CN103932790A - Two-freedom-degree mechanism used for surgical operation robot and provided with connector quickly changing function - Google Patents
Two-freedom-degree mechanism used for surgical operation robot and provided with connector quickly changing function Download PDFInfo
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- CN103932790A CN103932790A CN201410085461.3A CN201410085461A CN103932790A CN 103932790 A CN103932790 A CN 103932790A CN 201410085461 A CN201410085461 A CN 201410085461A CN 103932790 A CN103932790 A CN 103932790A
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Abstract
The invention provides a two-freedom-degree mechanism which is used for surgical operation robot and provided with connector quickly changing function. The two-freedom-degree mechanism comprises a linear motion mechanism and a rotary quick-changing mechanism. The linear motion mechanism mainly comprises a motor drive component, a synchronous belt, a limiting and light shading piece A, a sliding block, a limiting and light shading piece B, a straight-line motion mechanism, a support upper end plate, a synchronous belt pre-tightening device, an optoelectronic switch B, a mechanical limiting baffle B, a sliding block installing plate, a guide rail, a mechanical limiting baffle A, an optoelectronic switch A, an optical grating strip and a connecting frame. The rotary quick-changing mechanism mainly comprises a rotary lower shell, a gear A, an optoelectronic switch light shading piece, a magnetic grid reading head, an optoelectronic switch, a rotary support, an optical grating reading head, a motor, a rotary hollow shaft and a gear. The two-freedom-degree mechanism is good in stability and flexibility, ingenious in structure, light in weight and easy to control for a computer, and greatly makes up the defects that the minimally invasive surgical operation robot is small in freedom degree number, and operation space is narrow. The two-freedom-degree mechanism can also be applied to other robot systems.
Description
Technical field
What the present invention relates to is a kind of mechanism mobile, that rotate two degree of freedom and finger quick change function that has, and is mainly used in the armarium that Minimally Invasive Surgery is used.
Background technology
Operate on compared with operation with routine, Minimally Invasive Surgery at therapeutic effect, palliate the agonizing sufferings, the aspect such as restore cycle, medical treatment cost has clear superiority.It is mainly performed the operation with small wound by advanced medical apparatus and instruments and equipment, along with the range of operation of the development micro-wound operation robot of robotics and correlation technique relates to more complicated field of surgery gradually, operation technique is also to intellectuality and precise development.At present micro-wound operation robot is mainly by the control to micro-apparatus finger with operate operation, but micro-apparatus finger degree of freedom is less, and working space is not very desirable, and finger replacing neither be very convenient.In order further to have reduced the difficulty of operation technique, increase operation efficiency, reduce the unnecessary additional injury bringing to patient simultaneously.
Summary of the invention
The object of the invention is to provide one to have mobile, two degree of freedom of rotation, has finger quick change function, flexibly stable, is easy to the computer-controlled surgical operation robot Two-Degree-of-Freedom mechanism with rapid replacing interface function.
