed on the upright.
- the side of the column is provided with a transfer flange, and the mechanical arm is fixedly connected to the transfer flange.
- the top end of the post is provided with a mechanical interface, the mechanical arm being fixedly coupled to the mechanical interface.
- a conduit is disposed on the first joint at a position connected to the trolley frame, and an axial direction of the conduit is respectively opposite to an axial direction of the first joint and a height direction of the pillar vertical.
- the bottom of the base is provided with two directional casters and two swivel casters with brake functions.
- the invention has the advantages that since the mechanical arm has at least six degrees of freedom, the mechanical arm can completely imitate the range of motion of the human arm, and the flexibility is the same as that of the human body, so that the actual operation is required. The location of the lesion is accurately positioned without the need for a doctor to assist in the operation.
- FIG. 1 is a schematic view showing the operation of a laparoscopic surgical robot system in one embodiment of the present invention
- FIG. 2 is a perspective view of a laparoscopic surgical robot system in accordance with one embodiment of the present invention (a surgical tool is not shown);
- Figure 3 is a schematic structural view of the mechanical arm shown in Figure 2;
- Figure 4 is a schematic view of a mechanical extreme position of the robot arm shown in Figure 1 (the surgical tool is not shown);
- FIG. 5 is a schematic perspective view of the base shown in FIG. 1.
- FIG. 5 is a schematic perspective view of the base shown in FIG. 1.
- FIG. 6 is a schematic view showing the operation of a laparoscopic surgical robot system in another embodiment of the present invention.
- Figure 7 is a perspective view showing a three-dimensional structure of a laparoscopic surgical robot system in another embodiment of the present invention (a surgical tool is not shown);
- Figure 8 is a perspective view showing the structure of the base shown in Figure 6;
- Figure 9 is a perspective view showing the structure of the extension plate shown in Figure 6;
- Figure 10 is an exploded view of the extension plate shown in Figure 6.
- the present invention provides a laparoscopic surgical robot system comprising a trolley frame 1, a surgical tool 2, and a robot arm 3 disposed on the trolley frame 1.
- the surgical tool 2 is an endoscope.
- the surgical tool 2 can also be other instruments required for minimally invasive surgery.
- the surgical tool 2 is fixed to the front end of the robot arm 3, wherein the robot arm 3 has at least six degrees of freedom.
- the robot arm 3 can have six degrees of rotational freedom and more than one degree of translational freedom.
- the six rotational degrees of freedom of the robot arm 3 are implemented as follows.
- the robot arm 3 includes an end joint and an intermediate joint respectively connected to the first link arm 37 and the second link arm 38.
- the end joint includes a first joint 31 connected to the carriage frame 1 and is connected to the mount 21 of the surgical tool 2.
- the intermediate joint includes a second joint 32 rotatably coupled to the first joint 31, a third joint 33 connecting the first link arm 37 and the second link arm 38, and a fourth joint 34 rotatably coupled to the second link arm 38. And a fifth joint 35 that is rotatably coupled to the fourth joint 34 and the sixth joint 36, respectively. That is, both ends of the first link arm 37 are connected to the second joint 32 and the third joint 33, respectively, and the relative movement between the first link arm 37 and the second link arm 38 is achieved by the third joint 33.
- the rotation axis L1 of the first joint 31 is parallel to the height direction of the bogie frame 1, and is perpendicular to the rotation axis L2 of the second joint 2.
- the rotation axis L4 of the fourth joint 34, the rotation axis L5 of the fifth joint 35, and the rotation axis L6 of the sixth joint 36 are perpendicular to each other.
- joint sensors may be provided on the above six joints to measure the rotation angle of each joint to obtain the current posture information of the endoscope; and the above six joints can be driven by the motor.
- each of the above joints is an execution unit of the action, and the execution units are connected in series, so that the joints have good isotropicity and no cumulative error, so that the robot has high precision. And has a dynamic response and other technical features.
- the maximum rotation angle is 360°. As shown in FIG. 4, it is a mechanical limit position of the second link arm 38.
- the maximum rotation angle is 180°.
