CN100463661C - 具有重力补偿功能的被动式手动锁紧支架 - Google Patents
具有重力补偿功能的被动式手动锁紧支架 Download PDFInfo
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CNB2006101298456A CN100463661C (zh) | 2006-12-04 | 2006-12-04 | 具有重力补偿功能的被动式手动锁紧支架 |
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CN1969772A CN1969772A (zh) | 2007-05-30 |
CN100463661C true CN100463661C (zh) | 2009-02-25 |
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Families Citing this family (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN101411632B (zh) * | 2008-12-03 | 2010-06-16 | 天津大学 | 一种用于辅助微创外科手术的机器人主动支架 |
ES2388029B1 (es) | 2009-05-22 | 2013-08-13 | Universitat Politècnica De Catalunya | Sistema robótico para cirugia laparoscópica. |
CN102241016A (zh) * | 2010-05-10 | 2011-11-16 | 北京石油化工学院 | 多关节机械臂快速定位锁紧装置 |
EP3824840A1 (en) * | 2012-08-15 | 2021-05-26 | Intuitive Surgical Operations, Inc. | User initiated break-away clutching of a surgical mounting platform |
CN104146774B (zh) * | 2014-08-12 | 2016-12-07 | 江苏久信医疗科技有限公司 | 一种球形定位头架 |
CN105167861B (zh) * | 2015-07-24 | 2017-11-07 | 迈柯唯医疗设备(苏州)有限公司 | 医用吊塔及附件及其关节限转机构 |
CN104983468B (zh) * | 2015-07-24 | 2017-11-14 | 绵阳美科电子设备有限责任公司 | 一种腔镜操作手机器手手臂及其操作方法 |
CN105798528B (zh) * | 2016-05-26 | 2017-12-12 | 桂林电子科技大学 | 一种多自由度液压夹紧支架 |
CN107374744B (zh) * | 2017-07-18 | 2023-11-21 | 江苏嘉蓝智能科技有限公司 | 一种具有旋紧锁定功能的万向型医疗器械支架 |
CN108095835B (zh) * | 2018-02-08 | 2023-05-02 | 哈尔滨工业大学深圳研究生院 | 一种气压复合锁紧式操作臂 |
US20210121264A1 (en) * | 2018-05-02 | 2021-04-29 | Riverfield Inc. | Intraocular surgery instrument holder |
CN108742797A (zh) * | 2018-07-10 | 2018-11-06 | 哈尔滨理工大学 | 一种主被动混合式锁骨下静脉穿刺机器人 |
CN109199593A (zh) * | 2018-09-13 | 2019-01-15 | 中国科学院苏州生物医学工程技术研究所 | 一种多自由度被动机械臂 |
CN109316240B (zh) * | 2018-10-18 | 2024-05-03 | 北京罗森博特科技有限公司 | 手术用被动臂 |
CN109350241B (zh) * | 2018-10-18 | 2024-05-10 | 北京罗森博特科技有限公司 | 一种手动式手术导航定位系统 |
CN109595252A (zh) * | 2018-12-15 | 2019-04-09 | 东北林业大学 | 一种多自由度位置调节补偿器 |
CN109512491B (zh) * | 2018-12-27 | 2024-04-23 | 天津大学 | 基于ar导航的无源定位锁紧穿刺装置 |
CN111473224B (zh) * | 2019-01-23 | 2021-06-25 | 苏州心擎医疗技术有限公司 | 用于支撑医疗器械的支撑臂装置 |
CN110711039B (zh) * | 2019-10-31 | 2021-11-30 | 西安交通大学医学院第一附属医院 | 神经外科手术用辅助架 |
CN110623714A (zh) * | 2019-11-05 | 2019-12-31 | 济南大学 | 一种定点穿刺装置及使用该装置的机器人 |
CN110802634A (zh) * | 2019-11-12 | 2020-02-18 | 苏州铸正机器人有限公司 | 一种基于斜面轴自锁的六自由度被动机械臂 |
CN111803219A (zh) * | 2020-06-02 | 2020-10-23 | 西安交通大学医学院第二附属医院 | 耳鼻喉科器械夹持定位装置 |
EP4218657A1 (en) * | 2020-09-25 | 2023-08-02 | Wuhan United Imaging Healthcare Surgical Technology Co., Ltd. | Support unlocking structure, joint locking mechanism and surgery assisting robot system |
CN113464805B (zh) * | 2021-07-05 | 2022-10-11 | 苏州心擎医疗技术有限公司 | 一种支撑臂 |
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CN87216012U (zh) * | 1987-12-02 | 1988-08-31 | 胡志平 | 多功能手术视野显露器 |
CN1045345A (zh) * | 1989-03-06 | 1990-09-19 | 王化明 | 可调式手术依托器 |
CN1586831A (zh) * | 2004-07-09 | 2005-03-02 | 北京理工大学 | 具有重力补偿和长度可调的6自由度遥操作手臂 |
CN1634685A (zh) * | 2005-01-05 | 2005-07-06 | 天津大学 | 具有夹持力感觉的主操作手 |
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2006
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Patent Citations (4)
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CN87216012U (zh) * | 1987-12-02 | 1988-08-31 | 胡志平 | 多功能手术视野显露器 |
CN1045345A (zh) * | 1989-03-06 | 1990-09-19 | 王化明 | 可调式手术依托器 |
CN1586831A (zh) * | 2004-07-09 | 2005-03-02 | 北京理工大学 | 具有重力补偿和长度可调的6自由度遥操作手臂 |
CN1634685A (zh) * | 2005-01-05 | 2005-07-06 | 天津大学 | 具有夹持力感觉的主操作手 |
Non-Patent Citations (2)
Title |
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介入式手术机器人机械结构设计及运动学仿真. 李康,10-23,哈尔滨工业大学. 2006 |
介入式手术机器人机械结构设计及运动学仿真. 李康,10-23,哈尔滨工业大学. 2006 * |
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