CN103340731B - 基于流体转换的外骨骼辅助康复治疗系统 - Google Patents
基于流体转换的外骨骼辅助康复治疗系统 Download PDFInfo
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Families Citing this family (15)
Publication number | Priority date | Publication date | Assignee | Title |
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CN103690280B (zh) * | 2013-12-13 | 2015-07-22 | 上海交通大学 | 基于连续体传动机构的欠驱动假肢手 |
CN103845184B (zh) * | 2014-01-26 | 2016-01-13 | 清华大学 | 一种绳索驱动的外骨骼式上肢康复机器人系统 |
CN104908054B (zh) * | 2015-05-14 | 2017-02-01 | 汪雯 | 连续体差动机构及机械手 |
CN106217345B (zh) * | 2016-08-31 | 2018-04-24 | 北京术锐技术有限公司 | 可实现姿态反馈的柔性连续体结构 |
EP3508154B1 (en) | 2016-08-31 | 2022-04-13 | Beijing Surgerii Technology Co., Ltd | Flexible surgical instrument system |
WO2018041158A1 (zh) | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | 一种驱动输入前置的柔性手术工具系统 |
CN106308935B (zh) * | 2016-08-31 | 2018-12-07 | 北京术锐技术有限公司 | 一种采用双头螺杆驱动的柔性手术工具系统 |
CN106308937B (zh) * | 2016-08-31 | 2019-01-01 | 北京术锐技术有限公司 | 一种远端可向任意方向弯转的柔性手术工具系统 |
CN106308939B (zh) * | 2016-08-31 | 2019-01-08 | 北京术锐技术有限公司 | 一种用于驱动柔性连续体结构的驱动单元 |
CN106308938B (zh) * | 2016-08-31 | 2019-01-01 | 北京术锐技术有限公司 | 一种可经自然腔道的柔性手术工具系统 |
WO2018041204A1 (zh) | 2016-08-31 | 2018-03-08 | 北京术锐技术有限公司 | 一种柔性手术工具系统 |
CN106308936B (zh) * | 2016-08-31 | 2018-12-07 | 北京术锐技术有限公司 | 一种包含驱动骨的柔性手术工具系统 |
CN106420059B (zh) * | 2016-08-31 | 2019-03-15 | 北京术锐技术有限公司 | 一种驱动输入前置的柔性手术工具系统 |
US11642112B2 (en) | 2016-08-31 | 2023-05-09 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument and driving unit thereof |
US20230225806A1 (en) * | 2020-06-30 | 2023-07-20 | Beijing Surgerii Technology Co., Ltd. | Continuum instrument and surgical robot |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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CN101518491A (zh) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | 手指运动功能康复机器人 |
CN103083119A (zh) * | 2013-01-11 | 2013-05-08 | 东南大学 | 一种用于助力外骨骼的液压套索驱动装置 |
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KR101126637B1 (ko) * | 2009-09-10 | 2012-03-26 | 학교법인 동의학원 | 상지재활훈련로봇 및 그에 적용되는 패러럴 링크 장치 |
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Publication number | Priority date | Publication date | Assignee | Title |
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CN101518491A (zh) * | 2009-04-03 | 2009-09-02 | 北京航空航天大学 | 手指运动功能康复机器人 |
CN103083119A (zh) * | 2013-01-11 | 2013-05-08 | 东南大学 | 一种用于助力外骨骼的液压套索驱动装置 |
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Inventor after: Xu Kai Inventor after: Zhu Xiangyang Inventor after: Qiu Dong Inventor after: Zhao Jiangran Inventor after: Liu Guoqing Inventor after: Wang You Inventor before: Xu Kai Inventor before: Qiu Dong Inventor before: Zhao Jiangran Inventor before: Liu Guoqing Inventor before: Wang You |
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Free format text: CORRECT: INVENTOR; FROM: XU KAI QIU DONG ZHAO JIANGRAN LIU GUOQING WANG YOU TO: XU KAI ZHU XIANGYANG QIU DONG ZHAO JIANGRAN LIU GUOQING WANG YOU |
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