CN102499759B - Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery - Google Patents
Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery Download PDFInfo
- Publication number
- CN102499759B CN102499759B CN2011103384851A CN201110338485A CN102499759B CN 102499759 B CN102499759 B CN 102499759B CN 2011103384851 A CN2011103384851 A CN 2011103384851A CN 201110338485 A CN201110338485 A CN 201110338485A CN 102499759 B CN102499759 B CN 102499759B
- Authority
- CN
- China
- Prior art keywords
- freedom
- degree
- arm
- mechanical arm
- joint
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Abstract
The invention discloses a multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery, which comprises two seven-degree-of-freedom mechanical arms and a five-degree-of-freedom mechanical arm. Tail ends of the seven-degree-of-freedom mechanical arms are provided with scalpels, the tail end of the five-degree-of-freedom mechanical arm is provided with a cameral, seven degrees of freedom of each seven-degree-of-freedom mechanical arm include the rotation degree of freedom around a center shaft of the arm, the arm front and back stretching and retracting degree of freedom, the horizontal swinging degree of freedom, the vertical swinging degree of freedom, the horizontal swinging degree of freedom, the vertical swinging degree of freedom and the tool degree of freedom which are successively arranged from the root of the seven-degree-of-freedom mechanical arm, the front and back stretching and retracting degree of freedom and the rotation degree of freedom around a center line of the arm are arranged at the tail end, which contacts with a mouth gag, of the five-degree-of-freedom mechanical arm, three planar swinging degrees of freedom deeply penetrate into the mouth gag and are successively arranged from the root of the five-degree-of-freedom mechanical arm, and transmission of each degree of freedom is controlled via a steel wire. The multi-degree-of-freedom single-wound-hole robot flexible hand is a single-hole operation multi-degree-of-freedom mechanism, and can realize surgical operations including incising, pulling, suturing and the like, so that operability and accuracy of the surgery are improved.
Description
Technical field
The present invention relates to a kind of medical surgical instrument, what be specifically related to is a kind of multivariant mechanical hand for abdominal-cavity minimal-invasion surgery.
Background technology
The wound that brings for fear of traditional abdominal cavity abdominal is large, it is many to lose blood, internal organs are exposed to airborne danger, and it is hole, 8mm left and right that present abdominal-cavity minimal-invasion surgery will be opened in abdominal cavity three apertures usually.But for operation required precision and rehabilitation angle, three holes also can have a significant impact patient's the rehabilitation rear aspect such as attractive in appearance of even performing the operation.Therefore, single-hole laparoscopic surgery has been subject to paying close attention to widely.
Find through the literature search to prior art, patent of invention 201110007611.5 (open day 2011-04-27, publication number 102028548A) invented a kind of abdominal-cavity minimal-invasion surgery robot clamp-type operating theater instruments, can not get compensation with the unnecessary motion that solves the existing left finger of abdominal-cavity minimal-invasion surgery robot and right finger, cause driving the problem that the steel wire of left finger and right finger is easily broken.
Foreign patents PCT/KR2010/007314 (SURGICAL INSTRUMENT AND ADAPTER FOR SINGLE PORT SURGERY) has invented a kind of surgical instrument, extend at longitudinal direction with tubular axle, for making thinner apparatus structure, provide a kind of method.
Also find in retrieval, " research and development of single-hole laparoscopic surgery apparatus and the application " that " the single-hole laparoscopic surgery progress is with following " of according to Jiang Haijun etc., delivering on the 1st phase at " Chinese minimally invasive surgery magazine " the 10th volume in 2010 and Xu Dahua delivered in the 15th the 1st phase of volume of " laparoscopic surgery magazine " January in 2010, still there is following shortcoming in existing laparoscopic surgery:
1) under the single hole condition, all apparatuses all almost the parallel patient's of entering intraperitoneal complete operation, can't form the leg-of-mutton working place of doctor custom, make between apparatus and easily cause interference, strengthened the difficulty of operation;
2) existing most advanced micro-wound operation robot need to locate and open three wounds and implement to perform the operation at patient when carrying out complicated operation, thus to patient's rehabilitation and in the future the attractive in appearance of skin all have a significant impact;
3) replace human eye to make surgical field of view lose three-dimensional true vision by electronic image pickup apparatus, the doctor is adjusted the distance with the judgement of position, produce difficulty;
4) in order to make operation process closer to traditional operation, usually need the development special equipment,, as multichannel, deformable puncture casing etc., make cost up.