The object of the present invention is achieved like this:
Comprise straight-line motion mechanism and rotary quick change mechanism,
The motor driving part part 1-1 that consists of of described straight-line motion mechanism is arranged on straight-line motion mechanism support 1-6, support upper head plate 1-8 is arranged on the upper end of straight-line motion mechanism support 1-6, photoswitch B1-10, mechanical position limitation baffle plate B1-11, guide rail 1-14, mechanical position limitation baffle plate A1-15, photoswitch A1-16 is arranged in linear moving mechanism support 1-6 from top to down successively, slide block 1-4 is arranged on above guide rail 1-14, slide block installation panel 1-12 is fixed on above slide block 1-4, gratings strips 1-17 is attached in the groove of side of straight-line motion mechanism support 1-6, spacing brake sack A1-3, spacing brake sack B1-5 is separately fixed at above slide block installing plate 1-12, Timing Belt and slide block installation panel are fixed, large belt wheel A is installed by Timing Belt pre-tightening apparatus 1-9 in straight-line motion mechanism support 1-6 upper end, in motor driving part part 1-1, comprise large belt wheel B, Timing Belt 1-2 is connected between large belt wheel A and large belt wheel B,
The rotation lower house 2-1 that consists of of described rotary quick change mechanism is fixed on runing rest 2-15, bearing 2-5, bearing 2-7 is arranged on bearing spider 2-6, revolving hollow spindle 2-19 inserts bearing spider 2-6, gear A 2-2 is fixed on revolving hollow spindle 2-19, alligator clamp 2-8, spring 2-9 is arranged on the opening position of photoswitc brake sack 2-11, alligator clamp cover plate 2-10 and photoswitc brake sack 2-11 are fixed on bearing spider 2-6, magnetic grid read head 2-13 is fixed on magnetic grid read head installing plate 2-12, magnetic grid read head installing plate 2-12 is fixed on again on runing rest 2-15, grating reading head installing plate 2-16 and grating reading head 2-17 are arranged on runing rest 2-15 as a whole, motor 2-18 is also arranged on above runing rest 2-15, together with the output shaft fixed connection of gear B 2-20 and motor 2-18, gear B 2-20 and gear A 2-2 engagement,
Runing rest 2-15 is fixed on slide block installing plate 1-12.
Described motor driving part part mainly comprises small pulley A1-1-2, small pulley B1-1-4, Timing Belt 1-1-5, axle 1-1-10, motor 1-1-11, large belt wheel A1-1-12, large belt wheel A1-1-12 has groove bearing 1-1-8 is installed, the upper symmetrical bearing 1-1-8 of axle 1-1-10, axle sleeve 1-1-6, large belt wheel A1-1-12 is fixed on above axle 1-1-10, small pulley B1-1-4 is also fixed on axle 1-1-10, motor 1-1-11 is arranged on above straight-line motion mechanism support 1-6 by being fixed on motor mounting plate 1-1-13, small pulley A1-1-2 is fixed on the output shaft of motor 1-1-11, above motor mounting plate 1-1-13, be processed with slotted hole.
The large belt wheel B1-9-2 that consists of of Timing Belt pre-tightening apparatus 1-9 connects firmly on optical axis 1-9-8, distributing bearing 1-9-4 and axle sleeve 1-9-3 of optical axis 1-9-8 lateral symmetry makes it to become an integral installation and moving about on support 1-9-5, support upper head plate 1-8 is connected with the support 1-9-5 that moves about, slotted hole above straight-line motion mechanism support 1-6, adjusts the centre-to-centre spacing of large belt wheel B1-9-2 and large belt wheel A1-1-12 by adjusting nut 1-9-6 and screw 1-9-1.
In order further to have reduced the difficulty of operation technique, increase operation efficiency, reduce the unnecessary additional injury bringing to patient simultaneously.Mobile rotary quick change mechanism for the designed micro-wound operation robot of the present invention, there are mobile and two degree of freedom of rotation, and possesses finger quick change function, consider that operation is higher to the required precision of robot, the design is also useful on displacement monitoring grating scale and magnetic grid except selecting with the external mechanism of the direct current generator end of encoder.The stability of this mechanism and motility are good, and delicate structure is lightweight, is easy to computer control, have greatly made up the defect that micro-wound operation robot finger number of degrees of freedom, is few, working space is narrow and small.This mechanism has versatility and also can be applied in other robot system.
A kind of surgical operation robot with rapid replacing interface function of the present invention 2DOF mechanism, has following characteristics:
1, the present invention not only has rectilinear motion and two degree of freedom that rotatablely move, and also has rapid replacing interface function and mechanism simple, is convenient to control.
2, delicate structure of the present invention, motion flexibly, can better meet the requirement of micro-wound operation robot to working space.
3, one-movement-freedom-degree of the present invention, moves on guide rail by driven by motor Timing Belt and slide block, and Timing Belt has pre-tightening apparatus, and steadily, precision is high in motion.
