CN105342704B - A kind of minimally invasive reduction of the fracture machine people - Google Patents
A kind of minimally invasive reduction of the fracture machine people Download PDFInfo
- Publication number
- CN105342704B CN105342704B CN201510744873.8A CN201510744873A CN105342704B CN 105342704 B CN105342704 B CN 105342704B CN 201510744873 A CN201510744873 A CN 201510744873A CN 105342704 B CN105342704 B CN 105342704B
- Authority
- CN
- China
- Prior art keywords
- individual body
- reduction
- machine people
- flexible joint
- computer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of minimally invasive reduction of the fracture machine people, it includes：Computer, discrete articulated mechanical arm, non-individual body flexible joint, Miniature surgical operation device and IMAQ reponse system；Wherein, described image collection reponse system and the Miniature surgical operation device are installed in the top of the non-individual body flexible joint, and end is connected with the discrete articulated mechanical arm, and the non-individual body flexible joint connects the computer, and controls bending by the computer.The present invention provides a kind of minimally invasive reduction of the fracture machine people, and it is provided with non-individual body flexible joint, and non-individual body flexible joint can flexibly be bent under the control of the computer, and can effectively control the bending direction and degree of crook of non-individual body flexible joint.Reduction of the fracture machine people motion is flexible, avoidance ability is strong, can effectively mitigate painful in patient's art, shorten post-operative recovery time, while reducing the consumption of X-ray to a certain extent.
Description
Technical field
The present invention relates to Medical Robot field, and in particular to a kind of minimally invasive reduction of the fracture machine people in mixing joint.
Background technology
Fracture is frequently-occurring disease, common disease in wound field, and the reduction of the fracture has that hand operation difficulty is big, operation is laborious
And it is difficult to the problems such as stabilization is held, the particularly reduction of the fracture of joint after resetting.
Traditional closed reduction method, the method that percutaneous or small otch is fixed needs X ray image Fluoroscopy location in art, cures
Raw and patient is easily radiated, and can not be by IA broken bone split.And open reduction is easily destroyed around fracture
Blood vessel and soft tissue, cause the problems such as bleeding is more, postoperative infection nonunion causes recovery time long.
In face of the intrinsic defect of open reduction, domestic scholars start to explore under fluoroscopy to fracture or abarticulation portion
Position carries out mechanization reset, to be desirable to realize fracture or reduction of joint dislocation in the case of without open reduction
Accurately.But current reduction of the fracture machine people motion underaction avoidance ability, easily rubs with in-vivo tissue organ,
Cause secondary injury.Therefore it is badly in need of a kind of minimally invasive reduction of the fracture machine people.
The content of the invention
In order to solve the above technical problems, the present invention provides a kind of minimally invasive reduction of the fracture machine people, it moves flexible, avoidance
Ability is strong, can effectively mitigate painful in patient's art, shorten post-operative recovery time, while reducing the use of X-ray to a certain extent
Amount.
The invention provides a kind of minimally invasive reduction of the fracture machine people, it includes：Computer, discrete articulated mechanical arm, company
Continuous body flexible joint, Miniature surgical operation device and IMAQ reponse system；Wherein, the top of the non-individual body flexible joint
Described image collection reponse system and the Miniature surgical operation device are installed, end is connected with the discrete articulated mechanical arm,
The non-individual body flexible joint connects the computer, and controls bending by the computer.
In certain embodiments, be preferably, the non-individual body flexible joint include non-individual body moving cell, driver element and
Box unit is controlled, one end of the driver element is connected with the discrete articulated mechanical arm, the other end is moved with the non-individual body
Unit is connected, and the non-individual body moving cell is formed by connecting by multiple flexible sections, and the driver element is by driving rope control
Make and drive the non-individual body motion unit bending, the control box unit passes through cable and the driver element and the calculating
Machine is connected.
In certain embodiments, it is preferably that the section is hollow cylindrical body, the junction of the adjacent column hollow body
And connection forms the two ends of the non-individual body flexible joint and is equipped with bulge loop, provided with three equally distributed through holes on bulge loop,
Driving rope it has been respectively fixedly connected with each through hole, the bearing of trend straight line of the other end of the driving rope along the hollow cylindrical body
The driver element is connected through the through hole on bulge loop.
In certain embodiments, it is preferably, the bulge loop is made into integration with the hollow cylindrical body or detachably installed.
In certain embodiments, it is preferably that the hollow cylindrical body is made of Nitinol pipe or spring, the driving
Rope is made of Nitinol.