Laparoscopic instrument, by a whole set of medical instruments and equipment that the high-tech apparatus of numerous complicated forms, comprises light source, pneumoperitoneum apparatus, dynamical system, pick-up and picture recording system, anesthetic machine, monitor and operation tool etc.Multiple degrees of freedom single hole abdominal-cavity minimal-invasion surgery robot is based on the improvement of laparoscopic instrument operation tool, and it is to replace original manual operations with mechanical arm.In actual applications, in single-hole laparoscopic surgery, essential instrument is gag.Gag is a sleeve pipe with a plurality of operations duct.
Summary of the invention
The object of the invention is to for above-mentioned deficiency of the prior art, a kind of multiple-degree-of-freedom mechanism of single hole operation has been proposed, it is multiple degrees of freedom list wound hole abdominal-cavity minimal-invasion surgery robot delicate, can insert the duct of a 12mm diameter in gag, to replace original manually-operated scalpel, thereby improve operability and the degree of accuracy of performing the operation.
The present invention is achieved through the following technical solutions, the present invention includes: two ends are installed the mechanical arm of 7 degree of freedom of scalpel, and an end is installed the mechanical arm of the 5DOF of photographic head.
The mechanical arm of described 7 degree of freedom, described 7 degree of freedom are counted from root, be followed successively by: thorny arm central shaft rotary freedom, the elastic degree of freedom of arm, horizontal hunting degree of freedom, vertical oscillation degree of freedom, horizontal hunting degree of freedom, vertical oscillation degree of freedom, instrument degree of freedom, after counting second degree of freedom from root, five degree of freedom are all completed at gag inner (being in human body), and each degree of freedom is controlled by a steel wire.Arm has 5 degree of freedom in gag inside, when the whole piece arm is in straight configuration,, by near the gag place, counting, be respectively continuous two joints, the first arm, the 3rd joint, the second arm, the 4th joint, removable specific purpose tool.The degree of freedom director space that forms between every two adjacent segments is vertical.When the mechanical arm of described 7 degree of freedom stretches fully, length is about 70mm, the pivot angle of each swing degree-of-freedom joint can reach 180 ° and add rotation and the flexible degree of freedom of whole arm in the gag outside, and the work space of whole arm can reach the requirement of medical abdominal operation now.
The mechanical arm of described 5DOF, the end arm that contacts with gag during work have 2 degree of freedom of elastic and thorny arm centrage rotation, go deep into gag inside, from root, start to have 3 plane rocking degree of freedom, and front end is photographic head.Arm has 3 degree of freedom in gag inside, when the whole piece arm is in straight configuration,, by near the gag place, counting, be respectively the 5th joint and the 6th joint, the 3rd arm, the 7th joint, the 4th arm, photographic head.The degree of freedom director space that forms between every two adjacent segments is vertical.When the mechanical arm of described 5DOF stretches fully, length is about 55mm, each pivot angle that swings degree-of-freedom joint can reach 180 °, add rotation and the flexible degree of freedom of whole arm in the gag outside, the work space of whole arm can reach the visual field requirement in operation.
The mechanical arm of described 7 degree of freedom and the mechanical arm of described 5DOF, each articulation structure that they comprise is identical, mainly by root part and swing part, formed, connected by stiff shaft between root part and swing part, the main transmission steel wire penetrates from the root part, drive the head pulley that swings in part.After Wire pulling, swing part and just can swing around stiff shaft, mutually swing between two parts and form the swing degree of freedom.Because the mechanical arm of every 7 degree of freedom has 5 degree of freedom at the gag interior section, therefore need 5 groups of steel wires, like this by in the part of subterminal joint, will penetrate near the required steel wire of front end joint part transmission, in order to guarantee between steel wire not form interference, and when joint swings endways, the front end steel wire is still for tightening up state, so two the truckle groups of respectively packing at the root part with in swinging part.Assembly pulley is used for making the steel wire of front end degree of freedom transmission to pass joint along pulley position, and two row pulley position and joint transmission main shafts are tangent not to be affected with the swing that guarantees each joint steel wire drive on other joints.Progressively near the mechanical arm front end, the truckle on each assembly pulley will be take 1 as unit along with joint, and the truckle quantity in whole joint will progressively be successively decreased as unit take 4, and along with the minimizing of pulley, the original position of pulley will be replaced by pad.