4, one-movement-freedom-degree of the present invention is realized mechanism and is had photoelectric position limit and mechanical position limitation function, and rotary freedom has photoelectric position limit function, and the operation of Zhe Shi mechanism is safer.
5, the present invention carries encoder for quantity of motion detection except crossing motor, also has endways high-precision grating and magnetic grid for detection of actual motion amount, can improve system accuracy by software programming.Meet greatly the requirement of micro-wound operation robot to precision.
6, the end that the present invention can be arranged on all kinds of robots can be widely used in all kinds of robots, has good versatility.
Brief description of the drawings
Fig. 1 is integrated machine composition of the present invention.
Fig. 2 is straight-line motion mechanism schematic diagram of the present invention.
Fig. 3 is straight-line motion mechanism motor driving part part schematic diagram.
Fig. 4 is Timing Belt pre-tightening apparatus schematic diagram.
Fig. 5 is rotary quick change structural scheme of mechanism.
Detailed description of the invention
Provide the specific embodiment of the present invention below, and be illustrated by reference to the accompanying drawings.
In conjunction with Fig. 1, a kind of surgical operation robot 2DOF mechanism with rapid replacing interface function of the present invention is mainly made up of linear moving mechanism 1, rotary quick change mechanism 2.Linear moving mechanism 1 has rectilinear motion function and motor driving, displacement detecting, photoelectric position limit, mechanical position limitation function; Rotary quick change mechanism 2 has rotation function and points quick change, Angular Displacement Detecting, photoelectric position limit function.
In conjunction with Fig. 2, linear moving mechanism 1 mainly consists of the following components: motor driving part part 1-1, Timing Belt 1-2, spacing brake sack A1-3, slide block 1-4, spacing brake sack B1-5, straight-line motion mechanism support 1-6, straight-line motion mechanism bonnet 1-7, support upper head plate 1-8, Timing Belt pre-tightening apparatus 1-9, photoswitch B1-10, mechanical position limitation baffle plate B1-11, slide block installing plate 1-12, screw 1-13, guide rail 1-14, mechanical position limitation baffle plate A1-15, photoswitch A1-16, gratings strips 1-17, link 1-18.
Motor driving part part 1-1 is arranged on above straight-line motion mechanism support 1-6, straight-line motion mechanism bonnet 1-7 is fixed by screws in straight-line motion mechanism support 1-6 upper surface, support upper head plate 1-8 is arranged on the upper end of straight-line motion mechanism support 1-6 by four soket head cap screws, photoswitch B1-10, mechanical position limitation baffle plate B1-11, guide rail 1-14, mechanical position limitation baffle plate A1-15, photoswitch A1-16, be arranged on successively from top to down the bottom of linear moving mechanism support 1-6, slide block 1-4 is arranged on above guide rail 1-14, slide block installation panel 1-12 by four soket head cap screw 1-13 be fixed on above slide block 1-4, make it into as a whole.1-17 gratings strips is attached in the groove of side of straight-line motion mechanism support 1-6.Spacing brake sack A1-3, spacing brake sack B1-5 are fixed by screws in respectively above slide block installing plate 1-12, and Timing Belt is fixed by screw and slide block installation panel.The motion of Timing Belt 1-2 just can be with movable slider installing plate 1-12 and slide block 1-4 to do rectilinear motion along guide rail 1-14 like this.When slide block 1-4 moves to positive extreme position time limit position brake sack B1-5 and will cover the light source of photoswitch B1-10, now photoswitch B1-10 will produce limit signal, and mechanical position limitation baffle plate B1-11 can play position-limiting action in the situation that photoswitc B1-10 is malfunctioning.In the time that slide block 1-4 moves to negative pole extreme position, spacing brake sack A1-3 will cover the light source of photoswitc A1-16, now photoswitc A1-16 will produce spacing restricting the number, and mechanical position limitation baffle plate A1-15 can play position-limiting action in the situation that photoswitc A1-16 is malfunctioning.Effect by photoelectric position limit and mechanical position limitation can make the motion that mechanism is safer.Link 1-18 can make whole mechanism and robot system couple together.
