CN113456235A - Slave end operation device for telerobotic surgical operating system - Google Patents
Slave end operation device for telerobotic surgical operating system Download PDFInfo
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- CN113456235A CN113456235A CN202110610664.XA CN202110610664A CN113456235A CN 113456235 A CN113456235 A CN 113456235A CN 202110610664 A CN202110610664 A CN 202110610664A CN 113456235 A CN113456235 A CN 113456235A
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- 238000004891 communication Methods 0.000 claims abstract description 41
- 238000000034 method Methods 0.000 claims abstract description 9
- 238000002324 minimally invasive surgery Methods 0.000 claims abstract description 8
- 230000003993 interaction Effects 0.000 claims description 13
- 238000012545 processing Methods 0.000 claims description 8
- 230000005284 excitation Effects 0.000 claims description 7
- 239000012636 effector Substances 0.000 claims 1
- 238000001356 surgical procedure Methods 0.000 abstract description 8
- 230000001737 promoting effect Effects 0.000 abstract description 4
- 238000003745 diagnosis Methods 0.000 abstract description 3
- 230000000694 effects Effects 0.000 abstract description 3
- 230000006870 function Effects 0.000 abstract description 3
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 238000011161 development Methods 0.000 abstract description 2
- 238000011065 in-situ storage Methods 0.000 abstract 1
- 238000001816 cooling Methods 0.000 description 10
- 238000005192 partition Methods 0.000 description 9
- 230000006872 improvement Effects 0.000 description 8
- 230000017525 heat dissipation Effects 0.000 description 7
- 238000004590 computer program Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
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- 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
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K7/00—Constructional details common to different types of electric apparatus
- H05K7/20—Modifications to facilitate cooling, ventilating, or heating
- H05K7/20009—Modifications to facilitate cooling, ventilating, or heating using a gaseous coolant in electronic enclosures
- H05K7/20136—Forced ventilation, e.g. by fans
- H05K7/20145—Means for directing air flow, e.g. ducts, deflectors, plenum or guides
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Abstract
The invention relates to the technical field of remote operation, in particular to a slave-end operation device for a remote robot operation system. The remote box is a data communication module which is unfolded by a robot from an operation end minimally invasive surgery under a network-based condition, and comprises a box body. The design of the invention ensures that the remote box has compact and simple structure and perfect functions, and improves the use effect of the remote box; the operation method has simple steps, stable data transmission and short time delay, can effectively promote the operation stability of each slave operation end of the minimally invasive surgery robot, can acquire remote instructions and control the machine to operate by hands, realizes remote surgery, and provides timely and clear surgery field information for doctors, thereby improving the surgery efficiency and success rate, promoting the in-situ diagnosis of patients, saving the diagnosis cost and promoting the better development of the minimally invasive surgery.
Description
Technical Field
The invention relates to the technical field of remote operation, in particular to a slave-end operation device for a remote robot operation system.
Background
The robot surgery has become popular, and has formed a diversified series of products such as a laparoscopic surgery robot, an articulated surgery robot, an interventional therapy robot, and the like. The surgical robot consists of three parts: a surgeon console, a bedside robotic arm system, and an imaging system. The console (master end) and the bedside mechanical arm system (slave end) adopt a master-slave operation mode, and are revolutionary surgical operation tools. The existing surgical robot depends on import and cannot be technically improved and innovated. At present, domestic surgical robots are mature day by day, and the use of surgical robots for remote surgery is one of effective methods for solving the current situation of unbalanced distribution of dominant medical resources in China. The time cost, distance cost and medical treatment cost from the patients in rural areas and counties to the large medical center are obviously higher than those of local treatment. In order to realize remote operation, a set of portable equipment capable of integrating a network, a video processing system and the like to control a bedside mechanical arm system is required to be designed, but at present, a slave-end operating device which is compact and simple in structure and complete in function and is used for a remote robot operation system does not exist.
Disclosure of Invention
It is an object of the present invention to provide a slave-end operation device for a telerobotic surgical operation system to solve the problems set forth in the background art described above.
In order to solve the above technical problems, an object of the present invention is to provide a slave-end operating device for a remote robotic surgical operating system, wherein the remote box is a data communication module that is deployed under a network-based condition in a minimally invasive surgery from an operating end of a robot, and comprises a box body, and an image encoding and decoding unit, a power supply unit, a network communication unit, an energy tool control unit, a state display unit, an interaction unit and an interface unit are integrated in the box body.