Above-mentioned mechanical arm is the steel wire drive mode, and each degree of freedom is responsible for transmission by steel wire and is controlled, and externally operation table frame is provided with the motor box that drives steel wire, every corresponding steel wire of motor.
The present invention, in when work, at first, inserts tail house of the present invention in gag, i.e. three mechanical arms, in mechanical arm stretches into the patient body after, drive steel wire by motor and rotarily drive mechanical arm, realize the posture changing of mechanical arm.In addition, 5 freely mechanical arm, for observing situation in body, therefore, by its different attitude of conversion,, to reach the perspective view of different angles, facilitate the doctor diagnosed state of an illness and implement operation.
To sum up, the operation techniques such as robot of the present invention can realize cutting, pulls, suture substitute original manual operations, its main type of drive is by the driven by motor steel wire, then by steel wire, pulls terminal link to realize the conversion of attitude and the operation of end scalpel.
Compared with prior art, the present invention has following characteristics and beneficial effect:
(1) be close to full automatic operation technique, need hand lifting/lowering Electric Machine Control stand during except the replacing surgical knife tool, all the other operation processs all can be controlled on PC.
(2) realize single wound operation, maximum wound diameter also only has 12mm, need not in addition to open any wound on patient body again.
(3) multiple degrees of freedom flexible operating, stretch into simultaneously three diameters and respectively be the robotic arm of 5mm in single wound, two each self-contained 7 degree of freedom of instrument arm wherein, the 3rd photographic head arm comprises 5 degree of freedom, and three arms can arrive work space position in the human body splanchnocoel.
(4) operation tool is changed, and the instrument on two 7 degree of freedom arms can be changed by demand in operation, in order to strengthen the convenience, multiformity etc. of operation.
Description of drawings
Fig. 1 is that front end robot arm tool arm segment degree of freedom of the present invention distributes schematic diagram;
Fig. 2 is that front end robot arm photographic head arm segment degree of freedom of the present invention distributes schematic diagram;
Fig. 3 is front end robot arm assembly figure of the present invention;
Fig. 4 is gag aperture, abdominal cavity of the present invention distribution diagram;
Fig. 5 is swing freedom degree joint structure principle of the present invention and steel wire trace-diagram.
In figure: degree-of-freedom joint 1,8 pivots, flexible degree-of- freedom joint 2,9, inner two arms of gag are totally 8 swing degree of freedom 3,4,5,6,10,11,12,13, front end tool joint 7,14, the rotary freedom 15 of gag outside, flexible degree of freedom 16, the swing degree of freedom 17,18 of arm root in patient body, gag 19, steel wire 20 is passed in the front end joint back, joint shackle line 21, truckle group 20,22,23,24,25, root joint 26, front end joint 27.
The specific embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under take technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, 2, the present embodiment comprises: two ends are installed the mechanical arm of 7 degree of freedom of scalpel, and an end is installed the mechanical arm of the 5DOF of photographic head.Each degree of freedom pulls by steel wire rope.These three arms are arranged on same hoistable platform.Certainly, when using, reality can also lay as required.
As shown in Figure 1, the mechanical arm of described 7 degree of freedom,, for cylindrical plastic arm, rustless steel joint and several specific purpose tool form, separately comprise steel wire, pulley joint etc.Two arms, 7 degree of freedom are separately counted from root, are respectively: thorny arm central shaft rotary freedom 1 and 8, the elastic degree of freedom 2 of arm and 9, horizontal hunting degree of freedom 3 and 10, vertical oscillation degree of freedom 4 and 11, horizontal hunting degree of freedom 5 and 12, vertical oscillation degree of freedom 6 and 13, instrument degree of freedom 7 and 14.
