CN104188709B - A kind of multi-angle for surgical operation robot is from hands tweezers - Google Patents
A kind of multi-angle for surgical operation robot is from hands tweezers Download PDFInfo
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- CN104188709B CN104188709B CN201410478258.2A CN201410478258A CN104188709B CN 104188709 B CN104188709 B CN 104188709B CN 201410478258 A CN201410478258 A CN 201410478258A CN 104188709 B CN104188709 B CN 104188709B
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- pulling plate
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 106
- 239000010959 steel Substances 0.000 claims abstract description 106
- 210000000080 chela (arthropods) Anatomy 0.000 claims abstract description 84
- 230000007246 mechanism Effects 0.000 claims abstract description 9
- 239000000463 material Substances 0.000 claims description 6
- 239000000956 alloy Substances 0.000 claims description 4
- 229910045601 alloy Inorganic materials 0.000 claims description 3
- 230000003319 supportive effect Effects 0.000 claims description 3
- 230000006835 compression Effects 0.000 claims 1
- 238000007906 compression Methods 0.000 claims 1
- 238000010276 construction Methods 0.000 abstract description 6
- 230000033001 locomotion Effects 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 230000009471 action Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000005381 potential energy Methods 0.000 description 4
- 238000012423 maintenance Methods 0.000 description 3
- 229910001069 Ti alloy Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000007769 metal material Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 231100000252 nontoxic Toxicity 0.000 description 2
- 230000003000 nontoxic effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 238000010923 batch production Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002682 general surgery Methods 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/30—Surgical pincettes without pivotal connections
-
- 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
-
- 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
- A61B34/32—Surgical robots operating autonomously
-
- 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
- A61B34/37—Master-slave robots
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of multi-angle for surgical operation robot from hands tweezers, including actuating unit, driving mechanism and tweezers assembly, also include motor support base, linkage and tweezers bearing, actuating unit includes the first drive motor and the second drive motor, driving mechanism includes the first steel wire pulling plate, second steel wire pulling plate, first steel wire and the second steel wire, tweezers assembly includes the first pincers leaf, second pincers leaf, spring and fixing axle, first drive motor and the second drive motor are arranged on motor support base respectively, motor support base connects one end of linkage, the other end of linkage connects tweezers bearing, tweezers bearing connects the first steel wire pulling plate and the second steel wire pulling plate respectively by fixing axle, the first pincers leaf it is arranged with successively by fixing axle between the inner side of the first steel wire pulling plate and the second steel wire pulling plate, spring and the second pincers leaf.Compared with prior art, the present invention have simple in construction, safe and reliable, there is the advantage such as independent power, flexible movements.
Description
Technical field
The present invention relates to medical machinery apparatus field, especially relate to a kind of multi-angle for surgical operation robot from hands tweezers.
Background technology
Operating robot is the operation undertaken by miniature incision, compared with common open surgery, has the advantages such as wound is little, lose blood less, pain is light, infection risk is low, post-operative recovery is fast, thus is able at operating numerous areas fast-developing.The surgical system of robot assisted can effectively utilize operative doctor experience, plays the features such as robot localization is accurate, stable simultaneously.Doctor can be helped to complete the surgical actions of complexity, reduce in operation because doctor is tired or hand shakes the maloperation and damage that cause, improve operation safety, shorten healing time and reduce medical treatment cost.The DaVinci surgical operation robot system of ZEUS and the IntuitiveSurgical company of ComputerMotion company of the current U.S. is by FDA certification and is widely used in clinic.
Surgical operation robot is in the middle of operation process, and operating theater instruments is that robot directly contacts with patient body's inner disease foci and tissue.Therefore operating theater instruments performance occupies critical role in surgical operation robot system.And adopting tweezers to carry out bracing wire with knotting in surgical operation is conventional mode of operation, and there is oneself operating theater instruments in each company, and this means that does not have general surgery mechanical in medical robot.Pertinent literature is recorded robot and is used for Minimally Invasive Surgery, and this needs the diameter of surgery mechanical at about 8mm to 10mm；Possess the degree of freedom carrying out operation, flexible operation；Quick-replaceable can be needed according to operation, and meet the medical science requirement for biocompatibility.The most structure of tweezers being presently used on surgical operation robot is responsible for, inconvenient operation, and the structure of its complexity is given to change and brought inconvenience with maintenance simultaneously, and its cost is higher.The mode of operation surgical forceps opening and closings most on market all adopts pulling of steel wire, for selection also most requirements not accounting for biocompatibility of tweezers material.