- the number of the mechanical arms 3 may be two or more, the plurality of mechanical arms 3 may be fixed on different sides of the trolley frame 1, and the ends of the mechanical arms 3 may be Different surgical tools 2 are installed to meet the requirements of complex surgery.
- the bogie frame 1 includes a base 11 and a column 12 fixedly disposed on the base 11, and the robot arm 3 is disposed on the column 12. Both the base 11 and the uprights 12 are disposed inside the casing 13, and the casing 13 not only integrates the control member and the mechanical components, but also functions as an aesthetic.
- the base 11 is provided with a connecting plate 113.
- One end of the connecting plate 113 is fixedly connected to the bottom surface of the base 11 and the other end is fixedly connected to the housing 13.
- the connecting plate 113 is configured in an L shape, and a cable extending opening is provided at the connection plate 113 to the outer casing. Further, in order to enhance the strength of the connecting plate 113, reinforcing ribs are provided on the connecting plate 113.
- the robot arm 3 is disposed on a side of the uprights 12.
- the side of the column 12 is provided with a transfer flange 6 , and the mechanical arm 3 is fixedly connected to the adapter flange 6 .
- the adapter flange 6 is configured in an L shape, one end of which is fixedly connected to the side surface of the column 12 and the other end of which is fixedly connected to the bottom end of the first joint 31.
- an translational freedom of the robot arm 3 is achieved as follows.
- a sliding sleeve is arranged on the column 12, and the mechanical arm 3 is fixedly connected to the sliding sleeve.
- the sliding sleeve is slidable on the column 12 to achieve an translational freedom of the robot arm 3.
- the robot arm 3 is disposed at the top end of the uprights 12. Wherein, the top end of the column 12 is provided with a mechanical interface, and the mechanical arm 3 is fixedly connected with the mechanical interface.
- the upper end of the housing 13 is provided with indicator lights and/or control buttons to facilitate control of the robot arm 3.
- the other side of the casing 13 opposite to the robot arm 3 may be provided with a support plate which can be used as a support table.
- a conduit 7 is provided at the first joint 31 at a position connected to the bogie frame 1.
- the axial direction of the conduit 7 is perpendicular to the axial direction of the first joint 31 and the height direction of the post 12.
- the sixth joint 36 is also provided with a conduit at the junction with the mounting seat 21 to protect the wires leading out of the joint.
- the bottom of the base 11 is respectively provided with two directional casters 111 and two swivel casters 112 having a braking function.
- the universal caster 112 may be provided with a brake device such as a brake pad to realize the function of fixed stop.
- the directional casters 111 are disposed on the front side of the uprights 12, and the universal casters 112 are disposed on the rear side of the uprights 12.
- the RCM point of the laparoscopic surgical robot system of the present invention is ensured by the algorithm of the control component.
- the surgical tool 2 (i.e., the endoscope) is coupled to the sixth joint 36 by a mount 21.
- the mounting seat 21 is provided with a bottom plate, and the bottom plate is provided with a quick release device, and the quick release device can realize quick disassembly and installation between the surgical tool and the mechanical arm 3.
- the present invention provides a laparoscopic surgical robot system, including a trolley frame 1, a surgical tool 2, and a The robot arm 3 on the trolley frame 1.
- the front end of the robot arm 3 is provided with an extension plate 4 having a quick release device, and the surgical tool 2 is fixed to the extension plate 4 by a quick release device, and the specific fixing manner will be described in detail below.
- the bottom end of the extension plate 4 is provided with a mounting portion 47, the mounting portion 47 is disposed in the mounting seat 21, and the extension plate 4 has a quick release device, and the surgical tool and the robot arm 3 can be realized by the quick release device Quick disassembly and installation between.
- the extension plate is provided with an upper connection block 41 and a lower connection block 42, the upper connection block 41 and the lower connection block 42 are hinged, and the upper connection block 41 and the lower connection block 42 are respectively disposed.
- the upper connecting block 41 and the lower connecting block 42 are locked by the first quick release device, that is, the locking pin shaft 43, thereby fixing the endoscope in the mounting hole.