In the present embodiment, the mechanical arm of described 7 degree of freedom, each joint is one degree of freedom, each degree of freedom is controlled by a steel wire.Arm has 5 degree of freedom in gag inside, when the whole piece arm is in straight configuration,, by near the gag place, counting, be respectively the joint that continuous two length are 8mm, the plastics arm that length is 15mm, the joint of 8mm, the plastics arm of 13mm, the joint of 8mm, removable specific purpose tool.The degree of freedom director space that forms between every two adjacent segments is vertical.When arm stretches fully, length is about 70mm, and each pivot angle that swings degree-of-freedom joint can reach 180 °, adds rotation and the flexible degree of freedom of last arm in the gag outside, and the work space of arm can reach the requirement of medical abdominal operation now.
Front end tool joint 7,14 comprises 1 degree of freedom, by steel wire rope, is driven and is realized closure.The flexible degree-of-freedom joint 2 of root arm, 9 and the degree-of-freedom joint 1 that pivots, 8 outsides at gag realize, realize the Telescopic rotating motion by the driven by motor steel wire rope.
As shown in Figure 2, the mechanical arm of described 5DOF, consist of cylindrical plastic arm, rustless steel joint and photographic head, separately comprises steel wire, pulley joint etc.The end arm that contacts with gag during work has 2 degree of freedom of elastic and thorny arm centrage rotation, gos deep into gag inside, from root, starts to have 3 plane rocking degree of freedom, and front end is the cam device of diameter 5mm.
In the present embodiment, the mechanical arm of described 5DOF has 3 degree of freedom in gag inside, when the whole piece arm is in straight configuration,, by near the gag place, counting, be respectively the joint that continuous two length are 8mm, plastics arm, the joint of 8mm, the plastics arm of 8mm, the photographic head that length is 15mm.The degree of freedom director space that forms between every two adjacent segments is vertical.When arm stretches fully, length is about 55mm, and each pivot angle that swings degree-of-freedom joint can reach 180 °, adds rotation and the flexible degree of freedom of last arm in the gag outside, and the work space of arm can reach the visual field requirement in operation.
Opening mirror peripheral operation result is identical with Fig. 1 arm, and inner two operations that swing degree of freedom are also identical with mechanical arm, and front end is that the photographic head of 5mm makes operating room observed case at any time.
In the present embodiment, the mechanical arm of 7 above-mentioned degree of freedom and the mechanical arm of described 5DOF, each articulation structure that they comprise is identical, mainly by root part and swing part, formed, connected by stiff shaft between root part and swing part, the main transmission steel wire penetrates from the root part, drive the head pulley that swings in part.After Wire pulling, swing part and just can swing around stiff shaft, mutually swing between two parts and form the swing degree of freedom.
Because the design of mechanical arm is restricted by working environment, the maximum outside diameter of every arm only has 5mm, in order to realize controlling of every each degree of freedom of mechanical arm, select the steel wire drive mode, each degree of freedom is responsible for transmission by steel wire and is controlled, externally can be with the motor box that drives steel wire on operation table frame, and every corresponding steel wire of motor, mechanical arm is partly added up and is had 17 degree of freedom, therefore need to be equipped with 17 motors.
As shown in Figure 4, the gag aperture, abdominal cavity that the present embodiment uses is distributed, and is based on uniform 3 apertures that diameter is 5mm on the gag that a diameter is 12mm, is used for inserting three mechanical arms.Can, toward the gag inner inflatable, make in human abdominal cavity and form suitable work space during work.
As shown in Figure 5,4 swing degree of freedom of inner every the arm of gag are realized by the pulley joint, by steel wire rope 21,, from by root joint 26, stretching out, are overlapped near the pulley on front end joint 27, after Wire pulling, pull steel wire just can make front end joint and rear end close internode and form the swing degree of freedom.For for subterminal joint, the front end part that can penetrate in joint swings required steel wire group 20, steel wire group 20 is enclosed within on truckle group 22,23,24,25 with this, due to tangent between truckle group and swinging axle (also can be similar to tangent), so do not form interference between steel wire, and when joint swings endways, the front end steel wire, still for tightening up state, has so realized swinging the steel wire drive of degree of freedom.
