CN103598916B - A kind of auxiliary device for craniofacial plastic surgery - Google Patents
A kind of auxiliary device for craniofacial plastic surgery Download PDFInfo
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- CN103598916B CN103598916B CN201310526110.7A CN201310526110A CN103598916B CN 103598916 B CN103598916 B CN 103598916B CN 201310526110 A CN201310526110 A CN 201310526110A CN 103598916 B CN103598916 B CN 103598916B
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- 238000002316 cosmetic surgery Methods 0.000 title claims abstract description 18
- 238000001356 surgical procedure Methods 0.000 claims abstract description 21
- 230000008878 coupling Effects 0.000 claims abstract description 14
- 238000010168 coupling process Methods 0.000 claims abstract description 14
- 238000005859 coupling reaction Methods 0.000 claims abstract description 14
- 239000011888 foil Substances 0.000 claims description 7
- 210000003625 skull Anatomy 0.000 claims description 4
- 238000005553 drilling Methods 0.000 claims description 3
- 230000005484 gravity Effects 0.000 claims description 3
- CBVWMGCJNPPAAR-HJWRWDBZSA-N (nz)-n-(5-methylheptan-3-ylidene)hydroxylamine Chemical compound CCC(C)C\C(CC)=N/O CBVWMGCJNPPAAR-HJWRWDBZSA-N 0.000 claims description 2
- 229910052751 metal Inorganic materials 0.000 claims description 2
- 239000002184 metal Substances 0.000 claims description 2
- 230000002093 peripheral effect Effects 0.000 claims description 2
- 238000003466 welding Methods 0.000 claims description 2
- 230000007246 mechanism Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 210000000988 bone and bone Anatomy 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 210000003484 anatomy Anatomy 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 210000000214 mouth Anatomy 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 229910000838 Al alloy Inorganic materials 0.000 description 1
- 206010060964 Arterial haemorrhage Diseases 0.000 description 1
- 208000032984 Intraoperative Complications Diseases 0.000 description 1
- 241001074085 Scophthalmus aquosus Species 0.000 description 1
- 230000009471 action Effects 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000004891 communication Methods 0.000 description 1
- 238000002591 computed tomography Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 210000003128 head Anatomy 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000002184 nasal cartilage Anatomy 0.000 description 1
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- 210000000056 organ Anatomy 0.000 description 1
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- 230000037361 pathway Effects 0.000 description 1
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- 210000004872 soft tissue Anatomy 0.000 description 1
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Abstract
The invention provides a kind of auxiliary device for craniofacial plastic surgery, comprise supporting module, position control module gesture stability module, motor movement module and surgery operation module.Supporting module comprises base support, crossbeam bar, I-shaped support frame and circular cover fixture; Position control module is made up of stepped stem and dwang, by the locus needed for bolt-connection adjustment operation; Gesture stability module is then connected by bearing by two mutually orthogonal arc-shaped rod, forms the terminal angle required for operation by spatial rotational; Motor movement module comprises servomotor, shaft coupling, leading screw, feed rod, bearing, fixed mount and gusset piece, and coupling realizes motion vertically by leading screw and the mechanism such as gusset piece, feed rod.Surgery operation module comprises handle, guide rail fixed block, slide block, feed rod, fixture and cutter.Post strain-ga(u)ge transducer in fixture, in art, the size of real-time display power, judges the degree of depth of osteotomy with this.
Description
Technical field
The present invention relates to minimally invasive surgery plastic operation robot field, particularly, relate to a kind of auxiliary device for craniofacial plastic surgery.
Background technology
Computer aided technique is increasingly extensive in the application of medical domain, and over nearly 20 years, oneself becomes one of conventional direction of surgical field research application.
Robotic surgery becomes the main flow of surgery Minimally Invasive Surgery gradually.Robot system has the incomparable stability of staff and accuracy, can accurately locate in art, reduces operation wound and complication, improves success rate of operation.
The main treatment target of plastic surgery operations is the severe deformities of various first, craniofacial bone that acquired disposition causes and corresponding soft tissue.Because cranium Maxillary region anatomical structure is complicated, vital sensibilities organ gathers, in most cases cranium Maxillofacial surgery limited view, and important neurovascular structure is positioned at osseous tissue, or is positioned at rear; Must accomplish that appearance and function are taken into account simultaneously.