- the locking pin 43 is rotatable in the upper connecting block 41 and the lower connecting block 42 and is engaged with the boss at the bottom of the lower connecting block 42 to lock the upper connecting block 41 and the lower connecting block 42.
- the bottom of the lower connecting block 42 is provided with a transition block 44, and the transition block 44 and the extension plate 4 are fixed by a second quick release device, that is, an elastic card block.
- the elastic block is disposed inside the extension plate 4, and the bottom of the extension plate 4 is provided with a cover plate 46, and the relative movement between the elastic block and the extension plate 4 by the compression spring can be generated.
- One end of the elastic block is inserted into the adapter block 44 and is engaged with the adapter block 44 so that the adapter block 44 is fixed to the extension plate 4.
- pressing the locking button 45 moves the elastic block away from the transition block 44, so that no locking relationship is formed between the elastic block and the transfer block 44. 44 can be removed from the extension plate 4 for quick disassembly.
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Abstract
Description
Claims (30)
- 一种腹腔镜手术持镜机器人***,其特征在于,包括台车机架(1)、手术工具(2)以及设置在所述台车机架(1)上的机械臂(3),所述手术工具(2)固定在所述机械臂(3)的前端,其中,所述机械臂(3)具有至少六个自由度。
- 根据权利要求1所述的腹腔镜手术持镜机器人***,其特征在于,所述机械臂(3)包括末端关节以及分别与第一连臂(37)和第二连臂(38)相连的中间关节,所述末端关节包括与所述台车机架(1)相连的第一关节(31)以及与所述手术工具(2)的安装座(21)相连的第六关节(36)。
- 根据权利要求2所述的腹腔镜手术持镜机器人***,其特征在于,所述中间关节包括与所述第一关节(31)转动连接的第二关节(32)、连接所述第一连臂(37)和所述第二连臂(38)的第三关节(33)、与所述第二连臂(38)转动连接的第四关节(34)以及分别与所述第四关节(34)和所述第六关节(36)转动连接的第五关节(35)。
- 根据权利要求3所述的腹腔镜手术持镜机器人***,其特征在于,所述第二连臂(38)以所述第三关节(33)的轴线为旋转轴进行旋转时,最大旋转角度为360°。
- 根据权利要求3所述的腹腔镜手术持镜机器人***,其特征在于,所述第一连臂(37)以所述第二关节(32)的轴线为旋转轴进行旋转时,最大旋转角度为180°。
- 根据权利要求4所述的腹腔镜手术持镜机器人***,其特征在于,所述第一连臂(37)以所述第二关节(32)的轴线为旋转轴进行旋转时,最大旋转角度为180°。
- 根据权利要求3所述的腹腔镜手术持镜机器人***,其特征在于,所述台车机架(1)包括底座(11)以及固定设置在所述底座(11)上的立柱(12),所述机械臂(3)设置在所述立柱(12)上。
- 根据权利要求7所述的腹腔镜手术持镜机器人***,其特征在于,所述立柱(12)的侧面设置有转接法兰(6),所述机械臂(3)与所述转接法兰(6)固定连接。
- 根据权利要求7所述的腹腔镜手术持镜机器人***,其特征在于,所述立柱(12)的顶端设置有机械接口,所述所述机械臂与所述机械接口固定连接。
- 根据权利要求7所述的腹腔镜手术持镜机器人***,其特征在于,所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5),所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
- 根据权利要求8所述的腹腔镜手术持镜机器人***,其特征在于,所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5),所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
- 根据权利要求9所述的腹腔镜手术持镜机器人***,其特征在于,所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5),所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
- 根据权利要求7所述的腹腔镜手术持镜机器人***,其特征在于,所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
- 根据权利要求8所述的腹腔镜手术持镜机器人***,其特征在于,所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