Utilize above-mentioned arm to carry out in operating process, three arms all are in the state of being stretched flat, every arm end is buckled in front-end control mechanism (being that above-mentioned drive motors, assembly pulley, traction steel wire etc. form), preparation is complete, adjust operation table frame position, highly, adjust again the angle of three arms, aim at the gag 19 of in the umbilicus position, having settled, manual operation will be settled the little lifting platform down sliding of three arms, and three mechanical arms are inserted in patient body along three mouths on gag.First by the swing degree of freedom 17,18 of arm root in the rotary freedom 15 of gag outside, flexible degree of freedom 16 and patient body, adjust arm and make its definite surgery location roughly, then comply with end to the order of front end regulate one by one each degree of freedom make photographic head, two the operation arms accurately reach the operation technique point, an arm is responsible for crawl, an arm is responsible for tool operation, performs the operation.
Relate in operation when changing cutter, need this arm is adjusted to straight configuration, with motor box in front-end control mechanism, extract out in the lump, carry out the replacing of cutter.
In the present embodiment, the machine tool arm of two 7 degree of freedom and the photographic head arm of a 5DOF, jointly by a circular open device at patient body umbilical part, diameter 12mm, enter in the patient body during operation, observed by the video that photographic head on arm always captures, three arms can realize that 180 ° of swings are to arrive various operating points, three arms are all by the operation of driven by motor steel wire, and the Electric Machine Control end will connect PC, and whole operation process can be completed in the PC drilling.
To sum up, the present invention can realize single wound, attractive in appearance to realize, low infection risk.Full-automatic operation, except changing cutter, need not manually-operated in operation process.Mechanical arm launches after entering gag, and between apparatus, basic not interference, guarantee that handling safety is reliable.
, although content of the present invention has been done detailed introduction by above preferred embodiment, will be appreciated that above-mentioned description should not be considered to limitation of the present invention.After those skilled in the art have read foregoing, for multiple modification of the present invention with to substitute will be all apparent.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (6)
1. a multiple degrees of freedom list is created hole abdominal-cavity minimal-invasion surgery robot delicate, it is characterized in that comprising: two ends are installed the mechanical arm of 7 degree of freedom of scalpels, and an end is installed the mechanical arm of the 5DOF of photographic head, wherein:
The mechanical arm of described 7 degree of freedom, wherein said 7 degree of freedom are counted from root, be followed successively by: thorny arm central shaft rotary freedom, the elastic degree of freedom of arm, horizontal hunting degree of freedom, vertical oscillation degree of freedom, horizontal hunting degree of freedom, vertical oscillation degree of freedom, instrument degree of freedom, after counting second degree of freedom from root, five degree of freedom are all completed in gag inside;
The mechanical arm of described 5DOF, the end arm that contacts with gag have 2 degree of freedom of elastic and thorny arm centrage rotation, go deep into gag inside, from root, start to have 3 plane rocking degree of freedom, and front end is photographic head;
Above-mentioned two kinds of mechanical arms are the steel wire drive mode, and each degree of freedom is responsible for transmission by steel wire and is controlled, and described steel wire drives by motor, every corresponding steel wire of motor;
The mechanical arm of described 7 degree of freedom and the mechanical arm of described 5DOF, each articulation structure that they comprise is identical, mainly by root part and swing part, formed, connected by stiff shaft between root part and swing part, the main transmission steel wire penetrates from the root part, drive the head pulley that swings in part, after Wire pulling, swing part and swing around stiff shaft, mutually swing between two parts and form the swing degree of freedom;
Described root part and swing in part two the truckle groups of respectively packing into, assembly pulley is used for making the steel wire of front end degree of freedom transmission to pass joint along pulley position, and two row's pulley position and joint transmission main shaft are tangent.
2. multiple degrees of freedom list according to claim 1 is created hole abdominal-cavity minimal-invasion surgery robot delicate, it is characterized in that: the mechanical arm of described 7 degree of freedom has 5 degree of freedom in gag inside, when the whole piece arm is in straight configuration, by near the gag place, counting, be respectively continuous two joints, the first arm, the 3rd joint, the second arm, the 4th joint, removable specific purpose tool, the degree of freedom director space that forms between every two adjacent segments is vertical.
