CN101933841B - Four degree-of-freedom parallel robot with bipolar coordinate - Google Patents
Four degree-of-freedom parallel robot with bipolar coordinate Download PDFInfo
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- CN101933841B CN101933841B CN2010102696512A CN201010269651A CN101933841B CN 101933841 B CN101933841 B CN 101933841B CN 2010102696512 A CN2010102696512 A CN 2010102696512A CN 201010269651 A CN201010269651 A CN 201010269651A CN 101933841 B CN101933841 B CN 101933841B
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- 230000007246 mechanism Effects 0.000 claims abstract description 84
- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005516 engineering process Methods 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 238000011160 research Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 230000004899 motility Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 230000001186 cumulative effect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 239000012467 final product Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000013178 mathematical model Methods 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
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Abstract
The invention relates to a four degree-of-freedom (DOF) parallel robot with a bipolar coordinate, comprising two groups of screw mechanisms, puncture needle mechanisms, a hypoid drive mechanism, a main connection plate, etc, wherein one end of a parallel platform fixing frame is provided with a three jaw structure and is fixed on the main connection plate via the three jaw structure; the other end of the parallel platform fixing frame is provided with a thread connector and is connected with a support frame via the thread connector; the hypoid drive mechanism comprises two groups of drive mechanisms which are symmetrically arranged at the two sides of the main connection plate and are connected with the main connection plate; the screw mechanisms are symmetrically arranged at the two sides of the center of the main connection plate, are respectively connected with the drive mechanisms and form two rotational DOFs; and the puncture needle mechanisms are arranged on the screw mechanisms and form two translational DOFs. The robot has the beneficial effects of simple and compact structure, convenient robot kinematics resolving, large working space, high flexibility, lightness and steadiness and high positioning accuracy and can be used for designing minimally invasive surgical parallel robot mechanism or other digital medical devices.
Description
Technical field
The present invention relates to a kind of bipolar coordinate four-freedom parallel device people, belong to micro-wound surgical operation puncture needle spatial pose digitized automatic positioning equipment.
Background technology
Get into 21 century; Computer technology, medical robot technology, advanced manufacturing technology, surgery and surgery's technology etc. have all obtained develop rapidly; Meanwhile; Rapid raising along with China's economic strength and whole people's health care consciousness; With raising location of operation precision and facilitating operation degree and the efficient of performing the operation is the minimally invasive surgery robot Study on Technology of aim, has become one of topmost forward position research focus in the China and even the whole world, also becomes the important industrial development direction that new high-tech enterprise pays close attention to.
China present surgical operation puncture positioning robot rests on development basically, and the surgical operation parallel robot of research and development has following characteristics.One, topological structure is continued to use the mentality of designing of industrial robot, makes up robot system with traditional moving platform and silent flatform, and this kind mechanism overall dimensions is big, and heavy, doctor's inconvenient operation; Two, the same with the conventional parallel robot, this parallel robot work space is little, and operation attitude scope is little; Very flexible, the requirement of this and microtrauma puncture positioning operation robot (like the neurosurgery robot) is disagreed, and therefore this robot is difficult to move towards clinical practice from laboratory; That is to say, the at present still untapped micro-wound surgical operation parallel robot mechanism that goes out the small volume and less weight high flexibility, therefore; Exploitation is towards the four-freedom parallel device people of micro-wound surgical operation; The robot mechanism that is not merely the positioning operation that initiatively punctures has been established the research basis, simultaneously, also for the robot of other operative indication designs and develops reference is provided.
Summary of the invention
In order to overcome the deficiency of prior art; The object of the present invention is to provide a kind of manual positioning to become full-automatic digitized location with surgical operation puncturing pin; Both be the automatic location of robot, realize easy to operate, small and exquisite flexibly, bipolar coordinate four-freedom parallel device people that positioning accuracy is high.
