CN103919591B - A kind of Transnasal endoscopy operation auxiliary robot - Google Patents
A kind of Transnasal endoscopy operation auxiliary robot Download PDFInfo
- Publication number
- CN103919591B CN103919591B CN201410168059.1A CN201410168059A CN103919591B CN 103919591 B CN103919591 B CN 103919591B CN 201410168059 A CN201410168059 A CN 201410168059A CN 103919591 B CN103919591 B CN 103919591B
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- Prior art keywords
- rotary joint
- auxiliary robot
- guide rail
- operation auxiliary
- transnasal endoscopy
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/24—Surgical instruments, devices or methods, e.g. tourniquets for use in the oral cavity, larynx, bronchial passages or nose; Tongue scrapers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
Abstract
The present invention proposes a kind of Transnasal endoscopy operation auxiliary robot, and it comprises and the self adaptation guide rail adapting mechanism of guide rail cooperation, position coarse adjustment mechanism and pose fine-tuning mechanism; Described self adaptation guide rail adapting mechanism comprises and is arranged at fixture inside guide rail, is arranged at the connector outside guide rail and is connected and fixed the securing member of described fixture and described connector; Described position coarse adjustment mechanism comprises the first support arm, the first rotary joint, first crossbeam, the second support arm, the second rotary joint, second cross beam and the parallelogram lindage that are linked in sequence successively, and described first support arm is connected with described connector; Described pose fine-tuning mechanism comprises the holder of three ball-joints, actuator and clamping nasal endoscopes, and described parallelogram lindage, described three ball-joints, described actuator and described holder are linked in sequence successively.Described Transnasal endoscopy operation auxiliary robot structure is simple, easy to adjust, stability is high, safe and reliable.
Description
Technical field
The present invention relates to technical field of medical instruments, particularly relate to a kind of Transnasal endoscopy operation auxiliary robot.
Background technology
Transnasal endoscopy operation is to remove nasal cavity focus, and recovery nasal airflow is main purpose.Existing modus operandi is the left hand mirror of doctor mainly, and the right hand carries out operation technique.Under this mode of operation, nearly all operation technique is all lean on the right hand one hand of doctor to complete, and is difficult to be completed by one hand for certain operations (as excision operation).In addition, holding mirror for a long time and causing operative doctor aching pain of muscles of left hand, is difficult to keep operational stability for a long time, thus causes the picture weave in the visual field, and what these were all unfavorable for performing the operation carrying out smoothly, also can cause extra wound to patient time serious.In order to solve the problem, doctor tends to seek extraneous grasping system to have assisted operation technique.
Application number is that the Chinese patent of CN200710043740.3 provides a kind of endoscopic auxiliary manipulator for surgery of nasal cavity, and this mechanical hand comprises auxiliary manipulator support, Bai Sheng mechanism, rotating mechanism, luffing mechanism, feed mechanism and control system.The structure of this mechanical hand mainly becomes cascade, is followed successively by: Aided Machine handset mounting, Bai Sheng mechanism, rotating mechanism, luffing mechanism, feed mechanism; Control system is connected by cable with each mechanism, and control mode adopts the ACTIVE CONTROL of speech recognition, has certain time delay and potential danger.
Application number be CN200520110695.5 Chinese patent relate to a kind of nasal endoscopes bracing frame, described nasal endoscopes bracing frame is " factory " font, its support bar part is that lockable rotates loop bar structure, its crossbeam is one can the guide rail of slide block of horizontal slip, vertical sliding motion bar slides up and down under the restriction of described slide block, the lower end of described vertical sliding motion bar is connected with vertical rotary bar by a lockable rotation loop bar, vertical rotary bar lower end connects the connection combination of the lockable rotation loop bar with buckle mirror hand fixation pole, card mirror hands is fixed in buckle mirror hand fixation pole, and be combined in rotation and axial-rotation in vertical plane by lockable rotation loop bar Connecting groups.The mode of braking of described nasal endoscopes bracing frame is electromagnetic braking, and wherein all joints all adopt Electromagnetic Control, and is adopt power-off locking mode.Whole system has counterweight and arranges, thus counteracts the gravity of system.The lockable that this system comprises several combination rotates loop bar, and each rotation loop bar and corresponding armature are carved with the card stricture of vagina of working in coordination, too complicated in structure.In addition, the precision of whole mechanism is that the precision coordinated by this card stricture of vagina ensures there is very high requirement to the quality of fit of card stricture of vagina entirely, otherwise the rigidity of whole mechanism just cannot ensure.There are certain noise and electromagnetic radiation in magnet control process, may potential impact be there is to navigation in surgical environments.
Application number is that the Chinese patent of CN01253469.2 relates to a kind of ent surgery nose endoscope support, the bracing frame head circle that changes the outfit made by this bracing frame, be fixed on pedestal, pedestal is linked in sequence respectively by the adjusting knob of band damping and fixes three sections of support arms and spring steel clip holder, and nasal endoscopes card within it.This bracing frame can press patient head size adjustment head circle degree of tightness as required, can be freely movable, adapts to different operation angles.This bracing frame can be fixed on the head of patient, can not change surgical field of view because patient does not move, and contributes to completing smoothly of operation.Shortcoming is the adjustment of nasal endoscopes dumb, and when needs regulate surgical field of view, needing to unclamp all damping adjustable rings could regulate, and having after adjustment completes needs to tighten damping adjusting knob one by one and fix nasal endoscopes.Regulate more loaded down with trivial details in whole process, stability is not high, regulates inconvenient.And the stressed head all being acted on patient by head circle of whole mechanism, fixed form is unfriendly.
Summary of the invention
For the problems referred to above, the present invention proposes a Transnasal endoscopy operation auxiliary robot, considers the problem such as simplicity of positioning precision in operation, rigidity and operation while satisfied operation demand.
A kind of Transnasal endoscopy operation auxiliary robot, it comprises and the self adaptation guide rail adapting mechanism of guide rail cooperation, position coarse adjustment mechanism and pose fine-tuning mechanism; Described self adaptation guide rail adapting mechanism comprises and is arranged at fixture inside guide rail, is arranged at the connector outside guide rail and is connected and fixed the securing member of described fixture and described connector; Described position coarse adjustment mechanism comprises the first support arm, the first rotary joint, first crossbeam, the second support arm, the second rotary joint, second cross beam and the parallelogram lindage that are linked in sequence successively, and described first support arm is connected with described connector; Described pose fine-tuning mechanism comprises the holder of three ball-joints, actuator and clamping nasal endoscopes, and described parallelogram lindage, described three ball-joints, described actuator and described holder are linked in sequence successively.
In the present invention one better embodiment, described fixture and described connector are respectively equipped with mutually corresponding through slot, and described securing member is arranged in described through slot.
In the present invention one better embodiment, described first rotary joint and described second rotary joint are rotating shaft and horizontally rotate joint perpendicular to operation table.
In the present invention one better embodiment, described first rotary joint and described second rotary joint all adopt manual locking mode.
In the present invention one better embodiment, all there is damping when described first rotary joint and described second rotary joint rotate, and damping is adjustable.
In the present invention one better embodiment, described first rotary joint and described second rotary joint include rotation hand wheel, compress baffle plate, joggle piece, turning arm, bearing, damping regulating part and fixed axis, are threaded connection between described rotation hand wheel and described fixed axis; Described compression baffle plate and described fixed axis are coordinated by axial keyway; Be provided with Compress Spring between described compression baffle plate and described joggle piece, the faying face of described compression baffle plate and described joggle piece is provided with intermeshing radial teeth; Connected by screw or bolt between described joggle piece and described turning arm; Described bearing and described fixed axis coordinate; Described damping regulating part has female thread structure, the corresponding part coordinated with described damping regulating part in described fixed axis has external screw thread, described fixed axis and described damping regulating part extrude the lower surface of described turning arm by the upper surface of screw drive damping regulating part, described damping regulating part is by turning arm described in bevel friction, described damping regulating part and described fixed axis are connected by screw thread pair that to realize damping adjustable, and rely on holding screw to guarantee to be threaded and can not to unclamp in the process rotated.
In the present invention one better embodiment, described parallelogram lindage adopts manual locking mode.
In the present invention one better embodiment, described three ball-joints all adopt hydraulic pressure or air pressure locking mode.
In the present invention one better embodiment, described actuator adopts self-locking thread type of drive, and it has the turnbarrel driving the motion of nasal endoscopes turnover nasal cavity.
In the present invention one better embodiment, described holder adopts V-type clamping structure.
Relative to prior art, Transnasal endoscopy operation auxiliary robot provided by the invention has the advantages such as structure is simple, easy to adjust, stability is high, safe and reliable.
Above-mentioned explanation is only the general introduction of technical solution of the present invention, in order to technological means of the present invention can be better understood, and can be implemented according to the content of description, and can become apparent to allow above and other objects of the present invention, feature and advantage, below especially exemplified by embodiment, and coordinate accompanying drawing, be described in detail as follows.
Accompanying drawing explanation
Fig. 1 is the structural representation of Transnasal endoscopy operation auxiliary robot provided by the invention;
Fig. 2 is the schematic diagram of self adaptation guide rail adapting mechanism in the auxiliary robot of Transnasal endoscopy operation shown in Fig. 1;
Fig. 3 is the schematic diagram of rotary joint retaining mechanism in the auxiliary robot of Transnasal endoscopy operation shown in Fig. 1.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is further detailed explanation.
Refer to Fig. 1, the invention provides a kind of Transnasal endoscopy operation auxiliary robot 10, it comprises self adaptation guide rail adapting mechanism 100, position coarse adjustment mechanism 200 and pose fine-tuning mechanism 300.
See also Fig. 2, the guide rail (not shown) of described self adaptation guide rail adapting mechanism 100 and operation table side matches, comprise fixture 101, connector 102 and securing member 103, described fixture 101 is arranged at inside guide rail, described connector 102 is arranged at outside guide rail, and described securing member 103 is connected and fixed described fixture 102 and described connector 102, thus, described Transnasal endoscopy operation auxiliary robot 10 can be arranged at guide rail, be fixed or entirety along slide.In the present embodiment, described fixture 101 and described connector 102 are respectively equipped with mutually corresponding through slot (figure does not indicate), and described securing member 103 is arranged in described through slot; Described securing member 103, for having screw or the bolt of handle, is connected from the both sides of guide rail respectively with nut.
Be understandable that, described Transnasal endoscopy operation auxiliary robot, in operation table edge, thus, by described self adaptation guide rail adapting mechanism 100, can be arranged at operation table side by guide rails assembling.Particularly, fixture 101 is placed in inside operation table guide rail by operation consent, connector 102 is placed in the outside of operation table guide rail, securing member 103 is successively through the through slot on fixture 101 and connector 102, and match with the nut of guide rail opposite side, in position, tightening fastener parts 103 can realize being connected of Transnasal endoscopy operation auxiliary robot 10 and operation table guide rail.Thus, utilize described self adaptation guide rail adapting mechanism 100, good fastening effect can be played on the one hand, on the other hand can at the guide rail of the simultaneous adaptation different size of guarantee Transnasal endoscopy operation auxiliary robot 10 coupling stiffness.
Be understandable that, the size of described fixture 101 and described connector 102 can design according to the concrete shape of guide rail, structure and size.
Please again consult Fig. 1, described position coarse adjustment mechanism 200 is mainly used in adjusting roughly the terminal position of described Transnasal endoscopy operation auxiliary robot 10, it comprises the first support arm 201, first rotary joint 202, first crossbeam 203, second support arm 204, second rotary joint 205, second cross beam 206 and the parallelogram lindage 207 that are linked in sequence successively, and described first support arm 201 is connected with described connector 102.
In the present embodiment, described first rotary joint 202 and described second rotary joint 205 are rotating shaft and horizontally rotate joint perpendicular to operation table, all adopt manual locking mode, all have damping, and damping are adjustable during rotation.The present embodiment is described its retaining mechanism for described first rotary joint 202, as shown in Figure 3, described first rotary joint 202 comprises rotation hand wheel 2021, compression baffle plate 2022, joggle piece 2023, turning arm 2024, bearing 2025, damping regulating part 2026 and fixed axis 2027 form.Be threaded connection between described rotation hand wheel 2021 and described fixed axis 2027, described compression baffle plate 2022 and described fixed axis 2027 are coordinated by axial keyway, and under the effect of keyway, described compression baffle plate 2022 and described fixed axis 2027 can only do axial relative sliding, and can not relatively rotate, compress between baffle plate 2022 and joggle piece 2023 and be provided with Compress Spring (not shown), the effect of described Compress Spring will compress baffle plate 2022 jack-up when described first rotary joint 202 unclamps, compression baffle plate 2022 is departed from joggle piece 2023 engage, the faying face of described compression baffle plate 2022 and described joggle piece 2023 is provided with radial teeth, and cooperation is therebetween similar to the engagement between side gear pair, connected by screw or bolt between described joggle piece 2023 and described turning arm 2024, described bearing 2025 and described fixed axis 2027 coordinate, described damping regulating part 2026 has female thread structure (not shown), the corresponding part coordinated with described damping regulating part 2026 in described fixed axis 2027 has external screw thread, described fixed axis 2027 and described damping regulating part 2026 extrude the lower surface of described turning arm 2024 by the upper surface of screw drive damping regulating part 2026, described turning arm 2024 and described damping regulating part 2026 produce frictional damping in relative rotation time, namely described damping regulating part 2026 is by turning arm 2024 described in bevel friction, described damping regulating part 2026 and described fixed axis 2027 are connected by screw thread pair that to realize damping adjustable, and rely on holding screw (not shown) to guarantee to be threaded and can not to unclamp in the process rotated.
When needing the rough position adjusting described Transnasal endoscopy operation auxiliary robot 10 end, unclamp rotation hand wheel 2021, compress baffle plate 2022 and depart from joggle piece 2023 under the action of the spring, now can carry out the rough adjustment of position to described Transnasal endoscopy operation auxiliary robot 10 end, adjustment Transnasal endoscopy operation auxiliary robot 10 end arrives nasal cavity entrance top.After desired location adjustment terminates, manually back out rotation hand wheel 2021, compression baffle plate 2022 overcomes spring force and compression baffle plate 2022 and joggle piece 2023 is meshed together under the effect of rotation hand wheel 2021, thus reaches the object of locking rotary joint.When needs unclamp rotary joint (described first rotary joint 202 and described second rotary joint 205), counter-rotation rotation hand wheel 2021, now compress baffle plate 2022 and will compress baffle plate 2022 up jack-up under spring force, compression baffle plate 2022 is departed from the mate of joggle piece 2023, now namely rotary joint is in releasing orientation, can adjust the position in joint.When needing the damping regulating rotary joint, by damping due to rotation regulating part 2026, making its upper surface tightly compress turning arm 2024, tightening holding screw afterwards.
Described parallelogram lindage 207 is for realizing the fast lifting of described Transnasal endoscopy operation auxiliary robot 10 end, and it is fixed by screws on second cross beam 206.In the present embodiment, described parallelogram lindage 207 adopts manual locking mode, and for for a key hydraulic automatic locking tight, can instantaneous locking and also coupling mechanism force very strong.
Please again consult Fig. 1, described pose fine-tuning mechanism 300 adjusts the attitude of nasal endoscopes end and position in operation for realizing, it comprises the holder 303 of three ball-joints 301, actuator 302 and clamping nasal endoscopes, and described parallelogram lindage 207, described three ball-joints 301, described actuator 302 and described holder 303 are linked in sequence successively.
Described three ball-joints 301 form the pose adjustment portion in described Transnasal endoscopy operation auxiliary robot 10 jointly, in the present embodiment, described three ball-joints 301 all adopt hydraulic pressure or air pressure locking mode, be preferably a key fluid pressure type locking, lock and unblock by pedal or by key control, during operation, locking can be realized by pedal or button.Be understandable that, the rotating shaft of described three ball-joints 301 can the vertical setting of order successively.
Described actuator 302 and described holder 303 form the degree of depth feeding portion in described Transnasal endoscopy operation auxiliary robot 10 jointly, for realizing the turnover campaign of nasal endoscopes at nasal cavity.In the present embodiment, described actuator 302 adopts self-locking thread type of drive, and it has the turnbarrel (figure does not indicate) driving the motion of nasal endoscopes turnover nasal cavity, and operative doctor can drive nasal endoscopes to pass in and out nasal cavity motion by rotating described turnbarrel.Because described actuator 201 adopts self-locking thread type of drive, therefore when operative doctor unclamps described turnbarrel, the position that nasal endoscopes can remain on nasal cavity setting is motionless, realizes reverse auto lock, now can carry out operation technique by both hands.In the present embodiment, described holder 303 adopts V-type clamping structure, nasal endoscopes can be facilitated and be firmly attached to the end of described Transnasal endoscopy operation auxiliary robot 10 by tightening handle.