As a further improvement of the technical scheme, the box comprises a box shell, the top end of the box shell is hinged to a box cover through a hinge, the top end of the inner side of the box shell is connected with a top plate in a sliding and clamping mode, a supporting frame is fixed to the bottom end of the top plate through screws, a bottom plate is fixed to the bottom end of the supporting frame through screws, a partition plate is fixed to the middle of the supporting frame through screws, and the box is used for arranging each forming unit of the remote box and facilitates overall transportation.
The bottom ends of two corners of the top plate close to one side of the interaction unit are both fixed with a cooling fan through screws, and the top plate at the corresponding position of the cooling fan is regularly provided with a plurality of cooling holes; and the middle parts of the two sides of the support frame are respectively fixed with a cooling fan through screws, and the side wall of the box shell at the corresponding position of the cooling fan is regularly provided with a plurality of cooling holes.
The heat radiation fan is electrically connected with the network communication unit through a wire.
As a further improvement of the technical scheme, the image coding and decoding unit consists of an image encoder and is used for coding and decoding two-way images of the endoscope and transmitting the two ends of the teleoperation.
The image coding unit is fixed on the bottom plate through screws, electrically connected with the power supply unit through a lead and in signal connection with the network communication unit through a signal wire.
As a further improvement of the technical scheme, the power supply unit consists of an industrial power supply module and is used for supplying power to all units in the box body.
Wherein the power supply unit is fixed on the partition plate by screws.
As a further improvement of the technical scheme, the network communication unit consists of an industrial personal computer and is used for transmitting operation commands at two ends of the remote operation.
The network communication unit is fixed on the partition plate through screws and is electrically connected with the power supply unit through a lead.
As a further improvement of the technical scheme, the energy tool control unit consists of a multi-path medical relay module and is used for simulating and exciting a control signal output by the energy tool host.
The energy tool control unit is fixed on the partition plate through a bolt, electrically connected with the power supply unit through a lead and in signal connection with the network communication unit through a signal wire.
As a further improvement of the technical scheme, the state display unit consists of a display screen and is used for displaying the working states of the network communication unit and the motion control and signal processing unit.
The state display unit is fixed on the top plate through screws, electrically connected with the power supply unit through wires and in signal connection with the network communication unit through signal wires.
As a further improvement of the technical scheme, the interaction unit consists of an operation keyboard and is used for modifying the working states of the network communication unit and the motion control and signal processing unit.
The interaction unit is fixed on the top plate through a screw, and the interaction unit is in signal connection with the network communication unit through a signal wire.
As a further improvement of the technical scheme, the interface unit consists of a plurality of interfaces of various types and is used for realizing power supply of the box body system and physical connection with an external network and the robot unit.
The network communication unit comprises a top plate, a power supply unit, a network communication unit and an interface unit, wherein each interface of the interface unit is clamped and embedded in the side wall of the top plate, part of interfaces are electrically connected with the power supply unit through power lines respectively, and the other part of interfaces are connected with the network communication unit through signal lines respectively.
It is a further object of the present invention to provide a method of operating a slave-end operation device for a telerobotic surgical system, comprising the steps of:
s1, connecting a communication interface of a slave end of the robot with a remote box of the slave end through a network cable, connecting the remote box into the Internet through an RJ45 interface, supplying 220V alternating current to the remote box, and starting up the robot;
s2, when the system works, the network communication unit receives the motion control signal from the master end through the internet, and sends the signal to the motion controller in the slave end of the robot through the network cable to control the motion of the slave operation end;
s3, simultaneously, sending an energy tool excitation signal analyzed from the control signal to the energy tool control unit, and connecting the energy tool control unit with a host of the energy tool through an interface of the interface unit so as to achieve the purpose of excitation control of the energy tool;
and S4, simultaneously, the robot slave-end stereo image system sends the stereo image to the image coding and decoding unit through the HDMI interface of the interface unit, the image coding and decoding unit codes image information to form image data, and the image data is sent to the robot master-end remote box through the Internet to provide the master-end doctor with surgical field information.
It is a further object of the present invention to provide a control device for a slave-side operation device of a telerobotic surgical operation system, comprising a processor, a memory and a computer program stored in the memory and running on the processor, the processor being adapted to carry out the working steps of any of the above-mentioned slave-side operation devices for a telerobotic surgical operation system when executing the computer program.
It is a fourth object of the present invention that the computer readable storage medium stores a computer program which, when executed by a processor, implements the working steps of any of the above described slave-side operating devices for a telerobotic surgical operating system.