In conventional cosmetic surgery, cranium face plastic operation is doctor's hand operation surgical knife tool, still rest in traditional hand dipping, eye estimate and facsimile reproduction model surgery method for designing at present, operation plan affects very large by subjective thinking factors such as doctor personal experience, customs.
Therefore, foundation be applicable to orthopedic auxiliary robot device for alleviating doctor's work fatigue, reduce operation wound, improve accurately location and success rate of operation tool and be of great significance.
Through finding prior art patent retrieval, only retrieve " a kind of nasal cartilages support auxiliary device for Reshaping the nasal tip operation " by name, China Patent No. is 200880019014.0.Do not find about cranium face plastic operation Patents.
Because cranium Maxillary region anatomical structure is complicated and interior containing arteries, slightly deviation just has and causes arterial hemorrhage.The hand-held scalpel of veteran doctor carries out cutting operation to mandibular bone, uneven due to the tangential stressed complexity of scalpel in art, and doctor need spend and maintain the stable of scalpel energetically; Long-time operation doctor is very easily tired, is difficult to guarantee that operative stabilization is accurately carried out.
For these reasons, technical staff is devoted to research and develop a pinpoint craniofacial plastic surgery operating robot auxiliary device.In this auxiliary device, the accurate location that can be realized within the scope of narrow and small surgical field of view by frame for movement, thus the success rate improving operation.
Summary of the invention
For defect of the prior art, the object of this invention is to provide a kind of auxiliary device for craniofacial plastic surgery, at use mouth guard as in the cranium face plastic operation of fixed coordinates, this auxiliary device is a kind of auxiliary precision positioning machine device robot system, accurately can locate arrival and complete operation object in limited space.
For achieving the above object, the invention provides a kind of auxiliary device for craniofacial plastic surgery, comprise supporting module, position control module, gesture stability module, motor movement module and surgery operation module; Wherein position control module is fixed on supporting module, and the central axis of both connecting portions is parallel with base support central shaft; Gesture stability module and position control module are fixed by the symmetrical connector of side two; Motor movement module connects with gesture stability module, and axis collinear on the upside of motor movement module centers axis and gesture stability module; Surgery operation module is connected in motor movement module bottom, both central axis conllinear.
Described supporting module comprises base support, crossbeam bar, I-shaped support frame and circular cover fixture, and bracing frame is separately fixed on base support and crossbeam bar, is used for keeping the stable of crossbeam bar, and circular cover fixture is fixed on base support.I-shaped support frame end is connected with position control module.
Described position control module is made up of stepped stem and dwang, stepped stem one end connects on above-mentioned I-shaped support frame, the stepped stem other end then connects with dwang, and the locus needed for adjustment operation, the dwang other end then connects with arc-shaped rod in gesture stability module.
Described gesture stability module is then connected by bearing by two mutually orthogonal arc-shaped rod, forms the terminal angle required for operation by spatial rotational.In two arc-shaped rod: upper end arc-shaped rod connects with above-mentioned dwang, lower end arc-shaped rod connects with motor movement module fixing rack.
Described motor movement module comprises servomotor, shaft coupling, leading screw, the first feed rod, bearing, fixed mount and two gusset pieces.Motor is connected on fixed mount and connects with shaft coupling, the shaft coupling other end connect leading screw, be fixed on bottom fixed mount by bearing, leading screw with connects flange pass through threaded engagement, the other end be then fixed on connection notch board on; First feed rod one end is connected and fixed frame, and the other end is then fixed on connection notch board, wherein connects notch board and fixes, and connects flange and coordinates with wire rod thread.When motor forward or reverse, by leading screw transmitting movement, make to connect flange and realize axially-movable.
Described surgery operation module comprises handle, guide rail fixed block, slide block, the second feed rod, fixture and surgical knife tool.Guide rail fixed block with connect flange and connect, handle connects guide rail fixed block side, and the second feed rod fixes slide block bottom guide rail fixed block, then stationary fixture holding cutter.Post four foil gauges in fixture, in art, the size of real-time display power, judges the degree of depth of osteotomy with this.
The present invention forms cartesian coordinate system kinematic axis by stepped stem, dwang with orthogonal arc-shaped rod, realizes three-dimensional motion.By such mechanism kinematic, the operation visual angle be readily embodied within the scope of narrow and small limited oral cavity is accurately located, thus is completed operation smoothly.
The whole robot assisted device of the present invention adopts aluminium alloy manufacture, under the prerequisite of proof strength and rigidity, can the weight of effective alleviator, namely this device is also furnished with gravity compensation: the corresponding spring in both sides connects I-shaped support frame and position control module dwang, and in motor process, spring straining compensation causes the error of positional precision due to gravity factor.
Preferably, described surgery operation module has 1 degree of freedom to realize the boring requirement in skull face, needs to have force feedback link in addition, and during operation, according to medical image, operating grip carries out boring hands art; When point is holed in arrival first, start the electric drill in surgical knife tool and motor switch, motor drives electric drill to move downward, and now, foil gauge can spread out of by powerful signal, judges with this position that drilling depth and drill bit arrive; Complete again first boring after, motor reversal, drill bit away from, stop operating after arriving above-mentioned motor zero.
Preferably, described servomotor motion has dead-center position and emergency braking device; Described dead-center position is judged by external adjunct circuit, when connecting flange and moving to specified point, outreaches circuit ON, by the signal of telecommunication that oscilloscope display one is contrary with open-circuit condition, determines dead-center position thus.
Compared with prior art, the present invention has following beneficial effect:
The present invention is carrying out in the cosmetic surgery procedures of cranium face, and robot assisted system can accurately be located fast, widens the limited visual range of cranio-facial surgery doctor and has assisted operation.Therefore, it is of great significance for tools such as raising location of operation precision, minimizing surgical injury, optimization operation pathway and raising success rate of operation.The present invention is applicable to minimally invasive surgery field, and can force value in detection technique in real time, overcomes traditional treatment limitation, to improve accuracy and the safety of plastic operation, has important clinical meaning.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is the population structure schematic diagram of cranium face plastic operation auxiliary device assembling.
Fig. 2 is supporting module structure front view.
Fig. 3 is position control module structural representation.
Fig. 4 is gesture stability modular structure schematic diagram.
Fig. 5 is motor movement modular structure diagram.
Fig. 6 is surgery operation module configuration diagram.
Fig. 7 is the force feedback loop in robot system.
Vitals reference marks illustrates:
Supporting module 10, position control module 20, gesture stability module 30, motor movement module 40 and surgery operation module 50;
Base support 101, crossbeam bar 105, I-shaped support frame 103, circular cover fixture 102, screw nut connects 104,106;
Stepped stem 203, dwang 201, bolt-connection 202, screwed hole 204,205;
Up-and-down rod 304, circular rod 302, screw thread 303,305, bearing 301,306;
Servomotor 401, shaft coupling 404, leading screw 410, feed rod 405, fixed mount 403, connects flange 409, connects notch board 408, bearing 404,406, screw thread 402,407,411;
Handle 501, guide rail fixed block 508, slide block 502, feed rod 503, fixture 505,506, scalpel 504, screw thread 507,509.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples will contribute to those skilled in the art and understand the present invention further, but not limit the present invention in any form.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, some distortion and improvement can also be made.These all belong to protection scope of the present invention.
As shown in Figure 1, the auxiliary device for craniofacial plastic surgery that one embodiment of the invention provides, it comprises supporting module 10, position control module 20, gesture stability module 30, and motor movement module 40 and surgery operation module 50, be shown in Fig. 1.Wherein position control module 20 is connected and fixed on supporting module 10 by bolt and nut, and the central axis of both connecting portions is parallel with base support in supporting module 101 central shaft; Gesture stability module 30 and position control module 20 are fixed by the symmetrical screw of side two; Motor movement module 40 and gesture stability module 30 are by side four thread connection, and axis collinear on the upside of motor movement module 40 central axis and gesture stability module 30; Surgery operation module 50 by thread connection bottom motor movement module 40, central axis conllinear.
As shown in Figure 2, described supporting module comprises base support 101, crossbeam bar 105, I-shaped support frame 103, circular cover fixture 102.I-shaped support frame 103 connects 104 by screw nut and is connected to crossbeam bar 105, and the other end then connects 106 by screw nut and connects circular cover fixture 102; Bracing frame is used for keeping the stable of crossbeam bar, is fixed on base support 101 and crossbeam bar 105 respectively by four sunk screws, and circular cover fixture 102 is fixed on base support 101 by nut.
As shown in Figure 3, described position control module is made up of stepped stem 203 and dwang 201, stepped stem 203 one end connects on above-mentioned I-shaped support frame 103, stepped stem 203 other end then passes through bolt-connection 202 with dwang 201, locus needed for adjustment operation, dwang 201 other end then connects with arc-shaped rod in gesture stability module (up-and-down rod 304).
Be provided with screwed hole 204 in the center of dwang 201, be gravity-compensated device Spring Card stomion herein.
As shown in Figure 4, described gesture stability module is then connected by bearing by two mutually orthogonal arc-shaped rod (i.e. up-and-down rod 304, circular rod 302), forms the terminal angle required for operation by spatial rotational.Up-and-down rod 304 upper end and bearing 306 interference fit, connect screwed hole 205 by screw thread 305 and be fixed on dwang 201.The same, up-and-down rod 304 lower end and bearing 301 interference fit, be connected with circular rod 302 by screw thread 303, can realize vertical direction and rotate.
As shown in Figure 5, described motor movement module comprises servomotor 401, shaft coupling 404, leading screw 410, the first feed rod 405, fixed mount 403, connects flange 409, connects notch board 408, bearing 404,406, screw thread 402,407,411.Motor 401 to be fixed on fixed mount 403 by screw thread 402 and to connect with shaft coupling 404, shaft coupling 404 other end connects leading screw 410, be fixed on bottom fixed mount 403 by bearing 404 interference fit, leading screw 410 with connect flange 409 by threaded engagement, the other end is then fixed on by bearing 406 and connects on notch board 408; First feed rod 405 one end is connected and fixed frame 403, and the other end is then screwed in and connects notch board 408.When motor forward or reverse, by leading screw 410 transmitting movement, make to connect flange 409 and realize axially or lower motion.
As shown in Figure 6, surgery operation module comprises handle 501, guide rail fixed block 508, slide block 502, the second feed rod 503, fixture 505,506, scalpel 504, screw thread 507,509.Handle 501 is connected with guide rail fixed block 508 by screw thread, slide block 502 is connected with guide rail fixed block 508 by screw thread 507, second feed rod 503 is fixed on bottom slide block 502 by screw thread 509 connecting clamp 505,506, and scalpel 504 is fixedly clamped by fixture 505,506.
Post four foil gauges in fixture, foil gauge position is arranged on inside fixture 505,506 retaining part, symmetrical placement.Detect the size of electric drill feedback force (axial force) in art in real time, by the display of external display, judge the degree of depth of osteotomy with this.
The present embodiment service condition: operation consent, data message is needed with CT scan operation, the reconstruction of three-dimensional head image is realized at image processing platform, extract operation key message and form virtual image, then place template according to after operative site design template support, the mock-up wearing template is combined with virtual image.When operation starts, robot assisted device after sterilization is placed on appropriate location, the position of patients need operative is gone out according to Design virtual reality, presetting robot device determines the approximate spatial locations of scalpel, then regulate gesture module accurately to determine scalpel position, the plane namely gone out with virtual reality imagery is parallel.Servomotor rotating drive leading screw, polished rod motion, order about surgery operation module and move up and down, assist physician completes operation smoothly.
In order to consider the safety of performing the operation, in the present embodiment of the present invention, described motor movement module has dead-center position and emergency braking device.Primary structure is as follows: servomotor 401 is screwed on fixed mount 403, fixed mount 403 with connect notch board 408 by feed rod 405 thread connection; When electric machine rotation, drive shaft coupling 404, leading screw 410 to rotate together, be threaded engagement and leading screw 410 is fixed owing to connecting flange 409 and leading screw 410, therefore, connection flange 409 drives feed rod 405 to move vertically.Screw mandrel 410 somewhere with connect each welding on flange 409 and have non-conductive piece of metal, then be external in adjunct circuit, when connecting flange 409 and moving to herein, outreach adjunct circuit and connect, oscillograph then shows a signal of telecommunication contrary with open-circuit condition, determines dead-center position thus.In addition, also need to add urgent device of preventing to prevent accident, sentinel plant is peripheral hardware breaker device, stops immediately after power-off.
In the present embodiment of the present invention, described surgery operation module should have 1 degree of freedom to realize the boring requirement in skull face.Primary structure is as follows: slide block 502 and guide rail fixed block 508, and guide rail fixed block 508 and handle 501 are thread connection, and slide block can slide along guide rail fixed block 508 and can be fixed on a certainly needs position; Fixture 505,506 connects with scalpel 504 bolt and nut, suitably can regulate tool holding location.During operation, according to medical image, doctor's operating grip carries out boring hands art; When point is holed in arrival first, start electric drill (electric drill is positioned at scalpel 504, is controlled by external power supply) and motor 401 switch, motor drives electric drill to move downward; Now, foil gauge can spread out of by powerful signal, and doctor judges with this position that drilling depth and drill bit arrive.Complete again first boring after, motor reversal (with last turn to contrary), drill bit, away from patient's skull, stops operating after arriving above-mentioned motor zero.Doctor unscrews slide block 502, and sliding slider 502 to the second is holed after point and tightened slide block 502, repeats the action of the first boring until bored so the hole designed.
Unload robot assisted device, change surgical knife tool.Doctor is along the complete a series of holes osteotomy successively of above-mentioned brill, and the very big like this amount for surgical alleviating doctor, completes operation more accurately.
Force feedback loop in described robot system as shown in Figure 7.Doctor, according to oneself micro-judgment scalpel Position Approximate, controls robot movement by communications setting, registered placement under medical image, controls scalpel motion; The position of feedback scalpel and induction stressing conditions, then feed back to doctor, hold procedure in real time.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (7)
1. an auxiliary device for craniofacial plastic surgery, is characterized in that: comprise supporting module, position control module, gesture stability module, motor movement module and surgery operation module; Wherein position control module is fixed on supporting module, and two model calling position central axis are parallel with base support central shaft; Gesture stability module and position control module are fixed by the symmetrical connector of side two; Motor movement module connects with gesture stability module, and axis collinear on the upside of motor movement module centers axis and gesture stability module; Surgery operation module is connected in motor movement module bottom, both central axis conllinear;
Described supporting module comprises base support, crossbeam bar, I-shaped support frame and circular cover fixture, I-shaped support frame is separately fixed on base support and crossbeam bar, be used for keeping the stable of crossbeam bar, circular cover fixture is fixed on base support, and I-shaped support frame end is connected with position control module;
Described position control module is made up of stepped stem and dwang, stepped stem one end connects on above-mentioned I-shaped support frame, the stepped stem other end then connects with dwang, the locus needed for adjustment operation, and the dwang other end then connects with arc-shaped rod in gesture stability module;
Described gesture stability module is then connected by bearing by two mutually orthogonal arc-shaped rod, forms the terminal angle required for operation by spatial rotational; In two arc-shaped rod: upper end arc-shaped rod connects with above-mentioned dwang, lower end arc-shaped rod connects with motor movement module fixing rack; Described stepped stem, dwang form cartesian coordinate system kinematic axis with orthogonal arc-shaped rod, realize three-dimensional motion;
Described motor movement module comprises servomotor, shaft coupling, leading screw, the first feed rod, bearing, fixed mount, connection notch board and connection flange, motor is connected on fixed mount and connects with shaft coupling, and the shaft coupling other end connects leading screw, is fixed on bottom fixed mount by bearing, leading screw with connect flange by threaded engagement, the other end is then fixed on and connects on notch board; First feed rod one end is connected and fixed frame, and the other end is also fixed on and connects on notch board, wherein connects notch board and fixes, and connects flange and coordinates with threads of lead screw; When motor forward or reverse, by leading screw transmitting movement, make to connect flange and realize axially-movable;
Described surgery operation module comprises handle, guide rail fixed block, slide block, the second feed rod, fixture and surgical knife tool; Guide rail fixed block with connect flange and connect, handle connects guide rail fixed block side, second feed rod fixes slide block bottom guide rail fixed block, second feed rod connecting clamp is fixed on slider bottom, surgical knife tool is fixed by clamp, post four foil gauges in fixture, in art, the size of real-time display power, judges the degree of depth of osteotomy with this.
2. auxiliary device for craniofacial plastic surgery according to claim 1, it is characterized in that: described supporting module is used for keeping the stable of crossbeam bar by I-shaped support frame, be fixed on base support and crossbeam bar respectively by four sunk screws, circular cover fixture is then fixed on base support by nut; The center of dwang is provided with screwed hole, is gravity-compensated device Spring Card stomion herein, realizes gravity compensation with this.
3. auxiliary device for craniofacial plastic surgery according to claim 1 and 2, is characterized in that: described servomotor motion has dead-center position and emergency braking device; Described dead-center position is judged by external adjunct circuit, when connecting flange and moving to specified point, outreaches circuit ON, by the signal of telecommunication that oscilloscope display one is contrary with open-circuit condition, determines dead-center position thus.
4. auxiliary device for craniofacial plastic surgery according to claim 3, is characterized in that: described servomotor is screwed on fixed mount, fixed mount with connect notch board by the first feed rod thread connection; When servomotor rotates, drive shaft coupling, leading screw rotate together, connect flange and leading screw is threaded engagement and leading screw is fixed, therefore, connection flange drives the first feed rod to move vertically, leading screw somewhere with connect each welding on flange and have non-conductive piece of metal, then be external in adjunct circuit, when connecting flange and moving to herein, outreach adjunct circuit and connect, oscillograph then shows a signal of telecommunication contrary with open-circuit condition, determines dead-center position thus.
5. auxiliary device for craniofacial plastic surgery according to claim 3, is characterized in that: described emergency braking device is peripheral hardware breaker device, stops immediately after power-off.
6. auxiliary device for craniofacial plastic surgery according to claim 1 and 2, it is characterized in that: described surgery operation module has 1 degree of freedom to realize the boring requirement in skull face, has force feedback link in addition, during operation, according to medical image, operating grip carries out boring operation; When point is holed in arrival first, start the electric drill in surgical knife tool and servomotor switch, driven by servomotor electric drill moves downward, and now, foil gauge can spread out of by powerful signal, judges with this position that drilling depth and drill bit arrive; After completing first boring again, servomotor reverses, drill bit away from, stop operating after arriving servomotor zero point.
7. auxiliary device for craniofacial plastic surgery according to claim 6, is characterized in that: described slide block and guide rail fixed block, and guide rail fixed block and handle are thread connection, and slide block can slide along guide rail fixed block and can be fixed on a certainly needs position; Fixture connects with surgical knife tool bolt and nut, scalable tool holding location.
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| CN201310526110.7A CN103598916B (en) | 2013-10-29 | 2013-10-29 | A kind of auxiliary device for craniofacial plastic surgery |
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| CN104739485A (en) * | 2015-03-01 | 2015-07-01 | 李健 | Support type ultrasonic monitoring bone drilling machine |
| CN105496579B (en) * | 2016-01-07 | 2017-11-17 | 河北工业大学 | Plant tooth drilling robot based on small cavity |
| CN108618845B (en) * | 2017-03-20 | 2022-07-29 | 新加坡国立大学 | Parallel brain surgery minimally invasive surgery robot capable of being fixed on skull |
| CN108451621A (en) * | 2017-03-22 | 2018-08-28 | 徐升 | A kind of medical treatment device of biomimetic scaffolds implantation bone |
| CN106901935B (en) * | 2017-04-23 | 2018-12-18 | 诸暨市领跑管理咨询事务所 | A kind of hospital's shaping device easy to use |
| CN107049521B (en) * | 2017-05-16 | 2019-05-10 | 宋艳丽 | A kind of surgical probe locating rack |
| CN107510505B (en) * | 2017-07-17 | 2019-10-18 | 北京理工大学 | Flexible installing mechanism for operation of opening cranium robot arm end |
| CN108670396A (en) * | 2018-04-27 | 2018-10-19 | 长春理工大学 | Pedicle nail drill autofeeder |
| CN109316241A (en) * | 2018-11-19 | 2019-02-12 | 上海交通大学医学院附属第九人民医院 | A kind of craniomaxillofacial surgery parallel robot based on optical guidance |
| CN112998775B (en) * | 2021-02-18 | 2021-12-21 | 南方医科大学南方医院 | Liver cancer local ablation laparoscope insertion device |
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| GB0414277D0 (en) * | 2004-06-25 | 2004-07-28 | Leuven K U Res & Dev | Orthognatic surgery |
| US8160743B2 (en) * | 2005-08-16 | 2012-04-17 | Brainlab Ag | Anthropomorphic medical robot arm with movement restrictions |
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| CN1243690A (en) * | 1997-08-27 | 2000-02-09 | 北京航空航天大学 | Cerebrosurgical operation equipment system with robot and its implement method |
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