CN102262836B - Mechanical operating platform for medical simulation training - Google Patents
Mechanical operating platform for medical simulation training Download PDFInfo
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- CN102262836B CN102262836B CN 201110206638 CN201110206638A CN102262836B CN 102262836 B CN102262836 B CN 102262836B CN 201110206638 CN201110206638 CN 201110206638 CN 201110206638 A CN201110206638 A CN 201110206638A CN 102262836 B CN102262836 B CN 102262836B
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Abstract
The invention relates to a mechanical operating platform for medical simulation training. The mechanical operating platform comprises operating arms, wherein the operating arms comprise a surgery appliance, an operating rod, a translation mechanism and a supporting frame; and the operating rod and the surgery appliance are connected into a whole, and the whole is translational relative to the supporting frame through the translation mechanism. The mechanical operating platform is characterized in that: the translation mechanism comprises a linear guide rail, a first transmission wheel and a first transmission wire; the linear guide rail passes through a top plate of the supporting frame, one end of the linear guide rail is fixedly connected with the operating rod, and the other end of the linear guide rail is connected with one end of the first transmission wire; the other end of the first transmission wire is fixed relative to the operating rod; the first transmission wheel is arranged on a side plate, vertical to the top plate, of the supporting frame; an axis line of the first transmission wheel is vertical to the side plate; the middle part of the first transmission wire is wound on the first transmission wheel; and the first transmission wheel is tensioned. The mechanical operating platform for the medical simulation training is simple in structure, small in size, free from interference and collision during the simultaneous use of two operating arms, and applicable to simulation surgery operation.
Description
Technical field
The present invention relates to a kind of medicine equipment of simulated surgical operation, specifically, relate to a kind of mechanically actuated platform for the medical simulation training.
Background technology
In medical domain, operation need have very high operant level and skill level concerning the doctor, needs the doctor that good hand eye coordination ability and consummate feel are arranged.Therefore, the doctor needs through a large amount of trainings before carrying out operation under battle conditions.Being used for mechanically actuated platform that surgical simulation uses and having location sensitive and power and feel the function of feedback, by its interaction that can realize operator and virtual scene, is the important component part in the medical simulation training system.
Prior art is retrieved, and Chinese patent ZL200510027052.9 discloses a kind of multifunctional virtual surgery equipment.This technology has used displacement transducer to obtain the movable information of surgical instrument when mobile surgical instrument, is implemented in operations such as sham operated scissors, clamp in the Virtual Space, and its shortcoming is not possess power feel feedback function.
In addition, in some academic documents, find a kind of virtual operation instrument, this apparatus has location sensitive and power feel feedback function, but its parallel moving mechanism mainly is: two parallel guide rods and one group of pull bar one end are fixed on the top board, the other end is fixed on the fixed head, parallel guide rod is between pull bar, and pull bar mainly is fixed on fixed head on the top board; Entablature, sill are fixed between two parallel guide rods, roll with roller respectively and be connected in the centre of entablature, sill, and control lever passes top board and is connected with the top board translation, and the control lever lower end is fixed on the slide block, and slide block and two parallel guide rods are slidingly connected; Line transmission between two rollers is fixed on the slide block, and by the translation of control lever, the slide block that drives the lower end slides along two parallel guide rods, the transmission of pulling drive line.When driving the control lever translation in the surgical instrument translation, all not translations thereupon of part such as two parallel guide rods, one group of pull bar, fixed head, complex structure, volume is bigger.When the operation arm used simultaneously about especially two instrument combination being become, two apparatuses were at perpendicular, when surface level rotates, and guide rod, pull bar, fixed head etc. can produce interference and collision, make apparatus work range limited.
Summary of the invention
Technical matters at existing in the prior art the objective of the invention is: provide a kind of simple in structure, volume is light and handy, and two operation arms can not interfere the mechanically actuated platform that is used for the medical simulation training of collision when using simultaneously.
