CN101791233A - 基于力反馈的遥控手术装置 - Google Patents
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CN2010101398003A CN101791233B (zh) | 2010-04-07 | 2010-04-07 | 基于力反馈的遥控手术装置 |
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Cited By (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103280145A (zh) * | 2013-05-03 | 2013-09-04 | 上海交通大学 | 心血管介入虚拟手术力反馈系统 |
CN105361956A (zh) * | 2014-08-12 | 2016-03-02 | 西门子公司 | 用于执行计算机断层成像拍摄的检查室 |
CN106102644A (zh) * | 2014-03-17 | 2016-11-09 | 直观外科手术操作公司 | 避免活动范围极限的自动推出 |
CN106163444A (zh) * | 2014-04-01 | 2016-11-23 | 直观外科手术操作公司 | 遥控操作的外科手术器械的控制输入准确度 |
CN107496031A (zh) * | 2017-09-22 | 2017-12-22 | 山东电子职业技术学院 | 远程手术用多轴机械手及远程手术装置 |
CN108766166A (zh) * | 2018-05-22 | 2018-11-06 | 苏州敏行医学信息技术有限公司 | 穿刺虚拟教学训练系统中回缩式力反馈方法及该系统 |
CN110141364A (zh) * | 2019-06-18 | 2019-08-20 | 李羿贤 | 一种介入操作系统 |
CN110141365A (zh) * | 2019-05-06 | 2019-08-20 | 清华大学 | 模拟医生手术操作的血管介入手术辅助装置遥控系统 |
CN110236684A (zh) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人从端推进装置及其控制方法 |
CN111202568A (zh) * | 2020-03-18 | 2020-05-29 | 杨红伟 | 一种妇产科手术机器人磁力反馈操作器械 |
CN113317878A (zh) * | 2021-06-21 | 2021-08-31 | 哈尔滨理工大学 | 一种电生理导管机器人 |
CN113456236A (zh) * | 2021-06-29 | 2021-10-01 | 北京理工大学 | 绳驱动并联主操作手 |
CN115040760A (zh) * | 2022-07-14 | 2022-09-13 | 深圳微美机器人有限公司 | 运动控制装置的控制方法、运动控制装置及输送系统 |
CN116531642A (zh) * | 2023-06-13 | 2023-08-04 | 辽宁省健康产业集团铁煤总医院 | 一种电磁操控可塑形血管内介入导丝系统及应用 |
WO2023160185A1 (zh) * | 2022-02-23 | 2023-08-31 | 上海奥朋医疗科技有限公司 | 导丝导管输送装置 |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101444431A (zh) * | 2008-12-23 | 2009-06-03 | 天津大学 | 辅助微创外科手术机器人的三维力反馈主操作手 |
US20090264767A1 (en) * | 2008-04-21 | 2009-10-22 | General Electric Company | Method and apparatus for ultrasonic imaging using transducer arrays |
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2010
- 2010-04-07 CN CN2010101398003A patent/CN101791233B/zh not_active Expired - Fee Related
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090264767A1 (en) * | 2008-04-21 | 2009-10-22 | General Electric Company | Method and apparatus for ultrasonic imaging using transducer arrays |
CN101444431A (zh) * | 2008-12-23 | 2009-06-03 | 天津大学 | 辅助微创外科手术机器人的三维力反馈主操作手 |
Non-Patent Citations (2)
Title |
---|
《Proceedings of the 1999 IEEE International Conference on Robotics & Automation》 19990331 Koji IKUTA等 Virtual Endoscope System with Force Sensation 第1715-1721页 1-8 , * |