In certain embodiments, it is preferably that the driver element includes multiple motors or hydraulic stem, each driving rope point
Each motor or hydraulic stem Dui Ying not connected.
In certain embodiments, it is preferably, filled with gasbag or liquid capsule bag in the non-individual body moving cell.
In certain embodiments, it is preferably that the gasbag or liquid capsule bag be not on the whole provided with by gasbag or liquid capsule bag
Completely enclosed barrier film, the spacing distance of the barrier film is identical with the correspondence segmental length.
In certain embodiments, it is preferably that the Miniature surgical operation device is surgical drill or small-sized clamping jaw, its line
Part is connected with the control box unit.
In certain embodiments, it is preferably that described IMAQ reponse system includes minisize pick-up head and illumination LED,
Its tie-portion is connected with the computer.
The present invention provides a kind of minimally invasive reduction of the fracture machine people, and it is provided with non-individual body flexible joint, and non-individual body is flexible
Joint can flexibly be bent under the control of the computer, and can effectively control the bending direction and degree of crook of non-individual body flexible joint.
It moves flexible, avoidance ability by force, can effectively mitigate painful in patient's art, shorten post-operative recovery time, while to a certain degree
The upper consumption for reducing X-ray.
Brief description of the drawings
Fig. 1 is the structural representation of one embodiment of the present invention.
Fig. 2 is the structural representation of non-individual body moving cell in one embodiment of the present invention.
Fig. 3 is the cross-sectional of non-individual body moving cell junction in Fig. 2.
Fig. 4 is the three-dimensional cartesian coordinate system of non-individual body moving cell in one embodiment of the present invention.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Turn next to accompanying drawing and describe the present invention in detail in conjunction with the embodiments, accompanying drawing is only for reference and explanation is used, not structure
The limitation of paired scope of patent protection of the present invention.
In order to solve current reduction of the fracture machine people motion underaction avoidance ability, easily sent out with in-vivo tissue organ
Raw friction, causes the deficiencies such as secondary injury, and the present invention provides a kind of minimally invasive reduction of the fracture machine people.
Reduction of the fracture machine people, including：Computer, discrete articulated mechanical arm, non-individual body flexible joint, Miniature surgical behaviour
Make device and IMAQ reponse system；Wherein, described image collection feedback system is installed on the top of the non-individual body flexible joint
System and the Miniature surgical operation device, end are connected with the discrete articulated mechanical arm, the non-individual body flexible joint connection
The computer, and bending is controlled by the computer.
Specifically, as shown in figure 1, reduction of the fracture machine people, it includes：Computer 1, discrete articulated mechanical arm 2, non-individual body
Flexible joint, Miniature surgical operation device 4 and IMAQ reponse system 3；
The end of non-individual body flexible joint is connected with discrete articulated mechanical arm, top install IMAQ reponse system with it is micro-
Type operation technique device.Wherein, discrete articulated mechanical arm can use any one commercialized mechanical arm system.
Non-individual body flexible joint includes non-individual body moving cell 5, and driver element 6 controls box unit 7；The one of driver element 6
End is fixedly connected with discrete articulated mechanical arm 2, can use mode connects for screw, and the other end is fixedly connected with non-individual body moving cell 5, even
Continuous body moving cell 5 is formed by connecting by multiple flexible sections, and driver element 6 is by driving rope to control and driving non-individual body to move
Unit bending, control box unit 7 is connected by cable with driver element 6, and control box unit 7 and computer 1 are connected.
Non-individual body moving cell is formed by connecting by multiple sections, and the quantity of section can be adjusted according to demand.Such as Fig. 2 institutes
Show, each section is flexible hollow cylindrical body 8, can be made of materials such as Nitinol pipe or springs.Each adjacent circle
The two ends that the junction of post hollow body 8 and connection form the non-individual body flexible joint are provided with bulge loop 9, provided with symmetrical on bulge loop
Three through holes of distribution, when installing hollow cylindrical body connection, if the through hole on all bulge loops is in a straight line.On each through hole
One end of driving rope 10 is respectively fixedly connected with, the bearing of trend straight line of the other end of the driving rope 10 along the hollow cylindrical body is worn
The through hole crossed on bulge loop connects the driver element.
Wherein, bulge loop can integrally be synthesized with hollow cylindrical body, and bulge loop also can detachably be installed with hollow cylindrical body, using spiral shell
Bolt is fixed on the end of the hollow cylindrical body.