Summary of the invention
Defect that the purpose of the present invention is contemplated to overcome above-mentioned prior art to exist and provide a kind of multi-angle for surgical operation robot from hands tweezers, simple in construction, safe and reliable, there are independent power and flexible movements.
The purpose of the present invention can be achieved through the following technical solutions:
nullA kind of multi-angle for surgical operation robot is from hands tweezers，Including actuating unit、Driving mechanism and tweezers assembly，Also include motor support base、Linkage and tweezers bearing，Described actuating unit includes the first drive motor and the second drive motor，Described driving mechanism includes the first steel wire pulling plate、Second steel wire pulling plate、First steel wire and the second steel wire，Described tweezers assembly includes the first pincers leaf、Second pincers leaf、Spring and fixing axle，The first described drive motor and the second drive motor are arranged on motor support base respectively，Described motor support base connects one end of linkage，The other end of described linkage connects tweezers bearing，Described tweezers bearing connects the first steel wire pulling plate and the second steel wire pulling plate respectively by fixing axle，By fixing axle successively sheathed first pincers leaf between described first steel wire pulling plate and the inner side of the second steel wire pulling plate、Spring and the second pincers leaf，The cardinal area of the first described pincers leaf and the second pincers leaf is strutted by spring and separates，First described steel wire one end is clamped leaf with first after walking around the first steel wire pulling plate and is fixed，The other end and the first drive motor connect，Second described steel wire one end is clamped leaf with second after walking around the second steel wire pulling plate and is fixed，The other end and the second drive motor connect；
Motor support base and tweezers bearing play a supportive role, the 360 ° of rotations of linkage phase linkage central shaft, first pincers leaf and the second pincers leaf are in open configuration because spring acts on original state, tweezers assembly closes when closing crawl, first pincers leaf is driven by the first drive motor by the first steel wire, second pincers leaf is driven by the second drive motor by the second steel wire, first pincers leaf and second pincers leaf 180 ° of scope inner position in vertical plane, and close, spring-compressed simultaneously, when tweezers assembly unclamps, first drive motor and the second drive motor reversely rotate, first pincers leaf and the second pincers leaf are automatically separated because of spring effect.
Described first clamps leaf and the second pincers leaf is provided with steel wire draw-in groove respectively and fixing steel wire screw, the first steel wire and the second steel wire are screwed on fixing steel wire screw respectively along steel wire draw-in groove.
The first described steel wire pulls the first pincers leaf in the counterclockwise direction, and the second described steel wire pulls the second pincers leaf clockwise or counterclockwise.
Described tweezers bearing is provided with two support lug of a towing pad and side by side parallel, described towing pad and linkage inner space, first steel wire and the second steel wire both pass through towing pad, two described support lug are respectively equipped with fixing axle installing hole, described fixing axle installing hole is provided with fixing axle, connect the first steel wire pulling plate by fixing axle inside one support lug, inside another support lug, connect the second steel wire pulling plate by fixing axle.
The first described steel wire and the multistrand rope that the second steel wire is diameter 0.4mm.
Described fixing shaft diameter is 4mm.
The material of the first described pincers leaf and the second pincers leaf is Ti-6Al-4vELI alloy.
The first described pincers leaf and the second pincers leaf length are 3-4cm.
The first described pincers leaf and the second pincers leaf cardinal area are respectively equipped with 20-30 tooth.
Compared with prior art, the invention have the advantages that
1) independent power: this surgical operation robot is provided by two low-power machines respectively from the power of hands tweezers, this avoid the load of robot body motor and alleviates the weight of robot body；
2) simple in construction: owing to this medical treatment tweezers adopt motor bracing wire, spring release potential energy separates, thus structurally more compact than other medical forceps constructions, convenient batch production；
3) safe and reliable: in order to ensure medically for the requirement of biocompatibility and the requirement of strength meeting tweezers, the pincers leaf of these tweezers adopts Ti-6Al-4vELI alloy material, this titanium alloy is nontoxic, light weight, intensity high and has excellent biocompatibility, is ideal medical metal material；
4) flexible movements, working range is bigger: tweezers rear portion rod member can 360 ° of rotations, and tweezers wherein a piece of pincers leaf is pulled by two strands of high-ductility steel wires, can fix in the position specified, another sheet is then pulled by steel wire and closes, it may be achieved 180 ° of location, and therefore tweezers have two degree of freedom relative to other operation surgical forceps more, the opereating specification that can make doctor is bigger, and action is more flexible；
5) simple to operate, maintenance is convenient: these tweezers are due to independent power and are placed in from hand, and therefore simple in construction is highly reliable, all has certain advantage in operability and maintenance；
6) tweezers modular construction is reasonable: tweezers bearing, steel wire pulling plate, pincers leaf, spring are fixed firmly by the fixing axle of 4mm, the length of pincers leaf considers operating situation with the selection of the number of teeth of its cardinal area, carry out appropriate design, ensure that tweezers assembly is by clamping leaf merging action, completes the action such as bracing wire, knotting；
7) drive steel wire solid: adopting the multiply high tenacity steel wire of diameter 0.4mm, light weight, durability is strong simultaneously.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram；
Fig. 2 is tweezers assembly scheme of installation in the present invention；
Fig. 3 is tweezers seat structure schematic diagram in the present invention；
Fig. 4 is the first pincers leaf motion schematic diagram in the present invention；
Fig. 5 is the second pincers leaf motion schematic diagram in the present invention.