For achieving the above object, the present invention realizes through following technical scheme:
A kind of bipolar coordinate four-freedom parallel device people is characterized in that: comprise screw mechanism, puncture needle mechanism, hypoid drive mechanism, main connecting plate, parallel connection platform fixed mount and bracing frame, wherein; Parallel connection platform fixed mount one end is provided with the three-jaw structure, and its three-jaw structure is fixed on the main connecting plate through trip bolt, and the parallel connection platform fixed mount other end also is provided with hickey; It is connected with bracing frame through hickey; And the hypoid drive mechanism comprises two groups of drive mechanisms that are symmetricly set in main connecting plate both sides and are connected with main connecting plate, and screw mechanism also is two groups, is symmetricly set in the both sides at main connecting plate center respectively; Be connected with two groups of drive mechanisms respectively; Form two rotational freedoms, puncture needle mechanism then is arranged in the two cocainine thick stick mechanisms simultaneously, forms two one-movement-freedom-degrees.
Aforesaid drive mechanism comprises unidirectional current support, bevel pinion seat, large conic gear seat, direct current generator, bevel pinion shaft coupling, hypoid bevel pinion and hypoid bevel gear wheel; Wherein, Unidirectional current support, bevel pinion seat and large conic gear seat are fixed on the main connecting plate through trip bolt respectively, and direct current generator is fixed on the unidirectional current support, and its output shaft is connected with shaft coupling one end; The other end of shaft coupling is connected with the turning cylinder of hypoid bevel pinion; And the turning cylinder of hypoid bevel pinion is spacing and support through the bevel pinion seat, the vertical setting of turning cylinder of the turning cylinder of hypoid bevel gear wheel and hypoid bevel pinion, and the spacing and support through large conic gear seat of the turning cylinder of hypoid bevel gear wheel; And hypoid bevel gear wheel and the above-mentioned screw mechanism of hypoid bevel pinion engagement comprise leading screw bearing cover, lead screw shaft bearing, leading screw guide housing, ball-screw, feed screw nut, spindle motor seat, leading screw shaft coupling, leading screw direct current generator; Wherein, the turning cylinder interference fit of spindle motor seat and above-mentioned hypoid bevel gear wheel, the leading screw direct current generator is connected the side of spindle motor seat through screw; Its output shaft and the locking of leading screw shaft coupling one end; The other end of leading screw shaft coupling is connected with an end of the ball-screw that passes spindle motor seat top chock, ball-screw and the coaxial setting of the output shaft of spindle motor seat, and the spacing and support through the lead screw shaft bearing of its other end; The leading screw bearing cover is arranged on the end of lead screw shaft bearing; The leading screw guide housing then is arranged between lead screw shaft bearing and the spindle motor seat, and is enclosed within the outside of ball-screw, and with ball-screw the axle concentric setting; The leading screw guide housing also has along the gathering sill of ball-screw axis direction at middle part, its side, and feed screw nut is enclosed within on the ball-screw and is spacing in gathering sill.
Aforesaid puncture needle mechanism comprises puncture needle and two groups of puncture needle fixed mechanisms that structure is identical; Two groups of puncture needle fixed mechanisms are separately positioned in the two cocainine thick stick mechanisms; Wherein, Every group of puncture needle fixed mechanism comprises fairlead U-shaped locating ring, fairlead cylindricality locating ring, location battle pin and puncture needle fairlead, and fairlead U-shaped locating ring is connected through sliding bearing with above-mentioned feed screw nut, and it is a symmetrical structure; Its turning cylinder is perpendicular to the axle of ball-screw; Fairlead cylindricality locating ring is connected the opening of fairlead U-shaped locating ring through the location battle pin of its both sides, and its inside also is provided with the puncture needle fairlead with one heart, and puncture needle then is located in two puncture needle fairleads.
Further, the axis of above-mentioned puncture needle fairlead, the axis of location battle pin and the axis of fairlead U-shaped locating ring meet at a bit, form ball pivot.
