CN105147393A - 一种微创机器人持镜机械臂 - Google Patents
一种微创机器人持镜机械臂 Download PDFInfo
- Publication number
- CN105147393A CN105147393A CN201510511637.1A CN201510511637A CN105147393A CN 105147393 A CN105147393 A CN 105147393A CN 201510511637 A CN201510511637 A CN 201510511637A CN 105147393 A CN105147393 A CN 105147393A
- Authority
- CN
- China
- Prior art keywords
- assembly
- joint
- pulley
- wheel
- encoder
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007704 transition Effects 0.000 claims abstract description 79
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 42
- 230000005540 biological transmission Effects 0.000 claims abstract description 33
- 230000007246 mechanism Effects 0.000 claims abstract description 17
- 238000013519 translation Methods 0.000 claims abstract description 14
- 229910000831 Steel Inorganic materials 0.000 claims description 92
- 239000010959 steel Substances 0.000 claims description 92
- 230000005611 electricity Effects 0.000 claims description 48
- 230000003287 optical effect Effects 0.000 claims description 37
- 230000000712 assembly Effects 0.000 claims description 19
- 238000000429 assembly Methods 0.000 claims description 19
- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 238000004804 winding Methods 0.000 claims description 12
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 230000002441 reversible effect Effects 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 3
- 238000002324 minimally invasive surgery Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 16
- 230000033001 locomotion Effects 0.000 description 14
- 239000000203 mixture Substances 0.000 description 11
- 238000013461 design Methods 0.000 description 10
- 235000014820 Galium aparine Nutrition 0.000 description 6
- 240000005702 Galium aparine Species 0.000 description 6
- 239000011521 glass Substances 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 235000004443 Ricinus communis Nutrition 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010058046 Post procedural complication Diseases 0.000 description 1
- 208000035965 Postoperative Complications Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005474 detonation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000011112 process operation Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510511637.1A CN105147393B (zh) | 2015-08-19 | 2015-08-19 | 一种微创机器人持镜机械臂 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510511637.1A CN105147393B (zh) | 2015-08-19 | 2015-08-19 | 一种微创机器人持镜机械臂 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105147393A true CN105147393A (zh) | 2015-12-16 |
CN105147393B CN105147393B (zh) | 2017-06-20 |
Family
ID=54788700
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510511637.1A Active CN105147393B (zh) | 2015-08-19 | 2015-08-19 | 一种微创机器人持镜机械臂 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105147393B (zh) |
Cited By (50)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN105856412A (zh) * | 2016-05-20 | 2016-08-17 | 中铁建电气化局集团西安电气化制品有限公司 | 用于铁路横腹杆式混凝土接触网支柱自动拆装模装置 |
CN106214108A (zh) * | 2016-07-26 | 2016-12-14 | 汕头大学医学院第附属医院 | 一种腹腔镜多自由度扶持装置 |
CN106344162A (zh) * | 2016-11-22 | 2017-01-25 | 哈尔滨工业大学 | 一种脊柱微创手术机器人 |
CN106371374A (zh) * | 2016-11-07 | 2017-02-01 | 福州幻科机电科技有限公司 | 一种微创内窥镜四自由度定位机的智能控制电路系统 |
CN107320195A (zh) * | 2017-08-18 | 2017-11-07 | 深圳先进技术研究院 | 一种串联型微创手术用主操作手 |
CN107374579A (zh) * | 2017-08-22 | 2017-11-24 | 于洁 | 一种多功能用妇产科疾病医疗治疗设备 |
CN107374732A (zh) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | 用于机械臂的制动系统及手术机器人 |
CN108338841A (zh) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | 一种腹腔镜手术持镜机器人系统 |
CN108451552A (zh) * | 2018-03-16 | 2018-08-28 | 深圳市罗伯医疗科技有限公司 | 一种手术器械的驱动装置 |
CN108778179A (zh) * | 2016-02-26 | 2018-11-09 | 思想外科有限公司 | 用于指导用户定位机器人的方法和系统 |
CN109069138A (zh) * | 2016-08-31 | 2018-12-21 | 奥瑞斯健康公司 | 长度守恒的手术器械 |
CN109259865A (zh) * | 2018-09-12 | 2019-01-25 | 大连交通大学 | 智能脊柱微创手术机器人 |
WO2019024794A1 (zh) * | 2017-07-31 | 2019-02-07 | 成都博恩思医学机器人有限公司 | 手术机器人 |
CN109330700A (zh) * | 2018-07-31 | 2019-02-15 | 深圳市精锋医疗科技有限公司 | 从操作设备组件及手术机器人 |
CN110200678A (zh) * | 2019-07-09 | 2019-09-06 | 重庆金山科技(集团)有限公司 | 辅助驱动机构及手术器械 |
CN110236677A (zh) * | 2019-04-30 | 2019-09-17 | 汕头大学 | 一种平行四边形结构微创手术机械臂 |
CN110384555A (zh) * | 2018-04-19 | 2019-10-29 | 中国科学院深圳先进技术研究院 | 基于远端中心运动机构的持镜手术机器人 |
CN110575260A (zh) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | 一种手术机器人操作装置 |
CN110786932A (zh) * | 2019-11-19 | 2020-02-14 | 常州脉康仪医疗机器人有限公司 | 聚散式微创手术机器人从臂系统 |
CN111166471A (zh) * | 2020-01-09 | 2020-05-19 | 浙江理工大学 | 一种三轴交汇式主被动混合手术持镜臂 |
CN111195155A (zh) * | 2020-01-14 | 2020-05-26 | 山东科技大学 | 一种八自由度微创手术机器人 |
WO2020240270A1 (en) * | 2019-05-31 | 2020-12-03 | Mubarak Muhamed Khan | An apparatus for holding an endoscope |
US10903725B2 (en) | 2016-04-29 | 2021-01-26 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
CN113768625A (zh) * | 2021-08-03 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | 手术机器人系统的机械臂构型确定方法、装置和设备 |
US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
US11278703B2 (en) | 2014-04-21 | 2022-03-22 | Auris Health, Inc. | Devices, systems, and methods for controlling active drive systems |
US11350998B2 (en) | 2014-07-01 | 2022-06-07 | Auris Health, Inc. | Medical instrument having translatable spool |
US11376085B2 (en) | 2013-03-15 | 2022-07-05 | Auris Health, Inc. | Remote catheter manipulator |
US11382650B2 (en) | 2015-10-30 | 2022-07-12 | Auris Health, Inc. | Object capture with a basket |
US11439419B2 (en) | 2019-12-31 | 2022-09-13 | Auris Health, Inc. | Advanced basket drive mode |
CN115081147A (zh) * | 2022-07-20 | 2022-09-20 | 上海龙慧医疗科技有限公司 | 用于扩展无偏置七轴机械臂末端手术工具瞄准范围的方法 |
US11452844B2 (en) | 2013-03-14 | 2022-09-27 | Auris Health, Inc. | Torque-based catheter articulation |
US11504195B2 (en) | 2013-03-15 | 2022-11-22 | Auris Health, Inc. | Active drive mechanism for simultaneous rotation and translation |
US11510736B2 (en) | 2017-12-14 | 2022-11-29 | Auris Health, Inc. | System and method for estimating instrument location |
US11517717B2 (en) | 2013-03-14 | 2022-12-06 | Auris Health, Inc. | Active drives for robotic catheter manipulators |
US11534249B2 (en) | 2015-10-30 | 2022-12-27 | Auris Health, Inc. | Process for percutaneous operations |
US11571229B2 (en) | 2015-10-30 | 2023-02-07 | Auris Health, Inc. | Basket apparatus |
CN115813550A (zh) * | 2022-12-13 | 2023-03-21 | 广州医科大学附属第一医院(广州呼吸中心) | 一种经皮肾镜碎石取石机械臂及其控制方法 |
CN115816049A (zh) * | 2022-09-30 | 2023-03-21 | 陕西法士特齿轮有限责任公司 | 变速箱狭小空间装配装置、装配系统及装配方法 |
US11660153B2 (en) | 2013-03-15 | 2023-05-30 | Auris Health, Inc. | Active drive mechanism with finite range of motion |
US11690977B2 (en) | 2014-05-15 | 2023-07-04 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
US11737845B2 (en) | 2019-09-30 | 2023-08-29 | Auris Inc. | Medical instrument with a capstan |
US11771309B2 (en) | 2016-12-28 | 2023-10-03 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
US11771521B2 (en) | 2015-09-09 | 2023-10-03 | Auris Health, Inc. | Instrument device manipulator with roll mechanism |
US11779414B2 (en) | 2013-03-14 | 2023-10-10 | Auris Health, Inc. | Active drive for robotic catheter manipulators |
US11839439B2 (en) | 2017-12-11 | 2023-12-12 | Auris Health, Inc. | Systems and methods for instrument based insertion architectures |
US11864842B2 (en) | 2018-09-28 | 2024-01-09 | Auris Health, Inc. | Devices, systems, and methods for manually and robotically driving medical instruments |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090024142A1 (en) * | 2006-02-03 | 2009-01-22 | The European Atomic Energy Community (Euratom) | Robotic surgical system for performing minimally invasive medical procedures |
CN101690674A (zh) * | 2009-09-30 | 2010-04-07 | 哈尔滨工业大学 | 腹腔微创外科手术用器械夹持机械手 |
CN101862223A (zh) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | 手术机器人 |
CN101889900A (zh) * | 2010-07-12 | 2010-11-24 | 天津大学 | 辅助微创外科手术的主从一体式机械臂 |
CN202313715U (zh) * | 2011-09-05 | 2012-07-11 | 周宁新 | 微创手术机器人机械臂布置结构 |
CN102764157A (zh) * | 2012-04-13 | 2012-11-07 | 中国科学院深圳先进技术研究院 | 骨科手术机器人 |
US20140039517A1 (en) * | 2012-08-03 | 2014-02-06 | Stryker Corporation | Navigation System for use with a Surgical Manipulator Operable in Manual or Semi-Autonomous Modes |
CN103565529A (zh) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | 一种机器人辅助微创外科手术多功能器械臂 |
-
2015
- 2015-08-19 CN CN201510511637.1A patent/CN105147393B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20090024142A1 (en) * | 2006-02-03 | 2009-01-22 | The European Atomic Energy Community (Euratom) | Robotic surgical system for performing minimally invasive medical procedures |
CN101690674A (zh) * | 2009-09-30 | 2010-04-07 | 哈尔滨工业大学 | 腹腔微创外科手术用器械夹持机械手 |
CN101862223A (zh) * | 2010-06-24 | 2010-10-20 | 中国科学院深圳先进技术研究院 | 手术机器人 |
CN101889900A (zh) * | 2010-07-12 | 2010-11-24 | 天津大学 | 辅助微创外科手术的主从一体式机械臂 |
CN202313715U (zh) * | 2011-09-05 | 2012-07-11 | 周宁新 | 微创手术机器人机械臂布置结构 |
CN102764157A (zh) * | 2012-04-13 | 2012-11-07 | 中国科学院深圳先进技术研究院 | 骨科手术机器人 |
US20140039517A1 (en) * | 2012-08-03 | 2014-02-06 | Stryker Corporation | Navigation System for use with a Surgical Manipulator Operable in Manual or Semi-Autonomous Modes |
CN103565529A (zh) * | 2013-11-11 | 2014-02-12 | 哈尔滨工程大学 | 一种机器人辅助微创外科手术多功能器械臂 |
Cited By (63)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11517717B2 (en) | 2013-03-14 | 2022-12-06 | Auris Health, Inc. | Active drives for robotic catheter manipulators |
US11452844B2 (en) | 2013-03-14 | 2022-09-27 | Auris Health, Inc. | Torque-based catheter articulation |
US11213363B2 (en) | 2013-03-14 | 2022-01-04 | Auris Health, Inc. | Catheter tension sensing |
US11779414B2 (en) | 2013-03-14 | 2023-10-10 | Auris Health, Inc. | Active drive for robotic catheter manipulators |
US11660153B2 (en) | 2013-03-15 | 2023-05-30 | Auris Health, Inc. | Active drive mechanism with finite range of motion |
US11376085B2 (en) | 2013-03-15 | 2022-07-05 | Auris Health, Inc. | Remote catheter manipulator |
US11504195B2 (en) | 2013-03-15 | 2022-11-22 | Auris Health, Inc. | Active drive mechanism for simultaneous rotation and translation |
US11278703B2 (en) | 2014-04-21 | 2022-03-22 | Auris Health, Inc. | Devices, systems, and methods for controlling active drive systems |
US11690977B2 (en) | 2014-05-15 | 2023-07-04 | Auris Health, Inc. | Anti-buckling mechanisms for catheters |
US11350998B2 (en) | 2014-07-01 | 2022-06-07 | Auris Health, Inc. | Medical instrument having translatable spool |
US11771521B2 (en) | 2015-09-09 | 2023-10-03 | Auris Health, Inc. | Instrument device manipulator with roll mechanism |
US11382650B2 (en) | 2015-10-30 | 2022-07-12 | Auris Health, Inc. | Object capture with a basket |
US11559360B2 (en) | 2015-10-30 | 2023-01-24 | Auris Health, Inc. | Object removal through a percutaneous suction tube |
US11571229B2 (en) | 2015-10-30 | 2023-02-07 | Auris Health, Inc. | Basket apparatus |
US11534249B2 (en) | 2015-10-30 | 2022-12-27 | Auris Health, Inc. | Process for percutaneous operations |
CN108778179A (zh) * | 2016-02-26 | 2018-11-09 | 思想外科有限公司 | 用于指导用户定位机器人的方法和系统 |
US10864050B2 (en) | 2016-02-26 | 2020-12-15 | Think Surgical, Inc. | Method and system for guiding user positioning of a robot |
US10903725B2 (en) | 2016-04-29 | 2021-01-26 | Auris Health, Inc. | Compact height torque sensing articulation axis assembly |
CN105856412A (zh) * | 2016-05-20 | 2016-08-17 | 中铁建电气化局集团西安电气化制品有限公司 | 用于铁路横腹杆式混凝土接触网支柱自动拆装模装置 |
CN105856412B (zh) * | 2016-05-20 | 2018-10-02 | 中铁建电气化局集团西安电气化制品有限公司 | 用于铁路横腹杆式混凝土接触网支柱自动拆装模装置 |
CN106214108A (zh) * | 2016-07-26 | 2016-12-14 | 汕头大学医学院第附属医院 | 一种腹腔镜多自由度扶持装置 |
CN109069138A (zh) * | 2016-08-31 | 2018-12-21 | 奥瑞斯健康公司 | 长度守恒的手术器械 |
CN109069138B (zh) * | 2016-08-31 | 2021-07-20 | 奥瑞斯健康公司 | 长度守恒的手术器械 |
US11564759B2 (en) | 2016-08-31 | 2023-01-31 | Auris Health, Inc. | Length conservative surgical instrument |
CN106371374A (zh) * | 2016-11-07 | 2017-02-01 | 福州幻科机电科技有限公司 | 一种微创内窥镜四自由度定位机的智能控制电路系统 |
CN106344162A (zh) * | 2016-11-22 | 2017-01-25 | 哈尔滨工业大学 | 一种脊柱微创手术机器人 |
US11771309B2 (en) | 2016-12-28 | 2023-10-03 | Auris Health, Inc. | Detecting endolumenal buckling of flexible instruments |
US11026758B2 (en) | 2017-06-28 | 2021-06-08 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
US11832907B2 (en) | 2017-06-28 | 2023-12-05 | Auris Health, Inc. | Medical robotics systems implementing axis constraints during actuation of one or more motorized joints |
CN107374732B (zh) * | 2017-07-31 | 2021-11-30 | 成都博恩思医学机器人有限公司 | 用于机械臂的制动系统及手术机器人 |
WO2019024794A1 (zh) * | 2017-07-31 | 2019-02-07 | 成都博恩思医学机器人有限公司 | 手术机器人 |
CN107374732A (zh) * | 2017-07-31 | 2017-11-24 | 成都中科博恩思医学机器人有限公司 | 用于机械臂的制动系统及手术机器人 |
CN107320195A (zh) * | 2017-08-18 | 2017-11-07 | 深圳先进技术研究院 | 一种串联型微创手术用主操作手 |
CN107374579B (zh) * | 2017-08-22 | 2018-12-04 | 于洁 | 一种多功能用妇产科疾病医疗治疗设备 |
CN107374579A (zh) * | 2017-08-22 | 2017-11-24 | 于洁 | 一种多功能用妇产科疾病医疗治疗设备 |
US11839439B2 (en) | 2017-12-11 | 2023-12-12 | Auris Health, Inc. | Systems and methods for instrument based insertion architectures |
US11510736B2 (en) | 2017-12-14 | 2022-11-29 | Auris Health, Inc. | System and method for estimating instrument location |
CN108451552A (zh) * | 2018-03-16 | 2018-08-28 | 深圳市罗伯医疗科技有限公司 | 一种手术器械的驱动装置 |
CN108338841A (zh) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | 一种腹腔镜手术持镜机器人系统 |
CN110384555A (zh) * | 2018-04-19 | 2019-10-29 | 中国科学院深圳先进技术研究院 | 基于远端中心运动机构的持镜手术机器人 |
CN109330700A (zh) * | 2018-07-31 | 2019-02-15 | 深圳市精锋医疗科技有限公司 | 从操作设备组件及手术机器人 |
CN109259865B (zh) * | 2018-09-12 | 2021-10-26 | 大连交通大学 | 智能脊柱微创手术机器人 |
CN109259865A (zh) * | 2018-09-12 | 2019-01-25 | 大连交通大学 | 智能脊柱微创手术机器人 |
US11864842B2 (en) | 2018-09-28 | 2024-01-09 | Auris Health, Inc. | Devices, systems, and methods for manually and robotically driving medical instruments |
CN110236677A (zh) * | 2019-04-30 | 2019-09-17 | 汕头大学 | 一种平行四边形结构微创手术机械臂 |
WO2020240270A1 (en) * | 2019-05-31 | 2020-12-03 | Mubarak Muhamed Khan | An apparatus for holding an endoscope |
CN110200678A (zh) * | 2019-07-09 | 2019-09-06 | 重庆金山科技(集团)有限公司 | 辅助驱动机构及手术器械 |
CN110200678B (zh) * | 2019-07-09 | 2024-04-05 | 重庆金山医疗机器人有限公司 | 辅助驱动机构及手术器械 |
US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
US11737845B2 (en) | 2019-09-30 | 2023-08-29 | Auris Inc. | Medical instrument with a capstan |
CN110575260A (zh) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | 一种手术机器人操作装置 |
CN110575260B (zh) * | 2019-10-21 | 2022-05-13 | 重庆师范大学 | 一种手术机器人操作装置 |
CN110786932A (zh) * | 2019-11-19 | 2020-02-14 | 常州脉康仪医疗机器人有限公司 | 聚散式微创手术机器人从臂系统 |
CN110786932B (zh) * | 2019-11-19 | 2022-04-12 | 杭州唯精医疗机器人有限公司 | 聚散式微创手术机器人从臂系统 |
US11439419B2 (en) | 2019-12-31 | 2022-09-13 | Auris Health, Inc. | Advanced basket drive mode |
US11950872B2 (en) | 2019-12-31 | 2024-04-09 | Auris Health, Inc. | Dynamic pulley system |
CN111166471A (zh) * | 2020-01-09 | 2020-05-19 | 浙江理工大学 | 一种三轴交汇式主被动混合手术持镜臂 |
CN111195155A (zh) * | 2020-01-14 | 2020-05-26 | 山东科技大学 | 一种八自由度微创手术机器人 |
CN111195155B (zh) * | 2020-01-14 | 2021-06-29 | 山东科技大学 | 一种八自由度微创手术机器人 |
CN113768625A (zh) * | 2021-08-03 | 2021-12-10 | 武汉联影智融医疗科技有限公司 | 手术机器人系统的机械臂构型确定方法、装置和设备 |
CN115081147A (zh) * | 2022-07-20 | 2022-09-20 | 上海龙慧医疗科技有限公司 | 用于扩展无偏置七轴机械臂末端手术工具瞄准范围的方法 |
CN115816049A (zh) * | 2022-09-30 | 2023-03-21 | 陕西法士特齿轮有限责任公司 | 变速箱狭小空间装配装置、装配系统及装配方法 |
CN115813550A (zh) * | 2022-12-13 | 2023-03-21 | 广州医科大学附属第一医院(广州呼吸中心) | 一种经皮肾镜碎石取石机械臂及其控制方法 |
Also Published As
Publication number | Publication date |
---|---|
CN105147393B (zh) | 2017-06-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN105147393A (zh) | 一种微创机器人持镜机械臂 | |
CN105012023A (zh) | 一种微创机器人用持械机械臂 | |
CN102119872B (zh) | 微创外科手术机器人紧凑型快换机构 | |
CN102672715B (zh) | 一种助残/助老用绳驱动机械臂 | |
WO2018000870A1 (zh) | 手术机器人及其机械臂 | |
CN106826907B (zh) | 一种单自由度联动柔性充电机器人关节组 | |
CN106037934B (zh) | 手术机器人及其机械臂 | |
CN104224328A (zh) | 一种用于支撑微创外科手术器械的机器人本体结构 | |
CN110169825A (zh) | 一种适用于微创手术机器人的九自由度串联主操作手 | |
CN106691594A (zh) | 一种用于微创外科手术机器人手术器械 | |
CN105012022A (zh) | 一种具有解耦功能的集成化手术器械驱动装置 | |
CN103240737B (zh) | 三自由度混合驱动缠绕式柔索并联机构 | |
CN108706214A (zh) | 一种物料装运箱 | |
CN202834623U (zh) | 显示器支架 | |
CN109823432A (zh) | 一种六爪可攀璧移动机器人 | |
CN209916197U (zh) | 微创手术机器人的基座机构 | |
CN112440272A (zh) | 一种可实现运动解耦的绳驱动机械臂 | |
CN105012024A (zh) | 一种内窥镜夹持驱动装置 | |
CN205030862U (zh) | 一种手摇式升降双人床 | |
CN105798898A (zh) | 针对绳索运动耦合的被动解耦机构及其解耦方法 | |
CN108436808A (zh) | 一种汽车零部件用工装夹具 | |
CN108969106A (zh) | 伸缩装置和手术机器人 | |
CN108639178A (zh) | 混合式运动的爬壁机器人 | |
CN210476948U (zh) | 一种多臂机械手 | |
CN105798900A (zh) | 基于轮系的绳驱动解耦机构及其解耦方法 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
GR01 | Patent grant | ||
GR01 | Patent grant | ||
TR01 | Transfer of patent right |
Effective date of registration: 20180810 Address after: 518100 Longgang road 8288, Yuen Shan Street, Longgang District, Shenzhen, Guangdong, 3, B, 13 building, Shenzhen Dayun software town. Patentee after: Shenzhen pulse medical robot Co., Ltd. Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: Harbin Institute of Technology |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20180816 Address after: 213023 Changzhou tower building, No. 213 ERON South Road, Zhong Lou District, Changzhou, Jiangsu 9731 Patentee after: Changzhou Mai Kang Yi medical robot Co., Ltd. Address before: 518100 Longgang road 8288, Yuen Shan Street, Longgang District, Shenzhen, Guangdong, 3, B, 13 building, Shenzhen Dayun software town. Patentee before: Shenzhen pulse medical robot Co., Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210111 Address after: 518000 runheng building 2515, 2008 CaiTian Road, Fushan community, Futian street, Futian District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Investment rongmai Network Technology Co., Ltd Address before: 213023 Changzhou tower building, No. 213 ERON South Road, Zhong Lou District, Changzhou, Jiangsu 9731 Patentee before: Changzhou Mai Kang Yi medical robot Co.,Ltd. |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20210531 Address after: 213002 room 12126, 217 Huangshan Road, Xinbei District, Changzhou City, Jiangsu Province Patentee after: Changzhou New Area Sanjie Electronic Equipment Co., Ltd Address before: 518000 runheng building 2515, 2008 CaiTian Road, Fushan community, Futian street, Futian District, Shenzhen City, Guangdong Province Patentee before: Shenzhen Investment rongmai Network Technology Co., Ltd |
|
TR01 | Transfer of patent right | ||
TR01 | Transfer of patent right |
Effective date of registration: 20220127 Address after: 311225 room 701-6, building 3, No. 371, Xingxing Road, economic and Technological Development Zone, Xiaoshan District, Hangzhou City, Zhejiang Province Patentee after: Hangzhou Weijing medical robot Co.,Ltd. Address before: 213002 room 12126, 217 Huangshan Road, Xinbei District, Changzhou City, Jiangsu Province Patentee before: Changzhou New Area Sanjie Electronic Equipment Co.,Ltd. |
|
TR01 | Transfer of patent right |