In conjunction with Fig. 2, Fig. 3, motor driving part part 1-1 mainly consists of the following components: screw 1-1-1, screw 1-1-14, screw 1-2-15, small pulley A1-1-2, small pulley shell 1-1-3, small pulley B1-1-4, Timing Belt 1-1-5, axle sleeve 1-1-6, end ring 1-1-7, bearing 1-1-8, bearing (ball) cover 1-1-9, axle 1-1-10, motor 1-1-11, large belt wheel A1-1-12, motor mounting plate 1-1-13.
Small pulley shell 1-1-3 is arranged on above straight-line motion mechanism support 1-6 by screw 1-1-1.Large belt wheel A1-1-12 has groove bearing 1-1-8 is installed, axle 1-1-10 upper symmetrical bearing 1-1-8, axle sleeve 1-1-6, and wherein end ring 1-1-7 axial location for a side bearing outer ring, opposite side bearing outer ring is used bearing (ball) cover 1-1-9 location.Large belt wheel A1-1-12 is fixed on above axle 1-1-10 by holding screw, and it is upper that small pulley B1-1-4 is also fixed on axle 1-1-10, and the motion of small pulley B1-1-4 will drive the motion of large belt wheel A1-1-12 motion and then belt wheel Timing Belt 1-2.Motor 1-1-11 is fixed on above motor mounting plate 1-1-13 by four screw 1-1-15, motor mounting plate 1-1-13 is arranged on above straight-line motion mechanism support 1-6 by screw 1-1-14, small pulley A1-1-2 is fixed on above the output shaft of motor 1-1-11, thereby the rotation of motor 1-1-11 can drive the rotation of small pulley A1-1-2 and then drive the motion of small pulley B1-1-4 to drive the rotation of large belt wheel A with the rotation of moving axis 1-1-10 by Timing Belt 1-1-5 like this.Above motor mounting plate 1-1-13, be processed with slotted hole and can adjust the relative position between motor mounting plate 1-1-13 and straight-line motion mechanism support 1-6, thereby the centre-to-centre spacing that can adjust small pulley A1-1-2 and small pulley B1-1-4 is adjusted the degree of tightness of Timing Belt 1-1-5.
In conjunction with Fig. 2, Fig. 3, Fig. 4, Timing Belt pre-tightening apparatus 1-9 mainly consists of the following components (as shown in Figure 4): screw 1-9-1, large belt wheel B1-9-2, axle sleeve 1-9-3, bearing 1-9-4, support 1-9-moves about), nut 1-9-6, nut 1-9-7, optical axis 1-9-8.
Large belt wheel B1-9-2 connects firmly on optical axis 1-9-8, optical axis 1-9-8 lateral symmetry distributing bearing 1-9-4 and axle sleeve 1-9-3, make it to become an integral installation moving about above support 1-9-5, support upper head plate 1-8 is connected with the support 1-9-5 that moves about by bolt 1-9-7, slotted hole above straight-line motion mechanism support 1-6, by adjusting nut 1-9-6 and screw 1-9-1, can adjust the centre-to-centre spacing of large belt wheel B1-9-2 and large belt wheel A1-1-12.
In conjunction with Fig. 5, rotary quick change mechanism 2 mainly consists of the following components: rotation lower house 2-1, gear A 2-2, holding screw 2-3, end ring 2-4, bearing 2-5, bearing 2-7, bearing spider 2-6, alligator clamp 2-8, spring 2-9, alligator clamp cover plate 2-10, photoswitch brake sack 2-11, magnetic grid read head installing plate 2-12, magnetic grid read head 2-13, photoswitch 2-14, runing rest 2-15, grating reading head mounting bracket 2-16, grating reading head 2-17, motor 2-18, revolving hollow spindle 2-19, gear B 2-20.