Specifically, forming the two ends of the non-individual body flexible joint in the junction of each adjacent column hollow body and connection
Provided with bulge loop, bulge loop can be designed with each hollow cylindrical body two ends, adjacent hollow cylindrical body 8 is connected by bulge loop, can
Two bulge loops are connected using mode connects for screw；Also can be the one of each hollow cylindrical body for being placed in non-individual body flexible joint interlude
End is provided with bulge loop, and the hollow cylindrical body for being placed in two ends is that two ends are designed with bulge loop；During installation, there are one end of bulge loop and another cylinder
One end that hollow body does not have bulge loop is connected, so, the hollow cylindrical body two at the non-individual body moving cell two ends after whole connection
Individual termination is designed with bulge loop.
Driving rope is fixedly connected with as shown in figure 3, being provided with bulge loop 9 on three equally distributed through holes 11, through hole 11, such as
Shown in Fig. 3, three through holes are offered on each bulge loop, three through holes are each passed through in direction along a straight line for three driving ropes；
Driving rope is set neatly to place, it is to avoid driving rope is chaotic, the generation of the phenomenon such as knotting.When provided with n hollow cylindrical body, the i-th (i
≤ n) section driving rope sequentially passes through through hole on to driver element direction i+1 section to the n-th section bulge loop, and one end is bundled in
On the corresponding through hole of i-th section bulge loop, the other end is connected with driver element.So, each hollow cylindrical body is that section is connected with
Three driving ropes, hollow cylindrical body is made of flexible material, pulls driving rope, that is, shrinks the length of driving rope, can make connection
Plastic deformation occurs for hollow cylindrical body, and contracted length is different, and the degree for deforming hollow cylindrical body is different, and is three on bulge loop
Individual equally distributed application point, the direction bending that hollow cylindrical body can be allowed to be bent required for installing, degree of crook also can be by driving
The length that running rope shrinks effectively is controlled.Bulge loop setting on the one hand be for connect two adjacent hollow cylindrical bodies, it is another
Aspect is used to set the application point that hollow cylindrical body can be made to deform under driving rope effect.
Rope is driven to be prepared using Nitinol or the preferable material of other intensity, to ensure that driving rope had been used for a long time
Will not be ineffective in journey.
Make a reservation for become after degree to make non-individual body moving cell reach in use, do not continue to deform, even
Provided with gasbag or liquid capsule bag in continuous body moving cell.As shown in Figure 3, gasbag 12 or liquid capsule bag, which can be set, three, single
Individual gasbag or liquid capsule bag be whole installation, also can by each hollow cylindrical body mid-length be provided with not by gasbag or liquid capsule
Whole gasbag or liquid capsule bag are partitioned into and each cylinder hollow body phase by the completely enclosed barrier film of bag, the barrier film not completely enclosed
Same length, reduces its influence to hollow cylindrical body completeness.When gasbag or liquid capsule bag unaerated or liquid, non-individual body
Moving cell Free Transform under the drawing of driving rope.When needing to maintain a certain case of bending, such as ensure to connect during broken bone gripping
Continuous body flexible joint is indeformable, can be full of gasbag or liquid capsule bag, non-individual body moving cell rigidity increase, non-individual body flexibility is closed
Section becomes non-deformable rigid body.
Driver element is made up of motor or hydraulic stem.Each three driving rope three motors of correspondence in joint or hydraulic stem, when
During provided with n hollow cylindrical body, one has 3n motor or hydraulic stem, passes through motor rotation or hydraulic stem every drive of flexible adjustment
Running rope length.Motor or hydraulic stem are fixed on driver element, and operational order is converted into motor or drive rod motion according to algorithm
Instruction, is run by computer by control cabinet controlled motor.
Control box unit to include power supply and related electronic devices, be connected by cable with the driver element and computer.
There is the basic control element such as differential amplifier circuit, gating circuit, motor driver in control cabinet, and utilize power supply to driver element
Power supply.
Miniature surgical operation device, is installed on non-individual body flexible unit top.It can need to install according to different operations, such as hand
Art drill bit, small-sized clamping jaw etc., tie-portion by wire through after the hollow position in the middle of hollow cylindrical body with control box unit phase
Even.
IMAQ reponse system, is installed on non-individual body flexible unit top.Including minisize pick-up head and illumination LED, its
Tie-portion is connected after the hollow position in the middle of hollow cylindrical body is passed through by wire with computer, in minisize pick-up head acquisition volume
Simultaneously Real-time Feedback gives operation doctor to image.
Non-individual body moving cell can driving rope drawing under Free Transform, wherein, single flexible section bending control calculate
Method is as follows：
When non-individual body moving cell enters human body, it is necessary to flexural deformation, to adapt to labyrinth in human body.Single cylinder
The angle of bend of hollow body and the direction of bending, by three driving rope controls.By taking the i-th section as an example, the section and i+1 section
Bulge loop fix.Because the length of hollow cylindrical body is constant, L is set to, it is assumed that shape is approximately one section after each section of bending
Circular arc, wherein O point are the centers of circle of bulge loop.We set up the three-dimensional cartesian coordinate system shown in Fig. 4 on bulge loop, and O is used as coordinate system
Origin, regulation bulge loop normal vector direction is Z axis.The tie point of bulge loop and three driving ropes is uniformly distributed.Bulge loop center O and first
The line of root driving rope is X-axis, then other two and X-axis angle are ± 120 °, and Y-axis is perpendicular to XZ planes.We represent behaviour with α
Author wishes the direction of non-individual body flexible joint bending, and β represents to wish the angle of section bending.Three driving ropes and bending direction
Angle respectively be designated as θ 1, θ 2, θ 3, then θ 1=α；+ 120 ° of θ 2=α；α -120 ° of θ 3=.Restricted to any one driving in the bulge loop center of circle
The distance of tie point is r.Bend the radius R=L/ β of segmental arc.There is fixed relationship：
Δ L=L '-L=(R-rcos θ) β-L=-r β cos θ
By θ 1, θ 2, θ 3 brings θ into, obtains 3 rope length knots modification Δ L, that is, the amount for needing three driver elements to change, and passes through
Motor, which rotates, or hydraulic stem is flexible realizes.
Wherein, α, β parameter are provided by operator in simple joint motion, what operator obtained according to IMAQ reponse system
Internal information, it may be determined that the bending direction α of non-individual body flexible joint simultaneously makes compliant motion unit bend β, and it is suitable to reach
Stop behind position.Operator is rationally performed the operation using the Miniature surgical operation device of joint end afterwards.It is larger negative when needing
The moving operation (the reset operation of such as fracture) of load, liquid capsule bag or gasbag are full of liquid or gas is made, and non-individual body flexibility is closed
Rigidity increase is saved, the motion of heavy load is realized in not redeformation by discrete articulated mechanical arm.
Non-individual body flexible joint combination control method
Illustrate that it jointly controls flow by taking the non-individual body moving cell with n continuous sections as an example：Non-individual body is moved
Unit since the section that is connected with driver element successively marked as section n, n-1 ..., 1, during operation：
Ith, operator is by computer input and adjustment bending direction α and angle of bend β, and driving rope length knots modification is according to before
State part described.Bent using the feedback control section of non-individual body flexible joint top IMAQ reponse system, point to target
Position；
IIth, control discrete articulated mechanical arm to the internal segment distance of precession one, specific distance is equal to the length of single section
L, at the same time, section i are bent according to the bending direction α and angle of bend β at current time section i-1, and (section 2 becomes
The bending direction and angle of bend of section 1, section 3 become the bending direction and angle of bend of section 2, and the rest may be inferred, does not send out
Then bending direction and angle are all that 0) section 1 is then changed into straight configuration for raw bending, it is ensured that IMAQ reponse system is not towards
Become；
IIIth, above-mentioned I, II process is repeated, until Miniature surgical operation device enters target location, then corresponding hand can be carried out
Art is operated.
The reduction of the fracture machine of the present invention manually makees process：
By taking the reattachment surgery of a fracture of scapula as an example.This kind of patient's progress traditional operation needs shoulder tissue is complete
Cut, to allow doctor to observe and perform the operation.And the present invention is used, doctor only can cut in shoulder allows non-individual body moving cell
The small wound passed through, carries out the blessing and reset of broken bone under IMAQ reponse system.Comparing traditional operation can effectively mitigate
It is painful in patient's art, shorten post-operative recovery time, while reducing the consumption of X-ray to a certain extent.With machinery is used alone
Change reduction of the fracture system compared to higher flexibility is possessed, reduce secondary injury.The course of work of the system is as follows：
Ith, patient's shoulder and non-individual body moving cell are partially completed disinfection；
IIth, initialized after system switches on power, motor or hydraulic stem zero, make non-individual body motion single in driver element
Member turns into linear state (each arthrogryposis direction is 0 with angle of bend)；
IIIth, doctor cuts a small wound passed through for non-individual body moving cell in patient's shoulder, operates discrete type machine
It is a bit of that non-individual body moving cell is sent into wound by people.