The invention has the beneficial effects as follows:
1, simple in structure: the present invention adopts the bipolar coordinate topological structure, and translation that two cocainine thick stick mechanisms can both implementation space point and spatial point are around the rotation of fixed axis, and two cocainine thick stick mechanism structure are consistent, make design, make all easily and cost lower;
2, the robot kinematics resolves conveniently: this bipolar coordinate structure, and its kinematic calculation gets final product based on method of geometry, need not set up mathematical model according to traditional D-H method, need not carry out complicated matrixing, reduces the difficulty of resolving and programming greatly;
3, work space is bigger: the abstract puncture needle for doctor's operation of moving platform of the present invention; It can break away from parallel connection platform; The artificial Open architecture of machine of the present invention; Its rotary joint can move in ± 90 °, so its parallel robot with the identical appearance size compares, and work space obviously increases;
4, motility is higher: because range of motion of the present invention increases; Then moving platform attitude scope increases, and that is to say described puncture needle vector space attitude showed increased; Therefore; The present invention compares with general parallel robot, and its motility significantly improves, thereby doctor's efficient of performing the operation is improved;
5, light firm: material of main part of the present invention adopts high-strength engineering plastic, in light weight, good rigidly;
6, positioning accuracy is higher: the robot of the relative cascaded structure of the present invention, and its joint does not have cumulative errors, and positioning accuracy is high;
7, compact conformation: the present invention is when adopting the bipolar coordinate topological structure; Also adopted the hypoid bevel wheel drive mechanism; Make that this four-freedom parallel device people gear ratio is big, bearing capacity is strong, volume is little, compact conformation; Can be used for designing the micro-wound surgical operation parallel robot mechanism, also can be applied to other digital medical Design of device.
Description of drawings
Fig. 1 is the perspective view of one embodiment of the invention;
Fig. 2 is the front view of one embodiment of the invention;
Fig. 3 is the left view of one embodiment of the invention.
Main Reference numeral implication is among the figure:
1, main connecting plate 2, parallel connection platform fixed mount 3, unidirectional current support
4, bevel pinion seat 5, large conic gear seat 6, direct current generator
7, bevel pinion shaft coupling 8, hypoid bevel pinion 9, hypoid bevel gear wheel
10, leading screw bearing cover 11, lead screw shaft bearing 12, leading screw fairlead
13, ball-screw 14, feed screw nut 15, spindle motor seat
16, leading screw shaft coupling 17, leading screw direct current generator 18, puncture needle
19, fairlead U-shaped locating ring 20, fairlead cylindricality locating ring
21, location lock ring 22, puncture needle fairlead
The specific embodiment
To combine accompanying drawing below, specify the specific embodiment of the present invention:
Fig. 1 is the perspective view of one embodiment of the invention; Fig. 2 is the front view of one embodiment of the invention; Fig. 3 is the left view of one embodiment of the invention.
Extremely shown in Figure 3 like Fig. 1: bipolar coordinate four-freedom parallel device people; Comprise screw mechanism, puncture needle mechanism, hypoid drive mechanism, main connecting plate 1, parallel connection platform fixed mount 2 and bracing frame (not setting forth in the present invention); Wherein, Main connecting plate 1 is the basic components of parallel robot as the part of the silent flatform of parallel connection platform, and the three-jaw structure on the parallel connection platform fixed mount 2 is rigidly connected through three screws and main connecting plate 1; Parallel connection platform fixed mount 2 terminal hickeys are connected with bracing frame, and promptly whole parallel robot is fixed on this bracing frame.
Screw mechanism is two groups, is symmetricly set in the both sides at main connecting plate center respectively, and is connected with the hypoid drive mechanism respectively, forms two rotational freedoms, and puncture needle mechanism then is arranged in the two cocainine thick stick mechanisms simultaneously, forms two one-movement-freedom-degrees.
The hypoid drive mechanism then comprises two groups of drive mechanisms that are symmetricly set in main connecting plate both sides and are connected with main connecting plate; And described every group of drive mechanism all comprises unidirectional current support 3, bevel pinion seat 4, large conic gear seat 5, direct current generator 6, bevel pinion shaft coupling 7, hypoid bevel pinion 8 and hypoid bevel gear wheel 9; Wherein, Unidirectional current support 3, bevel pinion seat 4 and large conic gear seat 5 are fixed on the main connecting plate 1 through trip bolt respectively; Direct current generator 6 is fixed on the unidirectional current support 3; Its output shaft is connected with bevel pinion shaft coupling 7 one ends; The other end of bevel pinion shaft coupling 7 is connected with the turning cylinder of hypoid bevel pinion 9, and the turning cylinder of hypoid bevel pinion 8 is spacing and support through bevel pinion seat 4, the vertical setting of turning cylinder of the turning cylinder of hypoid bevel gear wheel 9 and hypoid bevel pinion 8; And the turning cylinder of hypoid bevel gear wheel 9 is through large conic gear seat 5 spacing and supports, and hypoid bevel gear wheel 9 and 8 engagements of hypoid bevel pinion.