3. multiple degrees of freedom list according to claim 1 and 2 is created hole abdominal-cavity minimal-invasion surgery robot delicate, and it is characterized in that: when the mechanical arm of described 7 degree of freedom stretches fully, length is 70mm, and each pivot angle that swings degree-of-freedom joint reaches 180 °.
4. multiple degrees of freedom list according to claim 1 is created hole abdominal-cavity minimal-invasion surgery robot delicate, it is characterized in that: the mechanical arm of described 5DOF has 3 degree of freedom in gag inside, when the whole piece arm is in straight configuration, by near the gag place, counting, be respectively the 5th joint and the 6th joint, the 3rd arm, the 7th joint, the 4th arm, photographic head, the degree of freedom director space that forms between every two adjacent segments is vertical.
5. according to claim 1 or 4 described multiple degrees of freedom lists are created hole abdominal-cavity minimal-invasion surgery robot delicates, and it is characterized in that: when the mechanical arm of described 5DOF stretches fully, length is 55mm, and each pivot angle that swings degree-of-freedom joint reaches 180 °.
6. multiple degrees of freedom list according to claim 1 is created hole abdominal-cavity minimal-invasion surgery robot delicate, it is characterized in that: along with joint progressively near the mechanical arm front end, truckle on each assembly pulley will be take 1 as unit, the truckle quantity in whole joint will be take 4 as unit, progressively successively decrease, along with the minimizing of pulley, the original position of pulley will be replaced by pad.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103384851A CN102499759B (en) | 2011-10-31 | 2011-10-31 | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011103384851A CN102499759B (en) | 2011-10-31 | 2011-10-31 | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102499759A CN102499759A (en) | 2012-06-20 |
| CN102499759B true CN102499759B (en) | 2013-11-20 |
Family
ID=46211938
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103384851A Active CN102499759B (en) | 2011-10-31 | 2011-10-31 | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102499759B (en) |
Families Citing this family (48)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2732344B1 (en) | 2011-07-11 | 2019-06-05 | Board of Regents of the University of Nebraska | Robotic surgical system |
| EP2844181B1 (en) | 2012-05-01 | 2021-03-10 | Board of Regents of the University of Nebraska | Single site robotic device and related systems |
| EP2882331A4 (en) | 2012-08-08 | 2016-03-23 | Univ Nebraska | Robotic surgical devices, systems, and related methods |
| CN103006329B (en) * | 2012-12-03 | 2014-10-15 | 上海交通大学 | Multi-joint single-wound abdominal cavity minimally-invasive surgery robot and operating mechanism thereof |
| CA2918531A1 (en) | 2013-07-17 | 2015-01-22 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
| CN103536364A (en) * | 2013-10-18 | 2014-01-29 | 江苏艾迪尔医疗科技股份有限公司 | Intelligent orthopaedic system |
| CN103519772B (en) * | 2013-10-29 | 2016-03-16 | 上海交通大学 | Single-port laparoscopic minimally-invasive surgery imaging system |
| CN105358072B (en) * | 2014-04-22 | 2018-11-09 | 香港生物医学工程有限公司 | It is single to enter channel surgical robot and system and the single method for entering channel surgical robot and system of configuration |
| CN103948435B (en) * | 2014-05-15 | 2016-04-13 | 上海交通大学 | Single-port laparoscopic minimally-invasive surgery robot system |
| AU2015302214B2 (en) | 2014-08-13 | 2019-06-06 | Covidien Lp | Robotically controlling mechanical advantage gripping |
| CN110063791B (en) * | 2014-08-13 | 2022-04-15 | 柯惠Lp公司 | Robotically controlled clamping with mechanical advantage |
