CN105147393B - 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
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- CN105147393B CN105147393B CN201510511637.1A CN201510511637A CN105147393B CN 105147393 B CN105147393 B CN 105147393B CN 201510511637 A CN201510511637 A CN 201510511637A CN 105147393 B CN105147393 B CN 105147393B
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CN105147393B true CN105147393B (zh) | 2017-06-20 |
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Families Citing this family (50)
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US20140276936A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Active drive mechanism for simultaneous rotation and translation |
US9408669B2 (en) | 2013-03-15 | 2016-08-09 | Hansen Medical, Inc. | Active drive mechanism with finite range of motion |
US20140276647A1 (en) | 2013-03-15 | 2014-09-18 | Hansen Medical, Inc. | Vascular remote catheter manipulator |
US10046140B2 (en) | 2014-04-21 | 2018-08-14 | Hansen Medical, Inc. | Devices, systems, and methods for controlling active drive systems |
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CN106214108B (zh) * | 2016-07-26 | 2018-01-02 | 汕头大学医学院第一附属医院 | 一种腹腔镜多自由度扶持装置 |
CN109069138B (zh) * | 2016-08-31 | 2021-07-20 | 奥瑞斯健康公司 | 长度守恒的手术器械 |
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CN106344162B (zh) * | 2016-11-22 | 2018-10-02 | 哈尔滨工业大学 | 一种脊柱微创手术机器人 |
US10244926B2 (en) | 2016-12-28 | 2019-04-02 | 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 |
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 |
CN107334532B (zh) * | 2017-07-31 | 2021-03-19 | 成都博恩思医学机器人有限公司 | 手术机器人 |
CN107320195B (zh) * | 2017-08-18 | 2019-10-18 | 深圳先进技术研究院 | 一种串联型微创手术用主操作手 |
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KR102462568B1 (ko) | 2017-12-11 | 2022-11-04 | 아우리스 헬스, 인코포레이티드 | 기구 기반 삽입 아키텍처를 위한 시스템 및 방법 |
EP3684562A4 (en) | 2017-12-14 | 2021-06-30 | Auris Health, Inc. | SYSTEM AND METHOD OF ESTIMATING THE LOCATION OF AN INSTRUMENT |
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 |
CN108338841B (zh) * | 2018-04-17 | 2021-03-23 | 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 |
CN110384555B (zh) * | 2018-04-19 | 2021-03-12 | 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 |
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WO2020240270A1 (en) * | 2019-05-31 | 2020-12-03 | Mubarak Muhamed Khan | An apparatus for holding an endoscope |
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US11896330B2 (en) | 2019-08-15 | 2024-02-13 | Auris Health, Inc. | Robotic medical system having multiple medical instruments |
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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 |
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 |
WO2021137071A1 (en) | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Advanced basket drive mode |
WO2021137104A1 (en) | 2019-12-31 | 2021-07-08 | Auris Health, Inc. | Dynamic pulley system |
CN111166471B (zh) * | 2020-01-09 | 2020-12-22 | 浙江理工大学 | 一种三轴交汇式主被动混合手术持镜臂 |
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 |
CN113768625B (zh) * | 2021-08-03 | 2023-03-14 | 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 |
CN115081147B (zh) * | 2022-07-20 | 2022-11-11 | 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 |
CN115781754A (zh) * | 2022-11-24 | 2023-03-14 | 北京大学第三医院 | 一种八自由度被动机械臂夹持装置 |
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 |
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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 |
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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. |
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