In figure: 1, the first pincers leaf, the 2, second pincers leaf, the 3, first steel wire pulling plate, 4, the second steel wire pulling plate, 5, fixing axle, 6, tweezers bearing, 7, linkage, 8, motor support base, the 9, first drive motor, 10, the second drive motor, 11, spring, the 12, first steel wire, 13, the second steel wire, 14, fixing steel wire screw, 15, steel wire draw-in groove, 6-1, support lug, 6-2, fixing axle installing hole, 6-3, towing pad.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is carried out premised on technical solution of the present invention, gives detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As it is shown in figure 1, a kind of multi-angle for surgical operation robot is from hands tweezers, including actuating unit, driving mechanism and tweezers assembly, also include motor support base 8, linkage 7 and tweezers bearing 6.From hands tweezers and be not attached to robot body, but the multiple degrees of freedom of independent power work tweezers, so design can facilitate the replacing of operating theater instruments, simultaneously for the simplification of structure, is provided with general dimensional standard and replacing requirement.
nullActuating unit includes the first drive motor 9 and the second drive motor 10，It is two low-power machines，Driving mechanism includes the first steel wire pulling plate 3、Second steel wire pulling plate 4、First steel wire 12 and the second steel wire 13，Tweezers assembly includes the first pincers leaf 1、Second pincers leaf 2、Spring 11 and fixing axle 5，First drive motor 9 and the second drive motor 10 are arranged on motor support base 8 respectively，Motor support base 8 connects one end of linkage 7，The other end of linkage 7 connects tweezers bearing 6，As shown in Figure 2，Tweezers bearing 6 connects the first steel wire pulling plate 3 and the second steel wire pulling plate 4 respectively by fixing axle 5，By fixing axle 5 successively sheathed first pincers leaf 1 between first steel wire pulling plate 3 and the inner side of the second steel wire pulling plate 4、Spring 11 and the second pincers leaf 2，The cardinal area of the first pincers leaf 1 and the second pincers leaf 2 is strutted by spring 11 and separates，First steel wire 12 one end is clamped leaf 1 with first after walking around the first steel wire pulling plate 3 and is fixed，The other end and the first drive motor 9 connect，Second steel wire 13 one end is clamped leaf 2 with second after walking around the second steel wire pulling plate 4 and is fixed，The other end and the second drive motor 10 connect.
As shown in Figure 4,5, the first pincers leaf 1 and the second pincers leaf 2 are provided with steel wire draw-in groove 15 and fixing steel wire screw 14 respectively, and the first steel wire 12 and the second steel wire 13 are screwed on fixing steel wire screw 14 respectively along steel wire draw-in groove 15.
First steel wire 12 pulls the first pincers leaf 1 in the counterclockwise direction, pulls shown in direction arrow in Fig. 4, and the second steel wire 13 pulls the second pincers leaf 2 clockwise or counterclockwise, pulls shown in direction arrow in Fig. 5.
As shown in Figure 3, tweezers bearing 6 is provided with two support lug 6-1 of a towing pad 6-3 and side by side parallel, towing pad 6-3 and linkage 7 inner space, first steel wire 12 and the second steel wire 13 both pass through towing pad 6-3, two support lug 6-1 are respectively equipped with fixing axle installing hole 6-2, fixing axle installing hole 6-2 is provided with fixing axle 5, connect the first steel wire pulling plate 3 by fixing axle 5 inside one support lug 6-1, inside another support lug 6-1, connect the second steel wire pulling plate 4 by fixing axle 5.