In order to achieve the above object, the present invention adopts following technical scheme:
A kind of mechanically actuated platform for the medical simulation training comprises the operation arm; The operation arm comprises: surgical instrument, control lever, parallel moving mechanism and bracing frame; Control lever and surgical instrument join, and be whole by the relative translation with bracing frame of parallel moving mechanism; Parallel moving mechanism comprises line slideway, first power wheel and first drive line; Line slideway passes the top board of bracing frame, and an end is fixedlyed connected with control lever, an end of another termination first drive line; The other end of first drive line and control lever relative fixed; First power wheel be installed on the side plate of the bracing frame vertical with top board and the axis normal of first power wheel in this side plate, twine at first power wheel at the middle part of first drive line; First drive line is tightened up.
After adopting this structure, affect surgical instrument together with control lever with respect to bracing frame (top board of bracing frame specifically) translation, line slideway is translation together thereupon, and is simple in structure, volume is small and exquisite, makes and easy for installation.Simultaneously, when using side by side about two operation arms, its parallel moving mechanism can not interfere and collide.
Bracing frame is made of top board, first side plate and second side plate, and first power wheel is positioned at the inboard of first side plate; Parallel moving mechanism also comprises an idle pulley that is fixed on the inboard of first side plate; Idle pulley is parallel to first power wheel and is arranged between first power wheel and the top board; First drive line extends to first power wheel from beginning to turn back around idle pulley with the fixing end of line slideway, gets back to idle pulley around first power wheel again, passes top board and extends to control lever after twining idle pulley, fixes with control lever.
After adopting the above-mentioned canoe of idle pulley and the first power wheel combination, transmission accuracy height, noise are low, stable drive, need not to lubricate, be easy to installation and maintenance.
First power wheel is helix wheel, and first drive line is arranged in helix groove; Idle pulley is no sheave.Adopt this structure, can obtain translation effect preferably, the helix groove of power wheel can be complied with the winding direction of first drive line simultaneously, makes the wearing and tearing of the drive line of winning less.
Fixedly there is first motor in the outside of first side plate; The rotating shaft of the front axle of first motor and first power wheel is joined; The first sensor of record line slideway translation position is installed in the rear axle of first motor; The lead of first motor and first sensor connects electronic controller.After adopting this structure, the hand-held surgical instrument of operator drives control lever up and down during translation, line slideway rotates by the front axle that first drive line, first power wheel drive motor, rear axle rotates synchronously, first sensor can obtain the position signalling of control lever translation, host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, the force parameter signal is after processing behind the electronic controller, electronic controller sends the driving signal, sends the instruction of power output feel feedback force to first motor.
The operation arm comprises and horizontally rotates mechanism, vertically rotating mechanism and control lever free-wheeling system.Horizontally rotate mechanism and mainly make operation arm left-right rotation on surface level.Vertically rotating mechanism mainly makes operation arm front and back on vertical plane rotate.After adopting above-mentioned three mechanisms, the operation arm have horizontally rotate, vertically rotation, rotation and four degree of freedom of translation, direction of motion is flexible.
Horizontally rotating mechanism comprises: second sensor of runner, base, second power wheel, second drive line, second motor and record runner turned position; Bracing frame is fixed on the runner, and runner is positioned on the base and can rotation on base; Runner and second power wheel are by the second drive line transmission, and second drive line adopts " 8 " word to twine method; Second motor is fixed on the base, and the rotating shaft of its front axle and second power wheel is fixed, and second sensor is coupling thereafter; The lead of second motor and second sensor connects electronic controller.
This structure is very simple, the hand-held surgical instrument of operator is when surface level carries out the left and right directions rotation, the front axle that second drive line, second power wheel drive second motor rotates, rear axle rotates synchronously, second sensor can obtain the position signalling of left-right rotation direction, host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, the force parameter signal is after processing behind the electronic controller, electronic controller sends the driving signal, sends the instruction of power output feel feedback force to second motor.The winding of drive line can increase the cornerite of two-wheeled, and stable drive is reliable.
Vertically rotating mechanism comprises: escapement, the 3rd power wheel, the 3rd drive line, the 3rd sensor of the 3rd motor and record escapement turned position; Escapement rotates along horizontal axis, and the close second side plate side that is arranged on top board of one, and top board rotates between first side plate and second side plate along the rotating shaft of escapement; Escapement and the 3rd power wheel are by the 3rd drive line transmission, and the 3rd drive line adopts " 8 " word to twine method; The 3rd motor is fixed on second side plate outside, and the rotating shaft of its front axle and the 3rd power wheel is fixed, and the 3rd sensor is coupling thereafter; Idle pulley and escapement coaxial cable; The lead of the 3rd motor and the 3rd sensor connects electronic controller.