The operation principle of described Transnasal endoscopy operation auxiliary robot 10 is as follows: first, locks after self adaptation guide rail adapting mechanism 100 is placed in the correct position of operation table guide rail; Secondly, unclamp the first rotary joint 202, second rotary joint 205 and parallelogram lindage 207, after the end of described Transnasal endoscopy operation auxiliary robot 10 being put the suitable rough position of patient's nasal cavity entrance top, then distinguish manual locking first rotary joint 202, second rotary joint 205 and parallelogram lindage 207; Then, the internal oil pressure in the fastening system of described three ball-joints 301 is discharged by pedal or button, adjustment Transnasal endoscopy operation auxiliary robot 10 end enters the fine movement after nasal cavity, after adjusting the attitude of nasal endoscopes end, targeted site district appears in the middle of the nasal endoscopes visual field, now by pedal or described three ball-joints 301 of button locking; Finally, actuator 302 described in manual adjustments and described holder 303, the feed motion of the depth direction of adjustment nasal endoscopes in nasal cavity.After completing above regulating step, doctor can both hands be armed carries out operation technique.
Relative to prior art, passive type Transnasal endoscopy operation auxiliary robot 10 structure that this patent relates to is simple, good rigidly, adjustment is efficient and convenient, coupling mechanism force is strong, self adaptation guide rail adapting mechanism 100 wherein can adapt to the guide rail of the operation table of different size, the locking mode of position coarse adjustment mechanism 200 and pose fine-tuning mechanism 300 is reliable, successful.
The above, only embodiments of the invention, not any pro forma restriction is done to the present invention, although the present invention discloses as above with embodiment, but and be not used to limit the present invention, any those skilled in the art, do not departing within the scope of technical solution of the present invention, make a little change when the technology contents of above-mentioned announcement can be utilized or be modified to the Equivalent embodiments of equivalent variations, in every case be do not depart from technical solution of the present invention content, according to any simple modification that technical spirit of the present invention is done above embodiment, equivalent variations and modification, all still belong in the scope of technical solution of the present invention.
Claims (10)
1. a Transnasal endoscopy operation auxiliary robot, is characterized in that, comprises and the self adaptation guide rail adapting mechanism of guide rail cooperation, position coarse adjustment mechanism and pose fine-tuning mechanism; Described self adaptation guide rail adapting mechanism comprises and is arranged at fixture inside guide rail, is arranged at the connector outside guide rail and is connected and fixed the securing member of described fixture and described connector; Described position coarse adjustment mechanism comprises the first support arm, the first rotary joint, first crossbeam, the second support arm, the second rotary joint, second cross beam and the parallelogram lindage that are linked in sequence successively, and described first support arm is connected with described connector; Described pose fine-tuning mechanism comprises the holder of three ball-joints, actuator and clamping nasal endoscopes, and described parallelogram lindage, described three ball-joints, described actuator and described holder are linked in sequence successively.
2. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, is characterized in that, described fixture and described connector are respectively equipped with mutually corresponding through slot, and described securing member is arranged in described through slot.
3. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, is characterized in that, described first rotary joint and described second rotary joint are rotating shaft and horizontally rotate joint perpendicular to operation table.
4. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterized in that, described first rotary joint and described second rotary joint all adopt manual locking mode.
5. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, is characterized in that, all have damping, and damping is adjustable when described first rotary joint and described second rotary joint rotate.
6. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterized in that, described first rotary joint and described second rotary joint include rotation hand wheel, compress baffle plate, joggle piece, turning arm, bearing, damping regulating part and fixed axis, are threaded connection between described rotation hand wheel and described fixed axis; Described compression baffle plate and described fixed axis are coordinated by axial keyway; Be provided with Compress Spring between described compression baffle plate and described joggle piece, the faying face of described compression baffle plate and described joggle piece is provided with intermeshing radial teeth; Connected by screw or bolt between described joggle piece and described turning arm; Described bearing and described fixed axis coordinate; Described damping regulating part has female thread structure, the corresponding part coordinated with described damping regulating part in described fixed axis has external screw thread, described fixed axis and described damping regulating part extrude the lower surface of described turning arm by the upper surface of screw drive damping regulating part, described damping regulating part is by turning arm described in bevel friction, described damping regulating part and described fixed axis are connected by screw thread pair that to realize damping adjustable, and rely on holding screw to guarantee to be threaded and can not to unclamp in the process rotated.
7. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, is characterized in that, described parallelogram lindage adopts manual locking mode.
8. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, it is characterized in that, described three ball-joints all adopt hydraulic pressure or air pressure locking mode.
9. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, is characterized in that, described actuator adopts self-locking thread type of drive, and it has the turnbarrel driving the motion of nasal endoscopes turnover nasal cavity.
10. Transnasal endoscopy operation auxiliary robot as claimed in claim 1, is characterized in that, described holder adopts V-type clamping structure.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410168059.1A CN103919591B (en) | 2014-04-24 | 2014-04-24 | A kind of Transnasal endoscopy operation auxiliary robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410168059.1A CN103919591B (en) | 2014-04-24 | 2014-04-24 | A kind of Transnasal endoscopy operation auxiliary robot |
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| CN103919591A CN103919591A (en) | 2014-07-16 |
| CN103919591B true CN103919591B (en) | 2016-04-13 |
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| CN201410168059.1A Active CN103919591B (en) | 2014-04-24 | 2014-04-24 | A kind of Transnasal endoscopy operation auxiliary robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022039296A1 (en) * | 2020-08-19 | 2022-02-24 | 고무생 | Treatment assistance equipment |
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| US10626963B2 (en) * | 2015-10-19 | 2020-04-21 | GM Global Technology Operations LLC | Articulated mechanism for linear compliance |
| US10759634B2 (en) | 2014-08-08 | 2020-09-01 | GM Global Technology Operations LLC | Electromechanical system for interaction with an operator |
| CN104546066B (en) * | 2015-01-22 | 2017-02-22 | 中国科学院深圳先进技术研究院 | Passive type nasal endoscopic surgery assisting robot |
| CN104783900B (en) * | 2015-04-03 | 2017-02-22 | 中国科学院深圳先进技术研究院 | Follow-up type nasal endoscope operation auxiliary robot |
| CN105065446A (en) * | 2015-07-07 | 2015-11-18 | 成都贝思达光电科技有限公司 | Resistance-variable self-lubricating joint structure |
| US10350766B2 (en) * | 2015-09-21 | 2019-07-16 | GM Global Technology Operations LLC | Extended-reach assist device for performing assembly tasks |
| CN105437258B (en) * | 2015-12-28 | 2017-07-11 | 同济大学 | The universal more piece synchronous drive mechanism of Spherical engagement |
| JP6847218B2 (en) | 2016-11-28 | 2021-03-24 | バーブ サージカル インコーポレイテッドＶｅｒｂ Ｓｕｒｇｉｃａｌ Ｉｎｃ． | Robotic surgical system to reduce unwanted vibrations |
| WO2018116196A1 (en) | 2016-12-24 | 2018-06-28 | Javad Hasani Bidgoli | A device for brain biopsy |
| CN107854184A (en) * | 2017-12-07 | 2018-03-30 | 邓清元 | Operation tool support frame and operation tool support equipment |
| CN108095824B (en) * | 2018-02-08 | 2023-05-02 | 哈尔滨工业大学深圳研究生院 | Central ventilation modularized pneumatic locking operation arm |
| WO2020063949A1 (en) * | 2018-09-30 | 2020-04-02 | 泗洪县正心医疗技术有限公司 | Surgical robot based on ball and socket joint and tactile feedback, and control device thereof |
| CN109528148B (en) * | 2019-01-22 | 2023-09-26 | 绵阳美科电子设备有限责任公司 | Single swing rod endoscope clamping device |
| CN111821041B (en) * | 2020-07-27 | 2021-05-11 | 宁波市医疗中心李惠利医院 | Operating manipulator of endoscope for otolaryngological department |
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