Above-mentioned screw mechanism is two groups also, is divided into screw mechanism and following screw mechanism, and last screw mechanism and following screw mechanism are symmetricly set in the both sides at main connecting plate 1 center; And be connected with the hypoid drive mechanism respectively; Wherein, last screw mechanism all comprises leading screw bearing cover 10, lead screw shaft bearing 11, leading screw guide housing 12, ball-screw 13, feed screw nut 14, spindle motor seat 15, leading screw shaft coupling 16, leading screw direct current generator 17 with following screw mechanism, wherein; The turning cylinder interference fit of spindle motor seat 15 and above-mentioned hypoid bevel gear wheel 9; The whole screw mechanism of going up can form two rotational freedoms respectively around the main axis rotation of two hypoid bevel gear wheels 9 with following screw mechanism, and leading screw direct current generator 17 is connected the side of spindle motor seat 15 through screw; Its output shaft and the locking of leading screw shaft coupling 16 1 ends; The other end of leading screw shaft coupling 16 is connected with the end of ball-screw 13 of bearing block on passing spindle motor seat 15, ball-screw 13 and the coaxial setting of the output shaft of spindle motor seat 15, and its other end is spacing and support through lead screw shaft bearing 15; Leading screw bearing cover 10 is arranged on the end of lead screw shaft bearing 11; Leading screw guide housing 12 then is arranged between lead screw shaft bearing 11 and the spindle motor seat 15, and is enclosed within the outside of ball-screw 13, and with ball-screw 13 the axle concentric setting; Leading screw guide housing 12 also has along the gathering sill of ball-screw 13 axis directions at middle part, its side, and feed screw nut 14 is enclosed within on the ball-screw 13 and is spacing in gathering sill.
Above-mentioned puncture needle mechanism comprises puncture needle 18 and two groups of puncture needle fixed mechanisms that structure is identical; Two groups of puncture needle fixed mechanisms are separately positioned in the two cocainine thick stick mechanisms; Wherein, Every group of puncture needle fixed mechanism all comprises fairlead U-shaped locating ring 19, fairlead cylindricality locating ring 20, location battle pin 21 and puncture needle fairlead 22, and fairlead U-shaped locating ring 19 and above-mentioned feed screw nut 14 are connected through sliding bearing, and it is a symmetrical structure; Its turning cylinder is perpendicular to the axle of ball-screw 13; Fairlead cylindricality locating ring 20 is connected the opening of fairlead U-shaped locating ring 19 through the location battle pin 21 of its both sides, fairlead cylindricality locating ring 20 can be around the location axis rotation of battle pin, fairlead cylindricality locating ring 20 inside also are provided with puncture needle fairlead 22 with one heart; Puncture needle fairlead 22 is concentric with fairlead cylindricality locating ring 20; And puncture needle fairlead 22 can take out in fairlead cylindricality locating ring 20 at any time, and the axis of puncture needle fairlead 22, the axis of location battle pin 21 and the axis of fairlead U-shaped locating ring 19 meet at a bit, form ball pivot; Puncture needle 18 then is located in two puncture needle fairleads 22, that is: puncture needle 18 passes via the interstitial hole of two puncture needle fairleads 22.
Above-mentioned two groups of unique differences of puncture needle fixed mechanism are; The structure of the puncture needle fairlead of the fixedly puncture needle 18 under being positioned on the screw mechanism is than the contraction in length of the structure that is positioned at the puncture needle fairlead on the screw mechanism along puncture needle 18 directions, but function is constant.
Operation principle of the present invention is:
Parallel robot of the present invention has 4 degree of freedom, and wherein 2 is one-movement-freedom-degree, and 2 for forwarding degree of freedom to.Last screw mechanism integral body is under the driving of the direct current generator corresponding with it; Can be around the main axis rotation of hypoid bevel gear wheel; Equally; Following screw mechanism integral body can be around the main axis rotation of another one hyperboloid bevel gear wheel under the driving of the another one motor corresponding with it, and these 2 rotary joints can move in ± 90 ° scope.Two feed screw nuts 14 under the driving of two leading screw direct current generators 17, are done translational motion along ball-screw 13 respectively, can drive two puncture needle fairleads 22 respectively and do translational motion together.Therefore, last screw mechanism can be done translation and rotatablely move, and following screw mechanism also can be done translation and rotatablely move, and forms two polar coordinate up and down.