| CN104490477A (en) * | 2014-12-29 | 2015-04-08 | 天津大学 | Multi-degree-of-freedom single-incision surgical robot for laparoscopic surgery |
| CN104758059B (en) * | 2015-04-07 | 2017-03-01 | 哈尔滨工业大学 | The multiple degrees of freedom flexible robot of single hole abdominal-cavity minimal-invasion surgery wrist threading bucket |
| KR20180022945A (en) * | 2015-07-09 | 2018-03-06 | 카와사키 주코교 카부시키 카이샤 | Surgical robots |
| CA2994823A1 (en) | 2015-08-03 | 2017-02-09 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
| ITUB20154977A1 (en) * | 2015-10-16 | 2017-04-16 | Medical Microinstruments S R L | Medical instrument and method of manufacture of said medical instrument |
| CN105455902B (en) * | 2015-11-23 | 2018-10-16 | 微创（上海）医疗机器人有限公司 | Robot wrist and operating robot |
| JP2017104450A (en) * | 2015-12-11 | 2017-06-15 | 川崎重工業株式会社 | Surgical system |
| CN105361951B (en) * | 2015-12-14 | 2017-11-14 | 山东科技大学 | A kind of minimally invasive abdominal operation Chi Jing robots |
| CN105963017B (en) * | 2016-04-12 | 2018-08-24 | 浙江大学 | A kind of space multiple degrees of freedom operation nondominant hand arm mechanism |
| JP6831642B2 (en) * | 2016-04-15 | 2021-02-17 | 川崎重工業株式会社 | Surgical system |
| JP7176757B2 (en) * | 2016-05-18 | 2022-11-22 | バーチャル インシジョン コーポレイション | ROBOTIC SURGICAL DEVICES, SYSTEMS AND RELATED METHODS |
| CN106377316B (en) * | 2016-09-18 | 2020-07-14 | 上海交通大学 | Operation equipment for thyroid minimally invasive surgery |
| CN109567943B (en) * | 2016-11-01 | 2023-01-10 | 香港生物医学工程有限公司 | Surgical system for performing intracorporeal surgical procedures |
| CN106901835B (en) * | 2017-03-15 | 2019-03-29 | 哈尔滨工业大学 | A kind of main hand of five degree of freedom with position retaining function |
| CN107536642A (en) * | 2017-08-24 | 2018-01-05 | 胡荣 | A kind of multiple degrees of freedom multifunction surgical manipulator |
| CN117140580A (en) | 2018-01-05 | 2023-12-01 | 内布拉斯加大学董事会 | Single arm robotic device with compact joint design and related systems and methods |
| CN108175511A (en) * | 2018-02-26 | 2018-06-19 | 路要武 | A kind of single-hole laparoscopic robot system |
| CN108309455A (en) * | 2018-02-26 | 2018-07-24 | 山东大学齐鲁医院 | A kind of surgical instrument with running fix joint for single hole operating robot |
| CN108524002A (en) * | 2018-03-02 | 2018-09-14 | 山东大学齐鲁医院 | A kind of mechanically decoupled single hole surgical robot quick replacement mechanism with linear joint |
| CN108433812A (en) * | 2018-03-09 | 2018-08-24 | 山东大学齐鲁医院 | A kind of integral layout structure of the single hole operating robot with running fix joint |
| CN108420533A (en) * | 2018-03-09 | 2018-08-21 | 山东大学齐鲁医院 | With mobile and rotation positioning joint single hole operating robot integral layout structure |
| CN108433811A (en) * | 2018-03-09 | 2018-08-24 | 山东大学齐鲁医院 | A kind of integral layout structure of the single hole operating robot with rotation positioning joint |
| CN108567487A (en) * | 2018-03-23 | 2018-09-25 | 深圳市精锋医疗科技有限公司 | With adjustable link from operation equipment and operating robot |
| CN108814713A (en) * | 2018-03-23 | 2018-11-16 | 深圳市精锋医疗科技有限公司 | Minimally Invasive Surgery motion arm, from operation equipment and operating robot |
| CN108839047B (en) * | 2018-03-28 | 2020-07-31 | 江苏求恒医疗器械有限公司 | Medical instrument clamp |
| CN108969106B (en) * | 2018-07-27 | 2020-06-16 | 微创（上海）医疗机器人有限公司 | Telescoping device and surgical robot |
| CN109330689B (en) * | 2018-07-31 | 2024-01-09 | 深圳市精锋医疗科技股份有限公司 | Slave operation equipment assembly capable of adjusting operation arm and operation robot |
| US11903658B2 (en) | 2019-01-07 | 2024-02-20 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
| CN109770966B (en) * | 2019-01-23 | 2021-11-09 | 吉林大学 | Integrated single-port endoscopic surgical instrument with multiple degrees of freedom |