Compared with the prior art, the invention has the beneficial effects that: in the slave-end operation device for the remote robot surgical operation system, the box body with the box cover is arranged, and the image encoder, the industrial power supply, the industrial personal computer, the energy tool control relay, the display screen, the operation keyboard and the plurality of interfaces are integrated in the box body, so that the remote box is compact and simple in structure and complete in function, and is provided with the plurality of cooling fans, the cooling effect of the remote box is improved, and the use effect of the remote box is improved; the operation method has simple steps, stable data transmission and short time delay, can effectively promote the operation stability of each slave operation end of the minimally invasive surgery robot, can obtain the control instruction of the master remote box through the slave remote box and control the machine to operate by hands, realizes remote surgery, and provides timely and clear surgical field information for doctors, thereby improving the surgery efficiency and success rate, promoting the patients to see a doctor on the spot, saving the diagnosis cost and promoting the better development of the minimally invasive surgery.
Drawings
FIG. 1 is a schematic diagram of the overall product structure of the present invention;
FIG. 2 is a schematic view of a partial product structure of the present invention;
FIG. 3 is a schematic view of a partial product structure of the present invention;
FIG. 4 is a flow chart of the method of operation of the present invention;
FIG. 5 is a block diagram of the product connections between the master and slave hand remote pods of the minimally invasive surgical robot of the present invention.
In the figure:
1. a box body; 11. a cabinet housing; 12. a box cover; 13. a top plate; 14. a support frame; 15. a base plate; 16. a partition plate;
2. an image encoding/decoding unit;
3. a power supply unit;
4. a network communication unit;
5. an energy tool control unit;
6. a status display unit;
7. an interaction unit;
8. an interface unit.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
As shown in fig. 1-3, the present embodiment provides a slave-end operating device for a remote robotic surgical operating system, the remote box is a data communication module that is deployed in a network-based condition for a minimally invasive surgery at a slave operating end of a robot, and includes a box body 1, and an image encoding and decoding unit 2, a power supply unit 3, a network communication unit 4, an energy tool control unit 5, a state display unit 6, an interaction unit 7 and an interface unit 8 are integrated in the box body 1.
In this embodiment, the box body 1 includes a box shell 11, a box cover 12 is hinged to the top end of the box shell 11 through a hinge, a top plate 13 is connected to the top end of the inner side of the box shell 11 in a sliding and clamping manner, a supporting frame 14 is fixed to the bottom end of the top plate 13 through a screw, a bottom plate 15 is fixed to the bottom end of the supporting frame 14 through a screw, and a partition plate 16 is fixed to the middle of the supporting frame 14 through a screw.
Specifically, the box body 1 is used for arranging each component unit of the remote box, and is convenient for overall transportation.
Further, the bottom ends of two corners of the top plate 13 near one side of the interaction unit 7 are both fixed with heat dissipation fans through screws, and the top plate 13 at the corresponding position of each heat dissipation fan is regularly provided with a plurality of heat dissipation holes.
Furthermore, the middle of the two sides of the supporting frame 14 is fixed with a heat dissipation fan through screws, and the side wall of the case shell 11 corresponding to the heat dissipation fan is regularly provided with a plurality of heat dissipation holes.
Specifically, the cooling fan is electrically connected with the network communication unit 4 through a wire, and the cooling fan and the network communication unit 4 are synchronously started, stopped and operated, so that heat dissipation inside the box body 1 is promoted in the operation process of the remote box, and damage caused by overheating of electronic elements is avoided.
In this embodiment, the image encoding and decoding unit 2 is composed of an image encoder, and is used for encoding and decoding two-way images of the endoscope and transmitting the two ends of the teleoperation.
Further, the image coding unit 2 is fixed on the bottom plate 15 through screws, the image coding unit 2 is electrically connected with the power supply unit 3 through a lead, and the power supply unit 3 supplies electric energy for supporting operation to the image coding unit 2.
Specifically, the image encoding unit 2 is in signal connection with the network communication unit 4 through a signal line, and the operation process of the image encoder is managed through the network communication unit 4.
In this embodiment, the power supply unit 3 is composed of an industrial power supply module and is used for supplying power to each unit inside the box body.
Further, the power supply unit 3 is fixed on the partition 16 by screws, so that the power supply unit 3 is strong and stable.
In this embodiment, the network communication unit 4 is composed of an industrial personal computer and is used for transmitting operation commands at both ends of a remote operation.
Further, the network communication unit 4 is fixed to the partition 16 by screws.
In this embodiment, the energy tool control unit 5 is composed of a multi-path medical relay module, and is configured to simulate a control signal output by the excitation energy tool host.