Operation principle of the present invention is: before the operation, patient's affected areas is carried out CT/MRI medical image tomoscan, extract the gauge point position through Flame Image Process; Set up image coordinate system, during operation, binocular stereo vision system keeps track vision localization template; Set up robot base's coordinate system through mathematical tool again, the binocular tri-dimensional vision system is followed the tracks of the gauge point of patient's body surface again, sets up external gauge point coordinate system; Through a series of spaces rigid body translation process, make the doctor be mapped to robot base's coordinate space like this, separate through the robot kinematics is counter in the operation puncturing path of image space planning; Calculate each joint motions value; Direct current generator and leading screw direct current generator drive each joint to specific bit, when finish the location, and the puncture needle fairlead 22 of screw mechanism and following screw mechanism in the connection; Promptly form space vector, thereby realize the locus of puncture needle 18 and the location of attitude.
More than concrete embodiment embodiment of the present invention is set forth, this elaboration does not have limitation, shown in the accompanying drawing also is basic embodiment of the present invention; Practical structure is not limited thereto; So, if those skilled in the art or research worker are enlightened by it, under the situation that does not break away from the invention aim; Adopt other similar topological structure, other similar drive mechanism; Perhaps just change the rod member size, design the version similar, all should belong to protection scope of the present invention with this technical scheme without creationary.
Claims (4)
1. bipolar coordinate four-freedom parallel device people; It is characterized in that: comprise screw mechanism, puncture needle mechanism, hypoid drive mechanism, main connecting plate, parallel connection platform fixed mount and bracing frame, wherein, parallel connection platform fixed mount one end is provided with the three-jaw structure; Its three-jaw structure is fixed on the main connecting plate through trip bolt; The parallel connection platform fixed mount other end also is provided with hickey, and it is connected with bracing frame through hickey, and the hypoid drive mechanism comprises two groups of drive mechanisms that are symmetricly set in main connecting plate both sides and are connected with main connecting plate; Screw mechanism also is two groups; Be symmetricly set in the both sides at main connecting plate center respectively, and the drive mechanism that is connected main connecting plate both sides with symmetry respectively connects one to one, form two rotational freedoms; Puncture needle mechanism then is arranged in the two cocainine thick stick mechanisms simultaneously, forms two one-movement-freedom-degrees; Described drive mechanism comprises unidirectional current support, bevel pinion seat, large conic gear seat, direct current generator, bevel pinion shaft coupling, hypoid bevel pinion and hypoid bevel gear wheel; Wherein, Unidirectional current support, bevel pinion seat and large conic gear seat are fixed on the main connecting plate through trip bolt respectively; Direct current generator is fixed on the unidirectional current support; Its output shaft is connected with bevel pinion shaft coupling one end; The other end of bevel pinion shaft coupling is connected with the turning cylinder of hypoid bevel pinion, and the turning cylinder of hypoid bevel pinion is spacing and support through the bevel pinion seat, the vertical setting of turning cylinder of the turning cylinder of hypoid bevel gear wheel and hypoid bevel pinion; And the turning cylinder of hypoid bevel gear wheel is spacing and support through large conic gear seat, and hypoid bevel gear wheel and the engagement of hypoid bevel pinion.
2. bipolar coordinate four-freedom parallel device people according to claim 1; It is characterized in that described screw mechanism comprises leading screw bearing cover, lead screw shaft bearing, leading screw guide housing, ball-screw, feed screw nut, spindle motor seat, leading screw shaft coupling, leading screw direct current generator; Wherein, the turning cylinder interference fit of spindle motor seat and above-mentioned hypoid bevel gear wheel, the leading screw direct current generator is connected the side of spindle motor seat through screw; Its output shaft and the locking of leading screw shaft coupling one end; The other end of leading screw shaft coupling is connected with the end of ball-screw of lead screw shaft bearing on passing the spindle motor seat, ball-screw and the coaxial setting of the output shaft of spindle motor seat, and its other end is spacing and support through the lead screw shaft bearing; The leading screw bearing cover is arranged on the end of lead screw shaft bearing; The leading screw guide housing then is arranged between lead screw shaft bearing and the spindle motor seat, and is enclosed within the outside of ball-screw, and with ball-screw the axle concentric setting; The leading screw guide housing also has along the gathering sill of ball-screw axis direction at middle part, its side, and feed screw nut is enclosed within on the ball-screw and is spacing in gathering sill.