| CN110522517A (en) * | 2019-09-16 | 2019-12-03 | 西安交通大学医学院第一附属医院 | A kind of Minimally Invasive Surgery mechanical arm under the environment for single-hole laparoscopic |
| CN111407411B (en) * | 2020-03-27 | 2023-03-17 | 南京航空航天大学 | Micro-fine operation arm system and control method thereof |
| CN111991084B (en) * | 2020-10-08 | 2022-04-26 | 深圳市精锋医疗科技股份有限公司 | Surgical robot, virtual imaging control method thereof and virtual imaging control device thereof |
| WO2022109760A1 (en) * | 2020-11-24 | 2022-06-02 | 曹庆恒 | Oral cavity robot and method for use thereof |
| CN113855287B (en) * | 2021-07-06 | 2023-09-26 | 上海优医基医疗影像设备有限公司 | Oral implantation operation robot with evaluation of implantation precision and control method |
| CN113440258A (en) * | 2021-07-12 | 2021-09-28 | 曹庆恒 | Ear-nose robot and using method thereof |
| CN114271948B (en) * | 2021-12-07 | 2024-03-26 | 南京航空航天大学 | Compact single-hole surgical robot slave hand |
| CN114851245B (en) * | 2022-04-15 | 2024-02-06 | 郑州大学 | Robot telescopic swing mechanism and bionic robot |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101500470A (en) * | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | Minimally invasive surgical system |
| CN102186396A (en) * | 2008-08-14 | 2011-09-14 | M.S.T.医疗手术技术有限公司 | N degrees-of-freedom (dof) laparoscope maneuverable system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050272977A1 (en) * | 2004-04-14 | 2005-12-08 | Usgi Medical Inc. | Methods and apparatus for performing endoluminal procedures |
-
2011
- 2011-10-31 CN CN2011103384851A patent/CN102499759B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101500470A (en) * | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | Minimally invasive surgical system |
| CN102186396A (en) * | 2008-08-14 | 2011-09-14 | M.S.T.医疗手术技术有限公司 | N degrees-of-freedom (dof) laparoscope maneuverable system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102499759A (en) | 2012-06-20 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102499759B (en) | Multi-degree-of-freedom single-wound-hole robot flexible hand for celiac minimally invasive surgery | |
| JP6841451B2 (en) | Virtual Reality Surgical Surgery Device | |
| TWI795414B (en) | Surgical apparatus and surgical instrument thereof | |
| JP3476878B2 (en) | Surgical manipulator | |
| JP4898709B2 (en) | Trans-natural or percutaneous medical system | |
| EP3025673B1 (en) | Medical system and medical treatment tool control | |
| CN102309363B (en) | A kind of integrated endoscope operation platform | |
| CN103561667B (en) | Grasping force control in robotic surgery apparatus | |
| KR102009226B1 (en) | Medical robotic system with coupled control modes | |
| US7214230B2 (en) | Flexible instrument | |
| US8551114B2 (en) | Robotic surgical device | |
| US7959557B2 (en) | Robotic medical instrument system | |
| US7090683B2 (en) | Flexible instrument | |
| CN105228539B (en) | Use the method and device of port assembly control surgical instrument | |
| JP2004041580A (en) | Surgical operation instrument and system | |
| CN102264307A (en) | Surgical instrument | |
| JP4856109B2 (en) | Surgical instrument and surgical instrument | |
| CN104814792A (en) | Separable multi-arm soft mechanical arm device | |
| CN109431602A (en) | A kind of porous minimally invasive robot system and its application method based on flexible surgical arm | |
| WO2021191691A1 (en) | Systems and methods for constrained motion control of medical instruments | |
| JP2021118864A (en) | Surgical system and support device | |
| US20150045620A1 (en) | Curved manual surgical equipment | |
| JP2022531227A (en) | Endoscopic vessel sampling device equipped with a gyro sensor for rotating the camera view | |
| JPH08224244A (en) | Medical manipulator | |
| JPWO2018070042A1 (en) | Medical instruments and surgical systems |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |