CN107569286A - A kind of high-precision medical manipulator - Google Patents
A kind of high-precision medical manipulator Download PDFInfo
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- CN107569286A CN107569286A CN201710997826.3A CN201710997826A CN107569286A CN 107569286 A CN107569286 A CN 107569286A CN 201710997826 A CN201710997826 A CN 201710997826A CN 107569286 A CN107569286 A CN 107569286A
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- bar
- revolute pair
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- straight pin
- sliding block
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Abstract
High-precision medical manipulator,The one end of bar one is connected to the other end in frame and is connected with the one end of bar two,The other end of bar two is connected with the one end of bar three,The other end of bar three is provided with axial slide,The one end of bar four is fixedly connected on swing arm,The other end of bar four is connected to the middle part of bar three,Bar Aug. 1st end is connected to the other end in frame and is connected with the one end of bar nine,The other end of bar nine is connected for first jiao with set square,Second jiao one of set square is connected with one end of bar ten,The other end two of bar ten is connected with first pull bar one end,The first pull bar other end is fixedly connected on ring rail plate,The one end of bar 11 is connected to the other end in frame and is connected with the one end of bar 12,The other end of bar 12 is connected with second pull bar one end,The second pull bar other end, which is fixedly connected on, to be promoted on ring,Rotating shaft one end is fixedly mounted with driven bearing inner race,Driven bearing outer ring is fixed on swing arm,The rotating shaft other end,First jig arm root and the second jig arm root are linked together by composite rotation pair 21.
Description
Technical field
The present invention relates to mechanical field, specifically a kind of high-precision medical manipulator.
Background technology
In present operating room, two to three surgeons, an anesthetist and several nurses are typically had, even most
Simple operation is also required to so more people.Most of surgical operations needs nearly ten are personal in operating room.Operating robot is complete
Portion is all automation, and this can reduce operating personnel to greatest extent.Look forward to future, surgical operation may only need one
Surgeon, an anesthetist and one to two nurses.In this spacious operating room, doctor is sitting in operating room or hand
Before computer console outside art room, complete to be previously required to the operation that many people could complete using operating robot.Machine
People also makes doctor up to saving muscle power in the surgical procedure of several hours.Surgeon's meeting in so long surgical procedure
It is very tired out, as a result can expert can tremble, even if most stable of human hand also be less than operating robot arm.
The content of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of high-precision medical manipulator.
To achieve these goals, present invention employs following technical scheme：
High-precision medical manipulator, including bar one, bar two, bar three, bar four, bar five, bar six, bar seven, bar eight, bar nine,
Bar ten, bar 11, bar 12, set square, the first straight pin, the second straight pin, the 3rd straight pin, the first pull bar, the first limit
Position sleeve pipe, ring rail plate, driven bearing, the first sliding block, the second drive link, rotating shaft, the first clamping limb, the second clamping limb, first pass
The rolling of lever, dipper, the second limit casing, the second pull bar, swing arm, the first sliding block, the inner ring of active bearings, active bearings
Pearl, the outer ring of active bearings, spheroid, cylindrical screw line groove, spring, the second sliding block and promotion ring；
The one end of bar one is connected in frame by revolute pair one, and the other end of bar one is connected by moving axially secondary and one end of bar two
Connect to form expansion link, the other end of bar two is connected by revolute pair two with the one end of bar three, and the other end of bar three is provided with axial slide, bar four
One end is fixedly connected on swing arm, and the other end of bar four is connected to the middle part of bar three by revolute pair three,
The one end of bar five is connected in frame by revolute pair four, and the other end of bar five is connected by moving axially secondary and one end of bar six
Connect to form expansion link, the other end of bar six is connected by revolute pair five with bar July 1st end, and the other end of bar seven is connected by revolute pair six
On bar one,
Bar Aug. 1st end is connected in frame by revolute pair seven, and the other end of bar eight is connected by revolute pair eight and the one end of bar nine
Connect, the other end of bar nine is connected for first jiao by revolute pair nine with set square, and second jiao of set square passes through revolute pair 11 and bar ten
One end connection, the other end of bar ten is connected by revolute pair 12 with first pull bar one end, and the first pull bar other end is consolidated
Surely be connected on ring rail plate, the first limit casing is sleeved on the first pull bar, while the first limit casing be fixedly mounted on it is dynamic
On arm, set square the third angle is connected on bar one by revolute pair ten；
The one end of bar 11 is connected in frame by revolute pair 13, and the other end of bar 11 passes through revolute pair 14 and bar ten
Two one end are connected, and the other end of bar 12 is connected by revolute pair 15 with second pull bar one end, and the second pull bar other end is consolidated
Surely it is connected to and promotes on ring, the second limit casing is sleeved on the second pull bar, and the second limit casing is fixed on swing arm,
Rotating shaft outside wall surface is provided with cylindrical screw line groove, and rotating shaft one end is fixedly mounted with driven bearing inner race, driven shaft
Bearing outer-ring is fixed on swing arm, and the rotating shaft other end, the first jig arm root and the second jig arm root pass through composite rotation pair 20
One links together；
Swing arm one end is connected on bar five by revolute pair 20, and the swing arm other end is by moving axially secondary and dipper one end
Connection forms expansion link, and the dipper other end is fixedly connected on the inner ring of active bearings, is fixed with the inside of the inner ring of active bearings
Spheroid, spheroid are inlaid in cylindrical screw line groove；
Promoting ring set, active bearings outer ring is provided with axial slide, and the second sliding block is inlaid on active bearings outer ring
In the axial slide of active bearings outer ring, the second sliding block side is promotes ring, and the second sliding block opposite side is spring, and spring one end is solid
It is scheduled on the second sliding block, spring opposite side is fixed on active bearings outer ring, and first drive link one end passes through revolute pair 24
It is connected on the second sliding block, the first drive link other end is connected in the second jig arm by revolute pair 25,
Second drive link one end is connected on the first sliding block, and the first sliding block is inlaid in the track slot of ring rail plate；Second transmission
The bar other end is connected in the first jig arm by revolute pair 22；
Bar eight is provided with axial slide, and first straight pin one end is fixed on bar six, and the first straight pin other end is inlaid in
In the axial slide of bar eight,
Bar 11 is provided with axial slide, and second straight pin one end is fixed on bar two, second straight pin other end setting-in
In axial slide on bar 11,
3rd straight pin one end is fixed on dipper, and the 4th straight pin other end is inlaid in the axial slide of bar three,
Oil cylinder one end is connected in frame by revolute pair 31, and the oil cylinder other end is connected to by revolute pair 32
On second limit casing.
Further, in addition to interior spacing ring and outer spacing ring, interior spacing ring are fixed on driven bearing outer ring, outer spacing
Ring is fixed on swing arm, and the annular space between interior spacing ring and outer spacing ring is annular stop track, and the second drive link passes through
Annular stop track.
Further, swing arm, dipper and the diameter parallel of rotating shaft or conllinear.
Further, the track slot section of ring rail plate is T-shaped that track slot lumen width is more than track slot exit width, and first slides
Block is arranged in track slot inner chamber.
Further, revolute pair four is driven by servomotor one, and/or revolute pair seven is driven by servomotor two, and/or
Revolute pair one is driven by servomotor three, and/or revolute pair 13 is driven by servomotor four, and/or revolute pair 31 by
Servomotor five drives.
Further, the bar three is C-shaped-rod or arch bar.
Further, the first straight pin, the cylinder of the second straight pin and the 3rd straight pin and cell wall form higher pair.
Further, the first straight pin is vertical with bar six, the second straight pin is vertical with bar two, the 3rd straight pin and dipper hang down
Directly.
Compared with prior art, the beneficial effect that the present invention possesses：
With the development of motor technology and the raising of control technology, controllable mechanical mechanism provides wide for engineering machinery
Development space, not only have that working space big, flexible movements, reliability are high by motor-driven multiple degrees of freedom controllable mechanism,
Also there is the advantages that manufacturing cost is low, and maintaining is simple simultaneously.
Brief description of the drawings
Fig. 1 is the overall structure diagram of controllable mechanism transfer robot of the present invention.
Fig. 2 is swing arm, dipper, rotating shaft, the actuator and its attached zero of controllable mechanism transfer robot of the present invention
The assembling schematic diagram of part.