Wherein, the first steel wire 12 and multiply high-ductility steel cord that the second steel wire 13 is diameter 0.4mm.
Fixing axle 5 diameter is 4mm.
The material of the first pincers leaf 1 and the second pincers leaf 2 is Ti-6Al-4vELI alloy.Considering that medical science is for the requirement for the strength of materials and rigidity of the requirement of device material biocompatibility and duty, this titanium alloy is nontoxic, light weight, intensity high and has excellent biocompatibility, is ideal medical metal material.
First pincers leaf 1 and the second pincers leaf 2 length are 3-4cm.First pincers leaf 1 and the second pincers leaf 2 cardinal area are respectively equipped with 20-30 tooth.The overall length clamping leaf in the present embodiment is 3.7cm, and every pincers leaf has 26 teeth, this considerably increases the reliability of the working range of tweezers and bracing wire.Whole work tweezers overall length is 4.5cm, and maximum diameter is 2cm, meets the surgical operation requirement for work mechanism.
Tweezers assembly and other joints of robot cooperate, carry out bracing wire and knotting, when original operating state, first pincers leaf 1 and the second pincers leaf 2 are in open configuration because of the elastic potential energy effect of spring 11, tweezers assembly closes when closing cardinal area, second pincers leaf 2 is pulled direction to drive by the second drive motor 10 along two by the second steel wire 13, and it is fixing on the position specified, first pincers leaf 1 is pulled direction to drive by the first drive motor 9 along one by the first steel wire 12, make two pincers leaf cardinal area Guan Bis, the spring 11 being simultaneously embedded in internal draw-in groove is in compressive state, save bit by bit elastic potential energy；When tweezers assembly unclamps action, the first drive motor 9 and the second drive motor 10 reversely rotate, and are loosened by steel wire, and the spring 11 being now in compressive state discharges the elastic force potential energy of oneself, and the first pincers leaf 1 and the second pincers leaf 2 are automatically separated because spring 11 acts on.
Motor support base 8 and tweezers bearing 6 play a supportive role, linkage 7 can phase linkage central shaft 360 ° rotation, and first pincers leaf 1 and second pincers leaf 2 180 ° of scope inner position in vertical plane, therefore tweezers have two degree of freedom relative to other operation surgical forceps more, the opereating specification that can make doctor is bigger, and action is more flexible.
Claims (9)
- null1. one kind for the multi-angle of surgical operation robot from hands tweezers，Including actuating unit、Driving mechanism and tweezers assembly，It is characterized in that，Also include motor support base (8)、Linkage (7) and tweezers bearing (6)，Described actuating unit includes the first drive motor (9) and the second drive motor (10)，Described driving mechanism includes the first steel wire pulling plate (3)、Second steel wire pulling plate (4)、First steel wire (12) and the second steel wire (13)，Described tweezers assembly includes the first pincers leaf (1)、Second pincers leaf (2)、Spring (11) and fixing axle (5)，Described the first drive motor (9) and the second drive motor (10) are arranged on motor support base (8) respectively，Described motor support base (8) connects one end of linkage (7)，The other end of described linkage (7) connects tweezers bearing (6)，Described tweezers bearing (6) is connected respectively the first steel wire pulling plate (3) and the second steel wire pulling plate (4) by fixing axle (5)，By fixing axle (5) successively sheathed first pincers leaf (1) between the first described steel wire pulling plate (3) and the inner side of the second steel wire pulling plate (4)、Spring (11) and the second pincers leaf (2)，The first described pincers leaf (1) and the cardinal area of the second pincers leaf (2) are strutted by spring (11) and are separated，Described the first steel wire (12) one end is walked around the first steel wire pulling plate (3) and is fixed with the first pincers leaf (1) afterwards，The other end and the first drive motor (9) connect，Described the second steel wire (13) one end is walked around the second steel wire pulling plate (4) and is fixed with the second pincers leaf (2) afterwards，The other end and the second drive motor (10) connect；nullMotor support base (8) and tweezers bearing (6) play a supportive role，The 360 ° of rotations of linkage (7) phase linkage central shaft，First pincers leaf (1) and the second pincers leaf (2) are in open configuration because spring (11) acts on original state，Tweezers assembly closes when closing crawl，First pincers leaf (1) are driven by the first drive motor (9) by the first steel wire (12)，Second pincers leaf (2) are driven by the second drive motor (10) by the second steel wire (13)，First pincers leaf (1) and second pincers leaf (2) 180 ° of scope inner position in vertical plane，And close，Spring (11) compression simultaneously，When tweezers assembly unclamps，First drive motor (9) and the second drive motor (10) reversely rotate，First pincers leaf (1) and the second pincers leaf (2) are automatically separated because spring (11) acts on.