- 根据权利要求9所述的腹腔镜手术持镜机器人***,其特征在于,所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
- 一种腹腔镜手术持镜机器人***,其特征在于,包括台车机架(1)、手术工具(2)以及设置在所述台车机架(1)上的机械臂(3),所述机械臂(3)的前端设置有具有快卸装置的延长板(4),所述手术工具(2)通过所述快卸装置固定在所述延长板(4)上,其中,所述机械臂(3)具有至少六个自由度。
- 根据权利要求16所述的腹腔镜手术持镜机器人***,其特征在于,所述机械臂(3)包括末端关节以及分别与第一连臂(37)和第二连臂(38)相连 的中间关节,所述末端关节包括与所述台车机架(1)相连的第一关节(31)以及与所述手术工具(2)的安装座(21)相连的第六关节(36)。
- 根据权利要求17所述的腹腔镜手术持镜机器人***,其特征在于,所述中间关节包括与所述第一关节(31)转动连接的第二关节(32)、连接所述第一连臂(37)和所述第二连臂(38)的第三关节(33)、与所述第二连臂(38)转动连接的第四关节(34)以及分别与所述第四关节(34)和所述第六关节(36)转动连接的第五关节(35)。
- 根据权利要求18所述的腹腔镜手术持镜机器人***,其特征在于,所述第一关节(31)的旋转轴与所述台车机架(1)的高度方向平行,并与所述第二关节(32)的旋转轴垂直。
- 根据权利要求18所述的腹腔镜手术持镜机器人***,其特征在于,所述第四关节(34)的旋转轴、所述第五关节(35)的旋转轴以及所述第六关节(36)的旋转轴相互垂直。
- 根据权利要求19所述的腹腔镜手术持镜机器人***,其特征在于,所述第四关节(34)的旋转轴、所述第五关节(35)的旋转轴以及所述第六关节(36)的旋转轴相互垂直。
- 根据权利要求18所述的腹腔镜手术持镜机器人***,其特征在于,所述台车机架(1)包括底座(11)以及固定设置在所述底座(11)上的立柱(12),所述机械臂(3)设置在所述立柱(12)上。
- 根据权利要求22所述的腹腔镜手术持镜机器人***,其特征在于,所述立柱(12)的侧面设置有转接法兰(6),所述机械臂(3)与所述转接法兰(6)固定连接。
- 根据权利要求22所述的腹腔镜手术持镜机器人***,其特征在于,所述立柱(12)的顶端设置有机械接口,所述所述机械臂与所述机械接口固定连接。
- 根据权利要求22所述的腹腔镜手术持镜机器人***,其特征在于,所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5),所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
- 根据权利要求23所述的腹腔镜手术持镜机器人***,其特征在于,所 述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5),所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
- 根据权利要求24所述的腹腔镜手术持镜机器人***,其特征在于,所述第一关节(31)上与所述台车机架(1)相连处设置有导线管(5),所述导线管(5)的轴线方向分别与所述第一关节(31)的轴线方向以及所述立柱(12)的高度方向垂直。
- 根据权利要求22所述的腹腔镜手术持镜机器人***,其特征在于,所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
- 根据权利要求23所述的腹腔镜手术持镜机器人***,其特征在于,所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
- 根据权利要求24所述的腹腔镜手术持镜机器人***,其特征在于,所述底座(11)的底部分别设置有两个定向脚轮(111)和两个具有刹车功能的万向脚轮(112)。
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US17/045,108 US11357583B2 (en) | 2018-04-17 | 2018-07-27 | Laparoscope-holding robot system for laparoscopic surgery |
EP18915439.6A EP3782573A4 (en) | 2018-04-17 | 2018-07-27 | LAPAROSCOPE HOLDING ROBOT SYSTEM FOR LAPAROSCOPIC SURGERY |
CA3095798A CA3095798A1 (en) | 2018-04-17 | 2018-07-27 | Laparoscope-holding robot system for laparoscopic surgery |
US17/830,213 US20220287783A1 (en) | 2018-04-17 | 2022-06-01 | Laparoscope-holding robot system for laparoscopic surgery |
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CN201810343711.7A CN108338840A (zh) | 2018-04-17 | 2018-04-17 | 一种腹腔镜手术持镜机器人*** |
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US17/830,213 Continuation US20220287783A1 (en) | 2018-04-17 | 2022-06-01 | Laparoscope-holding robot system for laparoscopic surgery |
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US20210145527A1 (en) | 2021-05-20 |
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