Fig. 3 is active bearings and its assembling signal of accessory of controllable mechanism transfer robot of the present invention
Figure.
Fig. 4 be the active bearings outer ring of controllable mechanism transfer robot of the present invention, active bearings outer ring upper hopper chute,
Assembling schematic diagram between second sliding block.
Fig. 5 is the rotating shaft of controllable mechanism transfer robot of the present invention, bearing, swing arm, the second pull bar, interior spacing
The assembling schematic diagram of ring and outer spacing ring.
Fig. 6 is ring rail plate and the first sliding block, pull bar, the first push-and-pull of controllable mechanism transfer robot of the present invention
Assembling schematic diagram between bar, swing arm, the second pull bar.
Fig. 7 is that the assembling of the bar eight, bar five, the straight pin of bar six and first of controllable mechanism transfer robot of the present invention is shown
It is intended to.
Fig. 8 is the rotating shaft of controllable mechanism transfer robot of the present invention, bearing, swing arm, interior spacing ring and outer spacing
The assembling schematic diagram of ring.In figure, 40 be the support bar being fixed on interior spacing ring on bearing outer ring.
Embodiment
Technical scheme is further elaborated below by embodiment.
Embodiment 1
High-precision medical manipulator, including bar 1, bar 22, bar 33, bar 44, bar 55, bar 66, bar 77, bar eight
8th, bar 99, bar 10, bar 11, bar 12, set square 83, the first straight pin 51, the second straight pin 52, the 3rd cylinder
Pin 53, the first pull bar 85a, the first limit casing 84a, ring rail plate 89, driven bearing 93, the second drive link 72, rotating shaft 90,
One sliding block 96a, the first clamping limb 98a, the second clamping limb 98b, the first drive link 71, dipper 92, the second limit casing 84b,
Two pull bar 85b, swing arm 91, the first sliding block 96a, the inner ring 73 of active bearings, the ball 75 of active bearings, active bearings it is outer
Circle 74, spheroid 96, cylindrical screw line groove 97, spring 81, the second sliding block 96b and promotion ring 80；
The one end of bar 1 is connected in frame 99 by revolute pair 1, and the other end of bar 1 is by moving axially secondary and bar
22 one end are connected to form expansion link, and the other end of bar 22 is connected by revolute pair 2 102 with the one end of bar 33, and the other end of bar 33 is set
There is axial slide, the one end of bar 44 is fixedly connected on swing arm 91, and the other end of bar 44 is connected to bar 33 by revolute pair 3 103
Middle part,
The one end of bar 55 is connected in frame 99 by revolute pair 4 104, and the other end of bar 55 is by moving axially secondary and bar
66 one end are connected to form expansion link, and the other end of bar 66 is connected by revolute pair 5 105 with the one end of bar 77, and the other end of bar 77 leads to
Revolute pair 6 106 is crossed to be connected on bar 1,
The one end of bar 88 is connected in frame 99 by revolute pair 7 107, and the other end of bar 88 passes through revolute pair 8 108 and bar
99 one end are connected, and the other end of bar 99 is connected for 83 first jiaos by revolute pair 9 109 with set square, and 83 second jiaos of set square passes through
Revolute pair 11 is connected with one end of bar 10, and the other end of bar 10 passes through the pull bar of revolute pair 12 and first
85a one end is connected, and the first pull bar 85a other ends are fixedly connected on ring rail plate 89, and the first limit casing 84a is sleeved on first
On pull bar 85a, while the first limit casing 84a is fixedly mounted on swing arm 91, and the third angle of set square 83 passes through revolute pair ten
110 are connected on bar 1；
The one end of bar 11 is connected in frame 99 by revolute pair 13, and the other end of bar 11 passes through revolute pair
14 are connected with the one end of bar 12, and the other end of bar 12 passes through the pull bar 85b one end of revolute pair 15 and second