- 2. a kind of multi-angle for surgical operation robot according to claim 1 is from hands tweezers, it is characterized in that, the first described pincers leaf (1) and the second pincers leaf (2) are provided with steel wire draw-in groove (15) and fixing steel wire screw (14), the first steel wire (12) and the second steel wire (13) respectively and are screwed on fixing steel wire screw (14) respectively along steel wire draw-in groove (15).
- 3. a kind of multi-angle for surgical operation robot according to claim 1 is from hands tweezers, it is characterized in that, described the first steel wire (12) pulls the first pincers leaf (1) in the counterclockwise direction, and described the second steel wire (13) pulls the second pincers leaf (2) clockwise or counterclockwise.
- 4. a kind of multi-angle for surgical operation robot according to claim 1 is from hands tweezers, it is characterized in that, described tweezers bearing (6) is provided with two support lug (6-1) of a towing pad (6-3) and side by side parallel, described towing pad (6-3) and linkage (7) inner space, first steel wire (12) and the second steel wire (13) both pass through towing pad (6-3), two described support lug (6-1) are respectively equipped with fixing axle installing hole (6-2), described fixing axle installing hole (6-2) is provided with fixing axle (5), one support lug (6-1) inner side connects the first steel wire pulling plate (3) by fixing axle (5), another support lug (6-1) inner side connects the second steel wire pulling plate (4) by fixing axle (5).
- 5. a kind of multi-angle for surgical operation robot according to claim 1 is from hands tweezers, it is characterised in that the multistrand rope that described the first steel wire (12) and the second steel wire (13) are diameter 0.4mm.
- 6. a kind of multi-angle for surgical operation robot according to claim 1 is from hands tweezers, it is characterised in that described fixing axle (5) diameter is 4mm.
- 7. a kind of multi-angle for surgical operation robot according to claim 1 is from hands tweezers, it is characterised in that the first described pincers leaf (1) and the second material clamping leaf (2) are Ti-6Al-4vELI alloy.
- 8. a kind of multi-angle for surgical operation robot according to claim 1 is from hands tweezers, it is characterised in that it is 3-4cm that described the first pincers leaf (1) and second clamp leaf (2) length.
- 9. a kind of multi-angle for surgical operation robot according to claim 1 is from hands tweezers, it is characterised in that described the first pincers leaf (1) and second clamp and are respectively equipped with 20-30 tooth on leaf (2) cardinal area.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410478258.2A CN104188709B (en) | 2014-09-18 | 2014-09-18 | A kind of multi-angle for surgical operation robot is from hands tweezers |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410478258.2A CN104188709B (en) | 2014-09-18 | 2014-09-18 | A kind of multi-angle for surgical operation robot is from hands tweezers |
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| Publication Number | Publication Date |
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| CN104188709A CN104188709A (en) | 2014-12-10 |
| CN104188709B true CN104188709B (en) | 2016-07-06 |
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| CN201410478258.2A Expired - Fee Related CN104188709B (en) | 2014-09-18 | 2014-09-18 | A kind of multi-angle for surgical operation robot is from hands tweezers |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102015204941A1 (en) * | 2015-03-19 | 2016-09-22 | Richard Wolf Gmbh | Instrument, in particular medical endoscopic instrument |
| CN106236194A (en) * | 2016-08-18 | 2016-12-21 | 北京大学第三医院 | A kind of electronic tissue holding forceps |
| CN114376675B (en) * | 2022-01-28 | 2023-09-26 | 四川大学华西医院 | Medical tissue separation forceps |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP5128904B2 (en) * | 2007-10-31 | 2013-01-23 | 株式会社東芝 | manipulator |
| US9259274B2 (en) * | 2008-09-30 | 2016-02-16 | Intuitive Surgical Operations, Inc. | Passive preload and capstan drive for surgical instruments |
| US9339341B2 (en) * | 2010-02-08 | 2016-05-17 | Intuitive Surgical Operations, Inc. | Direct pull surgical gripper |
| JP6159075B2 (en) * | 2012-11-01 | 2017-07-05 | 国立大学法人東京工業大学 | Forceps manipulator and forceps system including forceps manipulator |
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