《中国医疗器械杂志》 20100228 陈大国等 机器人辅助导管插入系统技术进展 第35-38页 1,2,8 第34卷, 第1期 * |
Cited By (27)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103280145B (zh) * | 2013-05-03 | 2016-01-13 | 上海交通大学 | 心血管介入虚拟手术力反馈系统 |
CN103280145A (zh) * | 2013-05-03 | 2013-09-04 | 上海交通大学 | 心血管介入虚拟手术力反馈系统 |
CN106102644B (zh) * | 2014-03-17 | 2019-01-11 | 直观外科手术操作公司 | 避免活动范围极限的自动推出 |
CN106102644A (zh) * | 2014-03-17 | 2016-11-09 | 直观外科手术操作公司 | 避免活动范围极限的自动推出 |
CN106163444A (zh) * | 2014-04-01 | 2016-11-23 | 直观外科手术操作公司 | 遥控操作的外科手术器械的控制输入准确度 |
CN110215280B (zh) * | 2014-04-01 | 2022-08-09 | 直观外科手术操作公司 | 遥控操作的外科手术器械的控制输入准确度 |
CN106163444B (zh) * | 2014-04-01 | 2019-06-28 | 直观外科手术操作公司 | 遥控操作的外科手术器械的控制输入准确度 |
CN110215280A (zh) * | 2014-04-01 | 2019-09-10 | 直观外科手术操作公司 | 遥控操作的外科手术器械的控制输入准确度 |
US11607282B2 (en) | 2014-04-01 | 2023-03-21 | Intuitive Surgical Operations, Inc. | Control input accuracy for teleoperated surgical instrument |
CN105361956A (zh) * | 2014-08-12 | 2016-03-02 | 西门子公司 | 用于执行计算机断层成像拍摄的检查室 |
CN105361956B (zh) * | 2014-08-12 | 2020-05-01 | 西门子公司 | 用于执行计算机断层成像拍摄的检查室 |
CN107496031A (zh) * | 2017-09-22 | 2017-12-22 | 山东电子职业技术学院 | 远程手术用多轴机械手及远程手术装置 |
CN108766166A (zh) * | 2018-05-22 | 2018-11-06 | 苏州敏行医学信息技术有限公司 | 穿刺虚拟教学训练系统中回缩式力反馈方法及该系统 |
CN110141365A (zh) * | 2019-05-06 | 2019-08-20 | 清华大学 | 模拟医生手术操作的血管介入手术辅助装置遥控系统 |
CN110141365B (zh) * | 2019-05-06 | 2021-01-26 | 清华大学 | 模拟医生手术操作的血管介入手术辅助装置遥控系统 |
CN110141364A (zh) * | 2019-06-18 | 2019-08-20 | 李羿贤 | 一种介入操作系统 |
CN110236684A (zh) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人从端推进装置及其控制方法 |
CN110236684B (zh) * | 2019-07-10 | 2024-02-27 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人从端推进装置及其控制方法 |
CN111202568A (zh) * | 2020-03-18 | 2020-05-29 | 杨红伟 | 一种妇产科手术机器人磁力反馈操作器械 |
CN113317878B (zh) * | 2021-06-21 | 2022-06-10 | 哈尔滨理工大学 | 一种电生理导管机器人 |
CN113317878A (zh) * | 2021-06-21 | 2021-08-31 | 哈尔滨理工大学 | 一种电生理导管机器人 |
CN113456236A (zh) * | 2021-06-29 | 2021-10-01 | 北京理工大学 | 绳驱动并联主操作手 |
CN113456236B (zh) * | 2021-06-29 | 2022-05-27 | 北京理工大学 | 绳驱动并联主操作手 |
WO2023160185A1 (zh) * | 2022-02-23 | 2023-08-31 | 上海奥朋医疗科技有限公司 | 导丝导管输送装置 |
CN115040760A (zh) * | 2022-07-14 | 2022-09-13 | 深圳微美机器人有限公司 | 运动控制装置的控制方法、运动控制装置及输送系统 |
CN116531642A (zh) * | 2023-06-13 | 2023-08-04 | 辽宁省健康产业集团铁煤总医院 | 一种电磁操控可塑形血管内介入导丝系统及应用 |
CN116531642B (zh) * | 2023-06-13 | 2023-10-20 | 辽宁省健康产业集团铁煤总医院 | 一种电磁操控可塑形血管内介入导丝系统 |
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