Further, the energy tool control unit 5 is fixed on the partition 16 by bolts, the energy tool control unit 5 is electrically connected with the power supply unit 3 by a lead, and the power supply unit 3 supplies electric energy for supporting operation to the energy tool control unit 5.
Specifically, the energy tool control unit 5 is in signal connection with the network communication unit 4 through a signal line, and the operation of the multi-path medical relay module is managed through an industrial personal computer.
In this embodiment, the state display unit 6 is composed of a display screen, and is used for displaying the working states of the network communication unit and the motion control and signal processing unit.
Further, the state display unit 6 is fixed on the top plate 13 through screws, the state display unit 6 is electrically connected with the power supply unit 3 through a wire, and electric energy is supplied to the display screen through the power supply unit 3.
Specifically, the state display unit 6 is in signal connection with the network communication unit 4 through a signal line, and the industrial personal computer transmits various state data to the display screen through the signal line for displaying.
In this embodiment, the interaction unit 7 is composed of an operation keyboard and is used for modifying the working states of the network communication unit and the motion control and signal processing unit.
Further, the interaction unit 7 is fixed on the top plate 13 through screws, the interaction unit 7 is in signal connection with the network communication unit 4 through signal lines, working instructions are input through an operation keyboard, information of the working instructions is transmitted to the industrial personal computer through the signal lines, the industrial personal computer distributes work to other electronic elements, and the electronic elements respectively execute the instructions after receiving the working instructions.
In this embodiment, the interface unit 8 is composed of a plurality of interfaces of various types, and is used for realizing power supply of the box system and physical connection with an external network and the robot unit.
Furthermore, each interface of the interface unit 8 is clamped and embedded in the side wall of the top plate 13, so that each interface is firm and stable and is not easy to loosen.
Specifically, a part of the interfaces are electrically connected with the power supply unit 3 through power lines respectively and are used for supporting power supply of the remote box; and the other part of the interfaces are respectively in signal connection with the network communication unit 4 through signal lines and are used for supporting the physical connection of an external network or other robot units.
As shown in fig. 4, the present embodiment further provides a working method of a slave-end operation device for a telerobotic surgical operation system, comprising the steps of:
s1, connecting a communication interface of a slave end of the robot with a remote box of the slave end through a network cable, connecting the remote box into the Internet through an RJ45 interface, supplying 220V alternating current to the remote box, and starting up the robot;
s2, when the system works, the network communication unit 4 receives the motion control signal from the master end through the internet, and sends the signal to the motion controller in the slave end of the robot through the network cable to control the motion of the slave operation end;
s3, simultaneously, sending the energy tool excitation signal analyzed from the control signal to the energy tool control unit 5, and connecting the energy tool control unit 5 with a host of the energy tool through an interface of the interface unit 8 so as to achieve the purpose of excitation control of the energy tool;
and S4, simultaneously, the robot slave-end stereo image system sends the stereo image to the image coding and decoding unit 2 through the HDMI interface of the interface unit 8, the image coding and decoding unit 2 codes the image information to form image data, and the image data is sent to the robot master-end remote box through the Internet to provide the master-end doctor with the surgical field information.
The present embodiments also provide a control apparatus for a slave-end operation device of a telerobotic surgical operating system, the device including a processor, a memory, and a computer program stored in the memory and executed on the processor.
The processor comprises one or more processing cores, the processor is connected with the processor through a bus, the memory is used for storing program instructions, and the working steps of the slave-end operation device for the remote robot surgical operation system are realized when the processor executes the program instructions in the memory.
Alternatively, the memory may be implemented by any type or combination of volatile or non-volatile memory devices, such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disks.
Furthermore, the present invention also provides a computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the working steps of the slave-end operating device for a telerobotic surgical operating system as described above.
Optionally, the present invention also provides a computer program product containing instructions which, when run on a computer, cause the computer to perform the working steps of the above aspects for a slave-end operation device of a telerobotic surgical operating system.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by hardware related to instructions of a program, which may be stored in a computer-readable storage medium, such as a read-only memory, a magnetic or optical disk, and the like.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the preferred embodiments of the present invention are described in the above embodiments and the description, and are not intended to limit the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. A slave-end effector for a telerobotic surgical manipulation system, comprising: the remote box is a data communication module which is unfolded by a robot from an operation end minimally invasive surgery under the condition based on a network, and comprises a box body (1), wherein an image coding and decoding unit (2), a power supply unit (3), a network communication unit (4), an energy tool control unit (5), a state display unit (6), an interaction unit (7) and an interface unit (8) are integrated in the box body (1).
2. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: box (1) includes case shell (11), the top of case shell (11) articulates through the hinge has case lid (12), case shell (11) inboard top department slip joint has roof (13), the bottom of roof (13) is through fix with screw has support frame (14), the bottom of support frame (14) is through fix with screw has bottom plate (15), the centre department of support frame (14) is through fix with screw has baffle (16), box (1) is used for arranging each component unit of long-range case, convenient whole transportation.
3. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: the image coding and decoding unit (2) consists of an image encoder and is used for coding and decoding two-way images of the endoscope and transmitting the two ends of the teleoperation.
4. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: and the power supply unit (3) consists of an industrial power supply module and is used for supplying power to all units in the box body.
5. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: the network communication unit (4) consists of an industrial personal computer and is used for transmitting operation commands at two ends of a remote operation.
6. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: the energy tool control unit (5) consists of a multi-path medical relay module and is used for simulating and exciting a control signal output by the energy tool host.
7. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: and the state display unit (6) consists of a display screen and is used for displaying the working states of the network communication unit and the motion control and signal processing unit.
8. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: the interaction unit (7) is composed of an operation keyboard and is used for modifying the working states of the network communication unit and the motion control and signal processing unit.
9. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: the interface unit (8) is composed of a plurality of interfaces of various types and is used for realizing power supply of the box body system and physical connection with an external network and the robot unit.
10. The slave-end operation device for a telerobotic surgical operating system of claim 1, wherein: the working method of the remote box comprises the following steps:
s1, connecting a communication interface of a slave end of the robot with a remote box of the slave end through a network cable, connecting the remote box into the Internet through an RJ45 interface, supplying 220V alternating current to the remote box, and starting up the robot;
s2, when the system works, the network communication unit (4) receives a motion control signal from the master end through the Internet, and sends the signal to a motion controller positioned in the slave end of the robot through a network cable to control the motion of the slave operation end;
s3, simultaneously, sending an energy tool excitation signal analyzed from the control signal to the energy tool control unit (5), and connecting the energy tool control unit (5) with a host of an energy tool through an interface of the interface unit (8) so as to achieve the purpose of excitation control of the energy tool;
s4, simultaneously, the robot slave-end stereo image system sends the stereo image to the image coding and decoding unit (2) through the HDMI interface of the interface unit (8), the image coding and decoding unit (2) codes the image information to form image data, and sends the image data to the robot master-end remote box through the Internet, so that the master-end doctor is provided with operative field information.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110502781 | 2021-05-09 | ||
| CN2021105027814 | 2021-05-09 |
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| CN113456235A true CN113456235A (en) | 2021-10-01 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110610664.XA Pending CN113456235A (en) | 2021-05-09 | 2021-06-01 | Slave end operation device for telerobotic surgical operating system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114533280A (en) * | 2022-02-11 | 2022-05-27 | 青岛大学附属医院 | Main hand control system of small-sized surgical robot |
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| CN107260117A (en) * | 2016-03-31 | 2017-10-20 | 柯惠有限合伙公司 | Chest endoscope for surface scan |
| US20180280224A1 (en) * | 2017-03-29 | 2018-10-04 | Verb Surgical Inc. | Surgical table base construction for heat dissipation from housed power electronics |
| CN110623811A (en) * | 2019-10-17 | 2019-12-31 | 中国科学院合肥物质科学研究院 | Intelligent noninvasive calcaneus reduction auxiliary robot |
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- 2021-06-01 CN CN202110610664.XA patent/CN113456235A/en active Pending
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|---|---|---|---|---|
| CN101112329A (en) * | 2007-08-23 | 2008-01-30 | 哈尔滨工程大学 | Active and passive type inner-mirror operation robot |
| CN102835977A (en) * | 2011-06-21 | 2012-12-26 | 达华国际股份有限公司 | Minimal invasion medical device |
| CN107260117A (en) * | 2016-03-31 | 2017-10-20 | 柯惠有限合伙公司 | Chest endoscope for surface scan |
| US20180280224A1 (en) * | 2017-03-29 | 2018-10-04 | Verb Surgical Inc. | Surgical table base construction for heat dissipation from housed power electronics |
| CN110623811A (en) * | 2019-10-17 | 2019-12-31 | 中国科学院合肥物质科学研究院 | Intelligent noninvasive calcaneus reduction auxiliary robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114533280A (en) * | 2022-02-11 | 2022-05-27 | 青岛大学附属医院 | Main hand control system of small-sized surgical robot |
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