This structure is very simple, the hand-held surgical instrument of operator is when vertical plane carries out the fore-and-aft direction rotation, escapement rotates, thereby the 3rd drive line, the 3rd power wheel drive the front axle of the 3rd motor and rotate, rear axle rotates synchronously, the 3rd sensor can obtain the position signalling that rotates before and after the escapement, host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, the force parameter signal is after processing behind the electronic controller, electronic controller sends the driving signal, sends the instruction of power output feel feedback force to the 3rd motor.The winding of drive line can increase the cornerite of two-wheeled, and stable drive is reliable.When idle pulley and escapement coaxial cable can guarantee that vertical rotating mechanism moves, do not influence the parallel moving mechanism operation.
Lower cover and loam cake that control lever is divided into socket and can rotates mutually, lower cover connects line slideway, loam cake catcher art utensil; The control lever free-wheeling system comprises the four-sensor of the 4th motor and record loam cake turned position; The 4th motor is positioned at lower cover and fixes with lower cover, and the axis of rotation of its front axle and control lever is fixed, after the four-sensor that is coupling; The lead of the 4th motor and four-sensor connects electronic controller.
This structure is very simple, the operator hands the surgical instrument time rotational, the front axle that loam cake drives the 4th motor rotates, rear axle rotates synchronously, four-sensor can obtain the position signalling that loam cake rotates, and host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, and the force parameter signal is after processing behind the electronic controller, electronic controller sends the driving signal, sends the instruction of power output feel feedback force to the 4th motor.Simultaneously, the 4th motor is arranged in lower cover, compact conformation, and profile is lighter and handier and attractive in appearance.
Surgical instrument is served as reasons and is fixedly cut and the movable scissors of cutting composition, fixedly cuts with control lever and fixes, and activity is cut around fixedly cutting rotation; The 5th motor is fixed on fixedly to be cut, and its front axle is fixed with movable rotating shaft of cutting, and the 5th sensor is coupling thereafter; The lead of the 5th motor and the 5th sensor connects electronic controller.
This structure is very simple, when the hand-held scissors of operator is done shear action, activity is cut the front axle that drives the 5th motor and is rotated, rear axle rotates synchronously, the 5th sensor can obtain the clipped position signal, and host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, and the force parameter signal is after processing behind the electronic controller, electronic controller sends the driving signal, sends the instruction of power output feel feedback force to the 5th motor.This mechanically actuated platform have horizontally rotate, vertically rotation, rotation, translation and shear five degree of freedom, be applicable to the simulation laparoscopic surgery.
The operation arm has two groups, is set up in parallel about two scissors.About the setting of two groups of arms, but the state of real simulation laparoscopic surgery, simultaneously, the parallel moving mechanism volume is small and exquisite, when using side by side about two operation arms, its parallel moving mechanism can not interfere and collide.
Description of drawings
Fig. 1 is the front view that the present invention operates arm.
Fig. 2 is the partial enlarged drawing of Fig. 1.
Fig. 3 is the front view that contains the mechanically actuated platform of two groups of operation arms.
Fig. 4 is the stereographic map of operation arm.
Fig. 5 is the control system schematic diagram.
Be sequence number and the corresponding title of each accompanying drawing below:
| 1 | Parallel moving mechanism | 2 | Horizontally |
3 | Vertical rotating mechanism |
| 4 | The control lever free- |
5 | |
6 | |
| 7 | Idle |
8 | |
9 | |
| 10 | |
11 | |
12 | |
| 13 | Runner | 14 | |
15 | |
| 16 | |
17 | |
18 | |
| 19 | The |
20 | The 3rd drive line | 21 | The |
| 22 | |
23 | |
24 | The |
| 25 | Fixedly cut | 26 | Activity is cut | 27 | The 5th motor |
Embodiment
The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.