IVth, doctor's operation computer, sends non-individual body flexible joint top Miniature surgical operation device into surgical target position
Put, process is seen description above, find broken bone in omoplate socket.
Vth, doctor clamps broken bone using small-sized clamping jaw, and is resetted.If necessary to larger reset force, then need by
Liquid capsule bag be full of, increase rigidity, then using discrete humanoid robot move non-individual body flexible joint together with clamping broken bone together
Reset.
The above described is only a preferred embodiment of the present invention, being not the limitation that other forms are done to the present invention, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But it is every without departing from technical solution of the present invention content, the technical spirit according to the present invention is to above example institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection domain of technical solution of the present invention.
Claims (7)
1. a kind of minimally invasive reduction of the fracture machine people, it includes：It is computer, discrete articulated mechanical arm, non-individual body flexible joint, micro-
Type operation technique device and IMAQ reponse system；Wherein, the computer connects the non-individual body flexible joint, the company
Described image collection reponse system and the Miniature surgical operation device are installed in the top of continuous body flexible joint, end with it is described from
Scattered articulated mechanical arm is fixedly connected, and the non-individual body flexible joint is flexible；Being filled with the non-individual body moving cell is used for
Increase the gasbag or liquid capsule bag of the non-individual body moving cell rigidity；
The non-individual body flexible joint includes non-individual body moving cell, driver element and control box unit, the driver element
One end is connected with the discrete articulated mechanical arm, and the other end is connected with the non-individual body moving cell, and the non-individual body motion is single
Member is formed by connecting by multiple flexible sections, and the driver element is by driving rope to control and driving the non-individual body moving cell
Bending, the control box unit is connected by cable with the driver element and the computer；
The section is hollow cylindrical body, and it is flexible that the junction of the adjacent hollow cylindrical body and connection form the non-individual body
The two ends in joint are equipped with bulge loop, provided with three equally distributed through holes on bulge loop, have been respectively fixedly connected with each through hole
Driving rope, the through hole connection that the bearing of trend of the other end of the driving rope along the hollow cylindrical body is passed straight through on bulge loop is described
Driver element.
2. reduction of the fracture machine people as claimed in claim 1, it is characterised in that the bulge loop and hollow cylindrical body one
It is made or detachably installs.
3. reduction of the fracture machine people as claimed in claim 1, it is characterised in that the hollow cylindrical body uses Nitinol pipe
Or spring is made, the driving rope is made of Nitinol.
4. reduction of the fracture machine people as claimed in claim 1, it is characterised in that the driver element includes multiple motors or liquid
Depression bar, each driving rope is connected respectively each motor or hydraulic stem.
5. reduction of the fracture machine people as claimed in claim 1, it is characterised in that the gasbag or liquid capsule bag are provided with the whole
Not by gasbag or the completely enclosed barrier film of liquid capsule bag, the spacing distance of the barrier film is identical with the correspondence segmental length.
6. reduction of the fracture machine people as claimed in claim 1, it is characterised in that the Miniature surgical operation device is surgical drill
Head or small-sized clamping jaw, its tie-portion are connected with the control box unit.