Connection, the second pull bar 85b other ends, which are fixedly connected on, to be promoted on ring 80, and the second limit casing 84b is sleeved on the second pull bar
On 85b, the second limit casing 84b is fixed on swing arm 91,
The outside wall surface of rotating shaft 90 is provided with cylindrical screw line groove 97, and the one end of rotating shaft 90 is fixed with the driven inner ring of bearing 93 pacifies
Dress, the driven outer ring of bearing 93 are fixed on swing arm 91, the other end of rotating shaft 90, the first jig arm 98a roots and the second jig arm 98b roots
Portion is linked together by composite rotation pair 21；
The one end of swing arm 91 is connected on bar 55 by revolute pair 20, the other end of swing arm 91 by move axially it is secondary with
The one end of dipper 92 is connected to form expansion link, and the other end of dipper 92 is fixedly connected on the inner ring 73 of active bearings, active bearings
The inner side of inner ring 73 is fixed with spheroid 96, and spheroid 96 is inlaid in cylindrical screw line groove 97；
Ring 80 is promoted to be sleeved on active bearings outer ring 74, active bearings outer ring 74 is provided with axial slide, the second sliding block
96b is inlaid in the axial slide of active bearings outer ring 74, and the second sliding block 96b sides are promotion ring 80, and the second sliding block 96b is another
Side is spring 81, and the one end of spring 81 is fixed on the second sliding block 96b, and the opposite side of spring 81 is fixed on active bearings outer ring 74,
The one end of first drive link 71 is connected on the second sliding block 96b by revolute pair 24, and the other end of the first drive link 71 passes through
Revolute pair 25 is connected on the second jig arm 98b,
The one end of second drive link 72 is connected on the first sliding block 96a, and the first sliding block 96a is inlaid in the track slot of ring rail plate 89
In；The other end of second drive link 72 is connected on the first jig arm 98a by revolute pair 22；
Bar 88 is provided with axial slide, and the one end of the first straight pin 51 is fixed on bar 66, the other end of the first straight pin 51
It is inlaid in the axial slide of bar 88,
Bar 11 is provided with axial slide, and the one end of the second straight pin 52 is fixed on bar 22, and the second straight pin 52 is another
End is inlaid in the axial slide on bar 11,
The one end of 3rd straight pin 53 is fixed on dipper 92, and the axial direction that the other end of the 4th straight pin 54 is inlaid in bar 33 is sliding
In groove,
The one end of oil cylinder 79 is connected in frame 99 by revolute pair 31, and the other end of oil cylinder 79 passes through revolute pair three
12 are connected on the second limit casing 84b.
Further, in addition to interior spacing ring 94a and outer spacing ring 94b, interior spacing ring 94a are fixed on outside driven bearing 93
On circle, outer spacing ring 94b is fixed on swing arm 91, and the annular space between interior spacing ring 94a and outer spacing ring 94b limits for annular
Position track, the second drive link 72 pass through annular stop track.
Further, the diameter parallel or conllinear of swing arm 91, dipper 92 and rotating shaft 90.
Further, the track slot section of ring rail plate 89 is T-shaped, and track slot lumen width is more than track slot exit width, and first
Sliding block 96a is arranged in track slot inner chamber.
Further, revolute pair 4 104 is driven by servomotor one, and/or revolute pair 7 107 is driven by servomotor two
Move, and/or revolute pair 1 is driven by servomotor three, and/or revolute pair 13 is driven by servomotor four, and/or
Revolute pair 31 is driven by servomotor five.
Further, the bar 33 is C-shaped-rod or arch bar.
Further, the cylinder and cell wall of the first straight pin 51, the second straight pin 52 and the 3rd straight pin 53 form higher pair.
Further, the first straight pin 51 is vertical with bar 66, the second straight pin 52 is vertical with bar 22, the 3rd straight pin 53
It is vertical with dipper 53.
Frame is arranged on dolly by revolute pair.