Fig. 1 is to shown in Figure 5, and the operation arm mainly comprises: surgical instrument, bracing frame, parallel moving mechanism, horizontally rotate mechanism, vertically rotating mechanism and control lever free-wheeling system.
Wherein, surgical instrument comprises: fixedly cut and movable scissors, the 5th motor and the 5th sensor of cutting composition.Activity is cut around fixedly cutting rotation, realizes shear action.The 5th motor is fixed on fixedly to be cut, and its front axle is fixed with movable rotating shaft of cutting, and rear axle and the 5th sensor are fixed, and the lead of the 5th motor and the 5th sensor connects electronic controller.When rotation is cut in activity, activity is cut the front axle that drives the 5th motor and is rotated, rear axle rotates synchronously, the 5th sensor can obtain the clipped position signal, host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, the force parameter signal is after processing behind the electronic controller, and electronic controller sends the driving signal, sends the instruction of power output feel feedback force to the 5th motor.
The control lever free-wheeling system comprises: by the control lever that loam cake and lower cover are formed, the 4th motor and four-sensor.Loam cake and lower cover cover and can rotate mutually.Cavity is arranged in the lower cover, and the 4th motor is fixed in this cavity, and its front axle and loam cake are fixed, after the four-sensor that is coupling.Loam cake with fixedly cut fixing.The operator hands the scissors time rotational, the front axle that loam cake drives the 4th motor rotates, rear axle rotates synchronously, four-sensor can obtain the position signalling that loam cake rotates, host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, the force parameter signal is after processing behind the electronic controller, and electronic controller sends the driving signal, sends the instruction of power output feel feedback force to the 4th motor.
Bracing frame comprises first side plate and second side plate of top board and roof supporting, and top board can rotate at first side plate and second side sheet room.
Parallel moving mechanism comprises: the idle pulley of line slideway, smooth in appearance, first power wheel with helix groove, first drive line, first motor and first sensor.The line slideway upper end is fixed on the lower cover below of control lever, passes top board in the middle of the line slideway and extends downwards, and first drive line is fixed by the tensioner of drive line in the lower end.First power wheel is positioned at the first side plate inboard, and axis normal is in side plate.Idle pulley is positioned at first power wheel top, is fixed on the first side plate inboard, the axis of idle pulley and the coaxial of top board.First drive line extends to first power wheel from beginning to turn back around idle pulley with the fixing end of line slideway, gets back to idle pulley around first power wheel again, is upward through top board and extends to control lever after twining idle pulley, fixes with the lower cover of control lever.Top board is provided with the long-channel that passes for line slideway, also is provided with the passage that passes through for first drive line.The hand-held scissors of operator drives control lever up and down during translation, line slideway rotates by the front axle that first drive line, first power wheel drive motor, rear axle rotates synchronously, first sensor can obtain the position signalling of control lever translation, receive this signal by electronic controller, after host computer carries out computing according to this position signalling, send the instruction of power output feel feedback force to first motor.
Vertically rotating mechanism comprises: escapement, the 3rd power wheel, the 3rd drive line, the 3rd motor and the 3rd sensor.The escapement rotating shaft is coaxial with the rotation axis of top board, escapement and top board integrated setting.The 3rd power wheel is positioned at the second side plate inboard, passes through the 3rd drive line transmission with escapement, and the 3rd drive line adopts " 8 " font winding.The 3rd motor is fixed on second side plate outside, and the rotating shaft of its front axle and the 3rd power wheel is fixed, and rear axle is fixed the 3rd sensor.The hand-held scissors of operator is when vertical plane carries out the fore-and-aft direction rotation, the front axle that the 3rd drive line, the 3rd power wheel drive the 3rd motor rotates, rear axle rotates synchronously, the position signalling of rotation direction before and after the 3rd sensor can obtain, host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, the force parameter signal is after processing behind the electronic controller, and electronic controller sends the driving signal, sends the instruction of power output feel feedback force to the 3rd motor.
Horizontally rotating mechanism comprises: runner, base, second power wheel, second drive line, second motor and second sensor.The bracing frame overall fixed is on runner, and runner is above the base and can rotation on base.The next door of runner is provided with second power wheel, and by the second drive line transmission, second drive line adopts " 8 " font winding between second power wheel and runner.Second motor is fixed on the base below, and the rotating shaft of its front axle and second power wheel is fixed, and rear axle is fixed second sensor.The hand-held scissors of operator is when surface level carries out the left and right directions rotation, the front axle that second drive line, second power wheel drive second motor rotates, rear axle rotates synchronously, second sensor can obtain the position signalling of left-right rotation direction, host computer receives this signal and this position signalling is carried out drawing the force parameter signal after the computing, the force parameter signal is after processing behind the electronic controller, and electronic controller sends the driving signal, sends the instruction of power output feel feedback force to second motor.
Mechanically actuated platform shown in Figure 3 have two the operation arms, about be set up in parallel.Every group of operation arm all has five degree of freedom and power feel feedback function.When two operation arms are operated simultaneously, can not interfere collision.
Claims (10)
1. a mechanically actuated platform that is used for the medical simulation training comprises the operation arm; The operation arm comprises: surgical instrument, control lever, parallel moving mechanism and bracing frame; Control lever and surgical instrument join, and whole by the relative translation with bracing frame of parallel moving mechanism, it is characterized in that: described parallel moving mechanism comprises line slideway, first power wheel and first drive line; Line slideway passes the top board of bracing frame, and an end is fixedlyed connected with control lever, an end of another termination first drive line; The other end of first drive line and control lever relative fixed; First power wheel be installed on the side plate of the bracing frame vertical with top board and the axis normal of first power wheel in this side plate, twine at first power wheel at the middle part of first drive line; First drive line is tightened up.
2. according to the described mechanically actuated platform for the medical simulation training of claim 1, it is characterized in that: support frame as described above is made of top board, first side plate and second side plate, and first power wheel is positioned at the inboard of first side plate; Parallel moving mechanism also comprises an idle pulley that is fixed on the inboard of first side plate; Idle pulley is parallel to first power wheel and is arranged between first power wheel and the top board; First drive line extends to first power wheel from beginning to turn back around idle pulley with the fixing end of line slideway, gets back to idle pulley around first power wheel again, passes top board and extends to control lever after twining idle pulley, fixes with control lever.
3. according to the described mechanically actuated platform for the medical simulation training of claim 2, it is characterized in that: described first power wheel is helix wheel, and first drive line is arranged in helix groove; Idle pulley is no sheave.
4. according to the described mechanically actuated platform for the medical simulation training of claim 3, it is characterized in that: fixedly there is first motor in the outside of described first side plate; The rotating shaft of the front axle of first motor and first power wheel is joined; The first sensor of record line slideway translation position is installed in the rear axle of first motor; The lead of first motor and first sensor connects electronic controller.
5. according to the described mechanically actuated platform for medical simulation training of claim 2, it is characterized in that: described operation arm comprises and horizontally rotates mechanism, vertically rotating mechanism and control lever free-wheeling system.
6. according to the described mechanically actuated platform for medical simulation training of claim 5, it is characterized in that: describedly horizontally rotate mechanism and comprise: second sensor of runner, base, second power wheel, second drive line, second motor and record runner turned position; Bracing frame is fixed on the runner, and runner is positioned on the base and can rotation on base; Runner and second power wheel are by the second drive line transmission, and second drive line adopts " 8 " word to twine method; Second motor is fixed on the base, and the rotating shaft of its front axle and second power wheel is fixed, and second sensor is coupling thereafter; The lead of second motor and second sensor connects electronic controller.
7. according to the described mechanically actuated platform for the medical simulation training of claim 5, it is characterized in that: described vertical rotating mechanism comprises: escapement, the 3rd power wheel, the 3rd drive line, the 3rd sensor of the 3rd motor and record escapement turned position; Escapement rotates along horizontal axis, and one be arranged on top board near the second side plate side, top board is rotationally connected along the rotating shaft of escapement and first side plate and second side plate; Escapement and the 3rd power wheel are by the 3rd drive line transmission, and the 3rd drive line adopts " 8 " word to twine method; The 3rd motor is fixed on second side plate outside, and the rotating shaft of its front axle and the 3rd power wheel is fixed, and the 3rd sensor is coupling thereafter; Idle pulley and escapement coaxial cable; The lead of the 3rd motor and the 3rd sensor connects electronic controller.
8. according to the described mechanically actuated platform for the medical simulation training of claim 5, it is characterized in that: lower cover and loam cake that described control lever is divided into socket and can rotates mutually, lower cover connects line slideway, loam cake catcher art utensil; The control lever free-wheeling system comprises the four-sensor of the 4th motor and record loam cake turned position; The 4th motor is positioned at lower cover and fixes with lower cover, and the axis of rotation of its front axle and control lever is fixed, after the four-sensor that is coupling; The lead of the 4th motor and four-sensor connects electronic controller.
9. according to the described mechanically actuated platform for the medical simulation training of claim 5, it is characterized in that: described surgical instrument is served as reasons and is fixedly cut and the movable scissors of cutting composition, fixedly cuts with control lever and fixes, and activity is cut around fixedly cutting rotation; The 5th motor is fixed on fixedly to be cut, and its front axle is fixed with movable rotating shaft of cutting, and the 5th sensor is coupling thereafter; The lead of the 5th motor and the 5th sensor connects electronic controller.
10. according to the described mechanically actuated platform for the medical simulation training of claim 9, it is characterized in that: described operation arm has two groups, is set up in parallel about two scissors.
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| CN 201110206638 CN102262836B (en) | 2011-07-22 | 2011-07-22 | Mechanical operating platform for medical simulation training |
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| CN 201110206638 CN102262836B (en) | 2011-07-22 | 2011-07-22 | Mechanical operating platform for medical simulation training |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2738756A1 (en) | 2012-11-30 | 2014-06-04 | Surgical Science Sweden AB | User interface device for surgical simulation system |
| EP2760003A1 (en) * | 2013-01-24 | 2014-07-30 | Surgical Science Sweden AB | Haptic user interface device for surgical simulation system |
| CN103399584B (en) * | 2013-08-07 | 2016-03-23 | 吴开俊 | A kind of control system for Long-distance Control medicine equipment and control method thereof |
| CN103473978B (en) * | 2013-09-27 | 2015-09-30 | 淮阴师范学院 | The operating forceps interface arrangement of man-machine interaction is realized for virtual operation training |
| CN103714729B (en) * | 2013-12-31 | 2016-08-03 | 广州赛宝联睿信息科技有限公司 | A kind of cystoscope surgical simulation training operating board and its implementation |
| CN104200730B (en) * | 2014-09-09 | 2017-05-10 | 华中科技大学 | Device, method and system for virtual laparoscopic surgery |
| CN108346337B (en) * | 2018-03-29 | 2020-04-10 | 安徽工程大学 | Dual-purpose operation simulation training device |
| CN108346338A (en) * | 2018-03-30 | 2018-07-31 | 安徽工程大学 | A kind of multiple degrees of freedom virtual surgery simulation device |
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| CN101797185A (en) * | 2010-03-11 | 2010-08-11 | 上海交通大学 | Seven-degree of freedom (DOF) mechanical slave-hand device for minimally invasive surgery |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101261781B (en) * | 2008-05-08 | 2010-06-02 | 上海交通大学 | Five-freedom degree force feedback virtual operation instrument |
| CN101702277B (en) * | 2009-09-14 | 2011-05-04 | 上海交通大学 | Virtual and artificial force feedback surgical instrument |
| CN202142231U (en) * | 2011-07-22 | 2012-02-08 | 广州赛宝联睿信息科技有限公司 | Mechanical operating platform for medical treatment simulated training |
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| CN101797185A (en) * | 2010-03-11 | 2010-08-11 | 上海交通大学 | Seven-degree of freedom (DOF) mechanical slave-hand device for minimally invasive surgery |
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Denomination of invention: A mechanical operating platform for medical simulation training Effective date of registration: 20230529 Granted publication date: 20130717 Pledgee: Agricultural Bank of China Limited Dongcheng Branch of Guangzhou Pledgor: GUANGZHOU SAIBAO LIANRUI INFORMATION TECHNOLOGY Co.,Ltd. Registration number: Y2023980041992 |
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