Rotation lower house 2-1 is fixed by screws in above runing rest 2-15.Bearing 2-5,2-7 are arranged on above bearing spider 2-6, block outer ring respectively with end ring 2-4, and revolving hollow spindle 2-19 inserts bearing spider 2-6.Gear A 2-2 is fixed on revolving hollow spindle 2-19 by holding screw 2-3.The opening position that alligator clamp 2-8, spring 2-9 are arranged on photoswitc brake sack 2-11 by screw by alligator clamp cover plate 2-10 and photoswitc brake sack 2-11 be fixed on above bearing spider 2-6, magnetic grid read head 2-13 is fixed on above magnetic grid read head installing plate 2-12.Magnetic grid read head installing plate 2-12 is fixed on again above runing rest 2-15.Grating reading head installing plate 2-16 and grating reading head 2-17 are arranged on above runing rest 2-15 as a whole.Motor 2-18 is also arranged on above runing rest 2-15, together with the output shaft fixed connection of gear B 2-20 and motor 2-18.Gear B 20 and gear A 2-2 engagement.The engagement that motor 2-18 moves through gear B 2-20 and gear A 2-2 like this will rotatablely move and pass to revolving hollow spindle 2-19.Can realize like this and insert the finger of revolving hollow spindle 2-19 the inside or the rotation of other operating apparatuss.Can realize the clamping of alligator clamp 2-8 and unclamp by manually pinching folder alligator clamp 2-8.Can realize like this and insert the finger of revolving hollow spindle 2-19 the inside or exchanging for of other operating apparatuss.
In conjunction with Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, this micro-wound operation robot is carried out to general description by the function of mobile rotary quick change mechanism.This micro-wound operation robot is mainly made up of linear moving mechanism 1 and rotary quick change mechanism 2 with mobile rotary quick change mechanism.
Linear moving mechanism 1 can be realized the rectilinear movement of slide block 1-4 on guide rail 1-14.On slide block installing plate 1-12, be reserved with and screwed hole is installed runing rest 2-15 can be fixed on above slide block installing plate 1-12, whole like this rotary quick change mechanism 2 both can one have moved linearly together with slide block 1-4.Motion like this that concrete is: motor 1-1-11 motion drives small pulley A1-1-2 rotation, move and then drive the rotation of large belt wheel A1-1-12 by Timing Belt 1-1-5.The rotation of large belt wheel A1-1-12 drives the rotation of large belt wheel B1-9-2.Slide block 1-4 does rectilinear motion along guide rail 1-14 together with Timing Belt 1-2 thereupon, and the surface of the inswept gratings strips 1-17 of grating reading head 2-17 produces displacement signal simultaneously.Can know actual straight-line displacement by the information that detects grating reading head 2-17.Wherein large belt wheel A1-1-12 and the large centre-to-centre spacing of belt wheel B1-9-2 and the centre-to-centre spacing of small pulley A1-1-2 and small pulley B1-1-4 can be adjusted by screw, and then adjust the elasticity of Timing Belt 1-1-5 and Timing Belt 1-2.In the time that rectilinear motion arrives extreme position, photoswitch A1-16 and photoswitc B1-10 can produce limit signal, and mechanical position limitation baffle plate A1-15 and mechanical position limitation baffle plate B1-11 can play mechanical position limitation effect, and security performance is improved.Can make whole mechanism and robot system couple together by link 1-18.
Rotary quick change mechanism 2 can realize and inserts the finger of revolving hollow spindle 2-19 the inside or the rotation of other apparatuses and exchange for fast.Concrete is to move like this: the engagement of motor 2-18 driven gear B2-18 and gear A 2-2, and then the rotation of driven rotary hollow axle 2-19, the apparatus that inserts revolving hollow spindle 2-19 the inside will produce and rotatablely move.Photoswitch 2-14 can play to rotatablely moving position-limiting action.On the apparatus that inserts revolving hollow spindle, load onto magnetic grid, just can read the rotation information that changes apparatus.Manually pinching folder alligator clamp 2-8 can realize the clamping of alligator clamp 2-8 and unclamp.Can realize like this exchanging for of apparatus of inserting revolving hollow spindle 2-19 the inside.
On slide block installing plate 1-12, be reserved with and screwed hole is installed runing rest 2-15 can be fixed on above slide block installing plate 1-12, whole like this rotary quick change mechanism 2 just can move linearly together with slide block 1-4.So just can realize mobile rotation and the quick change function of the apparatus that inserts revolving hollow spindle 2-19 the inside.
Claims (3)
1. a surgical operation robot Two-Degree-of-Freedom mechanism with rapid replacing interface function, is characterized in that: comprise straight-line motion mechanism and rotary quick change mechanism,
The motor driving part part (1-1) that consists of of described straight-line motion mechanism is arranged on straight-line motion mechanism support (1-6), support upper head plate (1-8) is arranged on the upper end of straight-line motion mechanism support (1-6), photoswitch B(1-10), mechanical position limitation baffle plate B(1-11), guide rail (1-14), mechanical position limitation baffle plate A(1-15), photoswitch A(1-16) be arranged on successively from top to down in linear moving mechanism support (1-6), slide block (1-4) is arranged on guide rail (1-14) above, slide block installation panel (1-12) is fixed on slide block (1-4) above, gratings strips (1-17) is attached in the groove of side of straight-line motion mechanism support (1-6), spacing brake sack A(1-3), spacing brake sack B(1-5) be separately fixed at slide block installing plate (1-12) above, Timing Belt and slide block installation panel are fixed, large belt wheel A is installed by Timing Belt pre-tightening apparatus (1-9) in straight-line motion mechanism support (1-6) upper end, in motor driving part part (1-1), comprise large belt wheel B, Timing Belt (1-2) is connected between large belt wheel A and large belt wheel B,
The rotation lower house (2-1) that consists of of described rotary quick change mechanism is fixed on runing rest (2-15), bearing (2-5), bearing (2-7) is arranged on bearing spider (2-6), revolving hollow spindle (2-19) inserts bearing spider (2-6), gear A (2-2) is fixed on revolving hollow spindle (2-19), alligator clamp (2-8), spring (2-9) is arranged on the opening position of photoswitc brake sack (2-11), alligator clamp cover plate (2-10) and photoswitc brake sack (2-11) are fixed on bearing spider (2-6), magnetic grid read head (2-13) is fixed on magnetic grid read head installing plate (2-12), magnetic grid read head installing plate (2-12) is fixed on again on runing rest (2-15), grating reading head installing plate (2-16) and grating reading head (2-17) are arranged on runing rest (2-15) as a whole, motor A(2-18) be also arranged on runing rest (2-15) above, the output shaft fixed connection of gear B (2-20) and motor (2-18) together, gear B (2-20) and gear A (2-2) engagement,
Runing rest (2-15) is fixed on slide block installing plate (1-12).
2. the surgical operation robot Two-Degree-of-Freedom mechanism with rapid replacing interface function according to claim 1, it is characterized in that: described motor driving part part mainly comprises small pulley A(1-1-2), small pulley B(1-1-4), Timing Belt (1-1-5), axle (1-1-10), motor B(1-1-11), large belt wheel A(1-1-12), large belt wheel A(1-1-12) have groove bearing (1-1-8) is installed, the upper symmetrical bearing (1-1-8) of axle (1-1-10), axle sleeve (1-1-6), large belt wheel A(1-1-12) be fixed on axle (1-1-10), small pulley B(1-1-4) be also fixed on axle (1-1-10), motor B(1-1-11) be arranged on straight-line motion mechanism support (1-6) above by being fixed on motor mounting plate (1-1-13), small pulley A(1-1-2) be fixed on the output shaft of the second motor (1-1-11), motor mounting plate (1-1-13) is processed with slotted hole above.