Claims (9)
1. high-precision medical manipulator, it is characterised in that including bar one, bar two, bar three, bar four, bar five, bar six, bar seven, bar
8th, bar nine, bar ten, bar 11, bar 12, set square, the first straight pin, the second straight pin, the 3rd straight pin, the first push-and-pull
Bar, the first limit casing, the first sliding block, ring rail plate, driven bearing, the second drive link, rotating shaft, the first clamping limb, the second clamping
Arm, the first drive link, dipper, the second limit casing, the second pull bar, swing arm, the first sliding block, the inner ring of active bearings, active
The ball of bearing, the outer ring of active bearings, spheroid, cylindrical screw line groove, spring, the second sliding block and promotion ring；
The one end of bar one is connected in frame by revolute pair one, and the other end of bar one is connected shape by moving axially pair with the one end of bar two
Into expansion link, the other end of bar two is connected by revolute pair two with the one end of bar three, and the other end of bar three is provided with axial slide, the one end of bar four
It is fixedly connected on swing arm, the other end of bar four is connected to the middle part of bar three by revolute pair three,
The one end of bar five is connected in frame by revolute pair four, and the other end of bar five is connected shape by moving axially pair with the one end of bar six
Into expansion link, the other end of bar six is connected by revolute pair five with bar July 1st end, and the other end of bar seven is connected to bar by revolute pair six
On one, bar Aug. 1st end is connected in frame by revolute pair seven, and the other end of bar eight is connected by revolute pair eight with the one end of bar nine, bar
Nine other ends are connected for first jiao by revolute pair nine with set square, and second jiao of set square passes through revolute pair 11 and one end of bar ten
Connection, the other end of bar ten are connected by revolute pair 12 with first pull bar one end, and the first pull bar other end is fixedly connected
On ring rail plate, the first limit casing is sleeved on the first pull bar, while the first limit casing is fixedly mounted on swing arm, and three
Gusset the third angle is connected on bar one by revolute pair ten；
The one end of bar 11 is connected in frame by revolute pair 13, and the other end of bar 11 passes through revolute pair 14 and bar 12
End connection, the other end of bar 12 are connected by revolute pair 15 with second pull bar one end, and the second pull bar other end, which is fixed, to be connected
It is connected on and promotes on ring, the second limit casing is sleeved on the second pull bar, and the second limit casing is fixed on swing arm,
Rotating shaft outside wall surface is provided with cylindrical screw line groove, and rotating shaft one end is fixedly mounted with driven bearing inner race, outside driven bearing
Circle is fixed on swing arm, and the rotating shaft other end, the first jig arm root and the second jig arm root are connected by composite rotation pair 21
It is connected together；
Swing arm one end is connected on bar five by revolute pair 20, and the swing arm other end is connected by moving axially pair with dipper one end
Expansion link is formed, the dipper other end is fixedly connected on the inner ring of active bearings, and spheroid is fixed with the inside of the inner ring of active bearings,
Spheroid is inlaid in cylindrical screw line groove；
Ring set is promoted on active bearings outer ring, active bearings outer ring is provided with axial slide, and the second sliding block is inlaid in actively
In the axial slide of bearing outer ring, the second sliding block side is promotes ring, and the second sliding block opposite side is spring, and spring one end is fixed on
On second sliding block, spring opposite side is fixed on active bearings outer ring, and first drive link one end is connected by revolute pair 24
On the second sliding block, the first drive link other end is connected in the second jig arm by revolute pair 25,
Second drive link one end is connected on the first sliding block, and the first sliding block is inlaid in the track slot of ring rail plate；Second drive link is another
One end is connected in the first jig arm by revolute pair 22；
Bar eight is provided with axial slide, and first straight pin one end is fixed on bar six, and the first straight pin other end is inlaid in bar eight
Axial slide in,
Bar 11 is provided with axial slide, and second straight pin one end is fixed on bar two, and the second straight pin other end is inlaid in bar
In axial slide on 11,
3rd straight pin one end is fixed on dipper, and the 4th straight pin other end is inlaid in the axial slide of bar three,
Oil cylinder one end is connected in frame by revolute pair 31, and the oil cylinder other end is connected to second by revolute pair 32
On limit casing.
2. high-precision medical manipulator as claimed in claim 1, it is characterised in that also including interior spacing ring and outer spacing
Ring, interior spacing ring are fixed on driven bearing outer ring, and outer spacing ring is fixed on swing arm, between interior spacing ring and outer spacing ring
Annular space is annular stop track, and the second drive link passes through annular stop track.
3. high-precision medical manipulator as claimed in claim 1, it is characterised in that swing arm, dipper and the axis of rotating shaft are put down
Row is conllinear.
4. high-precision medical manipulator as claimed in claim 1, it is characterised in that the track slot section of ring rail plate be it is T-shaped,
Track slot lumen width is more than track slot exit width, and the first sliding block is arranged in track slot inner chamber.
5. high-precision medical manipulator as claimed in claim 1, it is characterised in that revolute pair four is driven by servomotor one
Move, and/or revolute pair seven is driven by servomotor two, and/or revolute pair one is driven by servomotor three, and/or revolute pair ten
Three are driven by servomotor four, and/or revolute pair 31 is driven by servomotor five.
6. high-precision medical manipulator as claimed in claim 1, it is characterised in that the bar three is C-shaped-rod or arch
Bar.
7. high-precision medical manipulator as claimed in claim 1, it is characterised in that the first straight pin, the second straight pin and
The cylinder of 3rd straight pin forms higher pair with cell wall.
8. high-precision medical manipulator as claimed in claim 1, it is characterised in that the first straight pin is vertical with bar six, the
Two straight pins are vertical with bar two, the 3rd straight pin is vertical with dipper.
9. high-precision medical manipulator as claimed in claim 1, it is characterised in that frame is arranged on dolly by revolute pair
On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710997826.3A CN107569286A (en) | 2017-10-24 | 2017-10-24 | A kind of high-precision medical manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710997826.3A CN107569286A (en) | 2017-10-24 | 2017-10-24 | A kind of high-precision medical manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107569286A true CN107569286A (en) | 2018-01-12 |
Family
ID=61038356
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710997826.3A Withdrawn CN107569286A (en) | 2017-10-24 | 2017-10-24 | A kind of high-precision medical manipulator |
Country Status (1)
| Country | Link |
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| CN (1) | CN107569286A (en) |
Citations (9)
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|---|---|---|---|---|
| JP2011183186A (en) * | 2004-09-30 | 2011-09-22 | Intuitive Surgical Inc | Offset remote center manipulator |
| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| CN104912135A (en) * | 2015-06-05 | 2015-09-16 | 广西大学 | Mechanical excavating machine with telescopically controlled movable arm and bucket rod |
| CN105250025A (en) * | 2015-11-25 | 2016-01-20 | 吉林大学 | End effector assisting in clamping endoscope in minimally invasive surgery |
| CN105662587A (en) * | 2016-04-18 | 2016-06-15 | 山东科技大学 | Orthopaedics operation robot |
| US20160346050A1 (en) * | 2012-06-01 | 2016-12-01 | Intuitive Surgical Operations, Inc. | Surgical Instrument Manipulator Aspects |
| US20170120456A1 (en) * | 2013-06-21 | 2017-05-04 | Hiwin Technologies Corp. | Spherical linkage type surgical robotic arm |
| CN106725652A (en) * | 2017-01-24 | 2017-05-31 | 刘晓君 | A kind of surgical delivery device for interventional therapy in congenital heart diseases |
| CN107106155A (en) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot |
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2017
- 2017-10-24 CN CN201710997826.3A patent/CN107569286A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2011183186A (en) * | 2004-09-30 | 2011-09-22 | Intuitive Surgical Inc | Offset remote center manipulator |
| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| US20160346050A1 (en) * | 2012-06-01 | 2016-12-01 | Intuitive Surgical Operations, Inc. | Surgical Instrument Manipulator Aspects |
| US20170120456A1 (en) * | 2013-06-21 | 2017-05-04 | Hiwin Technologies Corp. | Spherical linkage type surgical robotic arm |
| CN104912135A (en) * | 2015-06-05 | 2015-09-16 | 广西大学 | Mechanical excavating machine with telescopically controlled movable arm and bucket rod |
| CN105250025A (en) * | 2015-11-25 | 2016-01-20 | 吉林大学 | End effector assisting in clamping endoscope in minimally invasive surgery |
| CN105662587A (en) * | 2016-04-18 | 2016-06-15 | 山东科技大学 | Orthopaedics operation robot |
| CN106725652A (en) * | 2017-01-24 | 2017-05-31 | 刘晓君 | A kind of surgical delivery device for interventional therapy in congenital heart diseases |
| CN107106155A (en) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot |
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Application publication date: 20180112 |