7. reduction of the fracture machine people as claimed in claim 1, it is characterised in that described IMAQ reponse system includes micro-
Type camera and illumination LED, its tie-portion are connected with the computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510744873.8A CN105342704B (en) | 2015-11-05 | 2015-11-05 | A kind of minimally invasive reduction of the fracture machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510744873.8A CN105342704B (en) | 2015-11-05 | 2015-11-05 | A kind of minimally invasive reduction of the fracture machine people |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105342704A CN105342704A (en) | 2016-02-24 |
| CN105342704B true CN105342704B (en) | 2017-11-07 |
Family
ID=55318878
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510744873.8A Active CN105342704B (en) | 2015-11-05 | 2015-11-05 | A kind of minimally invasive reduction of the fracture machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105342704B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606364B (en) * | 2016-03-23 | 2018-10-26 | 成都柏森松传感技术有限公司 | A kind of monitoring device of bearing running experiment |
| CN107510505B (en) * | 2017-07-17 | 2019-10-18 | 北京理工大学 | Flexible installing mechanism for operation of opening cranium robot arm end |
| CN109770840A (en) * | 2019-01-24 | 2019-05-21 | 浙江工业大学 | A kind of flexible gastroscope of stiffness variable |
| CN113952008B (en) * | 2021-12-23 | 2022-05-24 | 真健康（北京）医疗科技有限公司 | Cross-drive type puncture needle inserting mechanism and needle puncturing device |
| CN114748110A (en) * | 2022-04-01 | 2022-07-15 | 天津大学 | Flexible joint and flexible instrument arm |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102802551A (en) * | 2009-05-29 | 2012-11-28 | 南洋理工大学 | Robotic system for flexible endoscopy |
| CN202568432U (en) * | 2012-05-09 | 2012-12-05 | 上海理工大学 | Bending mechanism for multi-degree of freedom transmission |
| CN103315781A (en) * | 2013-07-10 | 2013-09-25 | 上海交通大学 | Endoscope noninvasive surgery system |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7930065B2 (en) * | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
| JP2008188113A (en) * | 2007-02-01 | 2008-08-21 | Olympus Corp | Operational field securing device |
| WO2009094670A1 (en) * | 2008-01-25 | 2009-07-30 | The Trustees Of Columbia University In The City Of New York | Systems and methods for force sensing in a robot |
-
2015
- 2015-11-05 CN CN201510744873.8A patent/CN105342704B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102802551A (en) * | 2009-05-29 | 2012-11-28 | 南洋理工大学 | Robotic system for flexible endoscopy |
| CN202568432U (en) * | 2012-05-09 | 2012-12-05 | 上海理工大学 | Bending mechanism for multi-degree of freedom transmission |
| CN103315781A (en) * | 2013-07-10 | 2013-09-25 | 上海交通大学 | Endoscope noninvasive surgery system |
| CN103565529A (en) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | Robot-assisted multifunctional instrument arm for minimally invasive surgery |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105342704A (en) | 2016-02-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105342704B (en) | A kind of minimally invasive reduction of the fracture machine people | |
| Li et al. | A robotic system with multichannel flexible parallel manipulators for single port access surgery | |
| JP5667175B2 (en) | Robot arm | |
| CN102639080B (en) | Minimally invasive laparoscopic surgical pliers | |
| Bajo et al. | Integration and preliminary evaluation of an insertable robotic effectors platform for single port access surgery | |
| US9889568B2 (en) | Compact robotic wrist | |
| CN110087559A (en) | Robotic surgical system with the disconnected connection field of optional motion control | |
| CN104958085B (en) | Surgery systems apparatus is installed | |
| Kang et al. | Endobot: a robotic assistant in minimally invasive surgeries | |
| Kim et al. | S-surge: Novel portable surgical robot with multiaxis force-sensing capability for minimally invasive surgery | |
| CN110248616A (en) | Robotic surgical system and method for joint motions calibration | |
| CN109688961A (en) | Area of computer aided remotely operates surgery systems and method | |
| CN107949338A (en) | Surgical end effector with mechanical dominance | |
| CN106073833B (en) | A kind of Minimally Invasive Surgery instrument flexible joint driving device and its method | |
| JP2020536685A (en) | Systems and methods for controlling robot wrists | |
| Wu et al. | Design of a modular continuum-articulated laparoscopic robotic tool with decoupled kinematics | |
| Wang et al. | Suturing and tying knots assisted by a surgical robot system in laryngeal MIS | |
| CN103006329B (en) | Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof | |
| Saeedi-Hosseiny et al. | A surgical robotic system for long-bone fracture alignment: Prototyping and cadaver study | |
| Jin et al. | Design and kinematic analysis of a pedicle screws surgical robot | |
| Li et al. | Development of a novel mechanism for minimally invasive surgery | |
| Chen et al. | Kinematic optimization of a continuum surgical manipulator | |
| KR20220082903A (en) | Adjustment of joint space velocity of surgical robot arm | |
| Chen et al. | Automatic field of view control of laparoscopes with soft RCM constraints | |
| Gao et al. | A study on autonomous suturing task assignment in robot‐assisted minimally invasive surgery |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20160224 Assignee: BEIJING LUOSEN BOTE TECHNOLOGY Co.,Ltd. Assignor: BEIHANG University Contract record no.: X2021990000210 Denomination of invention: A minimally invasive robot for fracture reduction Granted publication date: 20171107 License type: Exclusive License Record date: 20210412 |
|
| EE01 | Entry into force of recordation of patent licensing contract |