3. the surgical operation robot Two-Degree-of-Freedom mechanism with rapid replacing interface function according to claim 1 and 2, it is characterized in that: Timing Belt pre-tightening apparatus (1-9) consist of large belt wheel B(1-9-2) connect firmly on optical axis (1-9-8), distributing bearing (1-9-4) and axle sleeve (1-9-3) of optical axis (1-9-8) lateral symmetry makes it to become an integral installation on the support that moves about (1-9-5), support upper head plate (1-8) is connected with the support that moves about (1-9-5), straight-line motion mechanism support (1-6) slotted hole above, adjust large belt wheel B(1-9-2 by adjusting nut (1-9-6) and screw (1-9-1)) and large belt wheel A(1-1-12) centre-to-centre spacing.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410085461.3A CN103932790B (en) | 2014-03-11 | 2014-03-11 | There is the surgical operation robot Two-Degree-of-Freedom mechanism of rapid replacing interface function |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410085461.3A CN103932790B (en) | 2014-03-11 | 2014-03-11 | There is the surgical operation robot Two-Degree-of-Freedom mechanism of rapid replacing interface function |
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| CN103932790A true CN103932790A (en) | 2014-07-23 |
| CN103932790B CN103932790B (en) | 2016-01-27 |
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| CN201410085461.3A Expired - Fee Related CN103932790B (en) | 2014-03-11 | 2014-03-11 | There is the surgical operation robot Two-Degree-of-Freedom mechanism of rapid replacing interface function |
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| CN108393922A (en) * | 2018-02-10 | 2018-08-14 | 合肥工业大学 | One kind having multivariant robotic tool finger and purposes |
| CN108451552A (en) * | 2018-03-16 | 2018-08-28 | 深圳市罗伯医疗科技有限公司 | A kind of driving device of surgical instrument |
| CN109199591A (en) * | 2018-10-19 | 2019-01-15 | 上海交通大学 | Ear nose basis cranii micro-wound operation robot and its operating method |
| CN111529064A (en) * | 2020-05-09 | 2020-08-14 | 山东大学 | Linear driving device of surgical robot and surgical robot |
| CN112790865A (en) * | 2021-01-05 | 2021-05-14 | 上海海事大学 | Medical redundant protection line motion carrying module with electromagnetic environment compatibility |
| CN112890955A (en) * | 2021-01-18 | 2021-06-04 | 山东大学 | Operation arm system of transluminal surgical robot, robot and method |
| CN114098959A (en) * | 2016-07-29 | 2022-03-01 | Cmr外科有限公司 | Drive transmission |
| WO2023082562A1 (en) * | 2021-11-11 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Sterile protective interventional surgical robot |
| WO2023130699A1 (en) * | 2022-01-04 | 2023-07-13 | 深圳市魔舞科技有限公司 | Reciprocating mechanism capable of driving synchronous belt by forward and reverse rotation of motor |
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| CN109199591A (en) * | 2018-10-19 | 2019-01-15 | 上海交通大学 | Ear nose basis cranii micro-wound operation robot and its operating method |
| CN111529064B (en) * | 2020-05-09 | 2021-03-26 | 山东大学 | Linear driving device of surgical robot and surgical robot |
| CN111529064A (en) * | 2020-05-09 | 2020-08-14 | 山东大学 | Linear driving device of surgical robot and surgical robot |
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| CN112790865B (en) * | 2021-01-05 | 2021-11-05 | 上海海事大学 | Medical redundant protection line motion carrying module with electromagnetic environment compatibility |
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| WO2023082562A1 (en) * | 2021-11-11 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Sterile protective interventional surgical robot |
| WO2023130699A1 (en) * | 2022-01-04 | 2023-07-13 | 深圳市魔舞科技有限公司 | Reciprocating mechanism capable of driving synchronous belt by forward and reverse rotation of motor |
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| CN103932790B (en) | 2016-01-27 |
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