3. bipolar coordinate four-freedom parallel device people according to claim 2; It is characterized in that described puncture needle mechanism comprises puncture needle and two groups of puncture needle fixed mechanisms that structure is identical; Two groups of puncture needle fixed mechanisms are separately positioned in the two cocainine thick stick mechanisms, and wherein, every group of puncture needle fixed mechanism comprises fairlead U-shaped locating ring, fairlead cylindricality locating ring, location battle pin and puncture needle fairlead; Fairlead U-shaped locating ring is connected through sliding bearing with above-mentioned feed screw nut; And it is a symmetrical structure, and its turning cylinder is perpendicular to the axle of ball-screw, and fairlead cylindricality locating ring is connected the opening of fairlead U-shaped locating ring through the location battle pin of its both sides; Its inside also is provided with the puncture needle fairlead with one heart, and puncture needle then is located in two puncture needle fairleads.
4. bipolar coordinate four-freedom parallel device people according to claim 3 is characterized in that the axis of described puncture needle fairlead, the axis of location battle pin and the axis of fairlead U-shaped locating ring meet at a bit, form ball pivot.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102696512A CN101933841B (en) | 2010-08-30 | 2010-08-30 | Four degree-of-freedom parallel robot with bipolar coordinate |
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| CN2010102696512A CN101933841B (en) | 2010-08-30 | 2010-08-30 | Four degree-of-freedom parallel robot with bipolar coordinate |
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| CN101933841A CN101933841A (en) | 2011-01-05 |
| CN101933841B true CN101933841B (en) | 2012-07-04 |
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Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101844351B (en) * | 2009-03-23 | 2012-02-15 | 广州奥脉机器人有限公司 | Full-automatic piercing robot |
| CN102528795B (en) * | 2011-12-30 | 2014-07-16 | 昆山市工业技术研究院有限责任公司 | Small full-automatic planer three-degree-of freedom mechanical arm |
| CN102670297B (en) * | 2012-05-09 | 2014-07-02 | 华南理工大学 | Medical mechanical arm tail end device |
| CN102921099B (en) * | 2012-10-23 | 2014-01-01 | 天津大学 | Short-distance particle implantation robot based on ultrasonic image navigation |
| CN109091233B (en) * | 2018-08-15 | 2020-12-11 | 中国科学院深圳先进技术研究院 | Puncture surgical robot based on series-parallel connection structure |
| CN114424967B (en) * | 2022-03-31 | 2022-06-24 | 真健康（北京）医疗科技有限公司 | Four-freedom puncture needle positioning and guiding device with orthogonal structure |
| CN114469286B (en) * | 2022-04-02 | 2022-07-01 | 真健康（北京）医疗科技有限公司 | Miniaturized puncture robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| RU2265413C2 (en) * | 2004-02-11 | 2005-12-10 | Белинов Николай Владимирович | Belinov's apparatus for closed compression osteosynthesis for thigh-bone neck |
| CN1775488A (en) * | 2005-12-21 | 2006-05-24 | 王满宜 | Modular orthopedic robot for auxiliary intra medullary nail far-end locking |
| CN101181168A (en) * | 2007-12-14 | 2008-05-21 | 北京航空航天大学 | CT guidance minimally invasive surgery parallel robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201743778U (en) * | 2010-08-30 | 2011-02-16 | 昆山市工业技术研究院有限责任公司 | Bipolar-coordinate four-degree-of-freedom parallel robot |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2265413C2 (en) * | 2004-02-11 | 2005-12-10 | Белинов Николай Владимирович | Belinov's apparatus for closed compression osteosynthesis for thigh-bone neck |
| CN1775488A (en) * | 2005-12-21 | 2006-05-24 | 王满宜 | Modular orthopedic robot for auxiliary intra medullary nail far-end locking |
| CN101181168A (en) * | 2007-12-14 | 2008-05-21 | 北京航空航天大学 | CT guidance minimally invasive surgery parallel robot |
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