CN105397805A - Remote motion center mechanism - Google Patents
Remote motion center mechanism Download PDFInfo
- Publication number
- CN105397805A CN105397805A CN201510980681.7A CN201510980681A CN105397805A CN 105397805 A CN105397805 A CN 105397805A CN 201510980681 A CN201510980681 A CN 201510980681A CN 105397805 A CN105397805 A CN 105397805A
- Authority
- CN
- China
- Prior art keywords
- rotating shaft
- connecting rod
- support bar
- motion mechanism
- transmission case
- 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
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/02—Parts of sliding-contact bearings
- F16C33/04—Brasses; Bushes; Linings
- F16C33/06—Sliding surface mainly made of metal
- F16C33/12—Structural composition; Use of special materials or surface treatments, e.g. for rust-proofing
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C33/00—Parts of bearings; Special methods for making bearings or parts thereof
- F16C33/30—Parts of ball or roller bearings
- F16C33/66—Special parts or details in view of lubrication
- F16C33/6696—Special parts or details in view of lubrication with solids as lubricant, e.g. dry coatings, powder
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2204/00—Metallic materials; Alloys
- F16C2204/10—Alloys based on copper
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Devices For Conveying Motion By Means Of Endless Flexible Members (AREA)
Abstract
Description
Claims (8)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510980681.7A CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201510980681.7A CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Publications (2)
Publication Number | Publication Date |
---|---|
CN105397805A true CN105397805A (en) | 2016-03-16 |
CN105397805B CN105397805B (en) | 2017-03-22 |
Family
ID=55463725
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201510980681.7A Active CN105397805B (en) | 2015-12-23 | 2015-12-23 | Remote motion center mechanism |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN105397805B (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
CA2273939A1 (en) * | 1996-12-12 | 1998-06-18 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
WO2000030557A9 (en) * | 1998-11-23 | 2001-07-05 | Microdexterity Systems Inc | Surgical manipulator |
EP1334700A1 (en) * | 2002-02-12 | 2003-08-13 | The University of Tokyo | Active trocar |
CN101919739A (en) * | 2010-09-07 | 2010-12-22 | 天津大学 | Minimally invasive robot mechanical arm having large movement space and high structural rigidity |
US20120041478A1 (en) * | 2002-04-16 | 2012-02-16 | Academisch Medisch Centrum | Instrument for Minimally Invasive Surgery |
WO2012103648A1 (en) * | 2011-02-01 | 2012-08-09 | Leslie Ryan David | Haptic device |
US20130035697A1 (en) * | 2011-08-04 | 2013-02-07 | Olympus Corporation | Medical manipulator and method of controllling the same |
GB201300490D0 (en) * | 2013-01-11 | 2013-02-27 | Univ Leuven Kath | An apparatus and method for generating motion around a remote centre of motion |
US20130325031A1 (en) * | 2012-06-01 | 2013-12-05 | Intuitive Surgical Operations, Inc. | Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator |
WO2014000041A1 (en) * | 2012-06-29 | 2014-01-03 | Monash University | Mechanical remote centre of motion |
CN104224328A (en) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | Robot body structure for supporting minimally-invasive surgery instrument |
CN104622573A (en) * | 2014-12-12 | 2015-05-20 | 北京航空航天大学 | High-rigidity four-freedom-degree remote motion center mechanism |
CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
CN205272022U (en) * | 2015-12-23 | 2016-06-01 | 江苏久信医疗科技股份有限公司 | Long -range motorium mechanism |
-
2015
- 2015-12-23 CN CN201510980681.7A patent/CN105397805B/en active Active
Patent Citations (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5397323A (en) * | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
CA2273939A1 (en) * | 1996-12-12 | 1998-06-18 | Intuitive Surgical, Inc. | Multi-component telepresence system and method |
WO2000030557A9 (en) * | 1998-11-23 | 2001-07-05 | Microdexterity Systems Inc | Surgical manipulator |
EP1334700A1 (en) * | 2002-02-12 | 2003-08-13 | The University of Tokyo | Active trocar |
US20120041478A1 (en) * | 2002-04-16 | 2012-02-16 | Academisch Medisch Centrum | Instrument for Minimally Invasive Surgery |
CN101919739A (en) * | 2010-09-07 | 2010-12-22 | 天津大学 | Minimally invasive robot mechanical arm having large movement space and high structural rigidity |
WO2012103648A1 (en) * | 2011-02-01 | 2012-08-09 | Leslie Ryan David | Haptic device |
US20130035697A1 (en) * | 2011-08-04 | 2013-02-07 | Olympus Corporation | Medical manipulator and method of controllling the same |
US20130325031A1 (en) * | 2012-06-01 | 2013-12-05 | Intuitive Surgical Operations, Inc. | Redundant axis and degree of freedom for hardware-constrained remote center robotic manipulator |
WO2014000041A1 (en) * | 2012-06-29 | 2014-01-03 | Monash University | Mechanical remote centre of motion |
GB201300490D0 (en) * | 2013-01-11 | 2013-02-27 | Univ Leuven Kath | An apparatus and method for generating motion around a remote centre of motion |
CN104224328A (en) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | Robot body structure for supporting minimally-invasive surgery instrument |
CN104622573A (en) * | 2014-12-12 | 2015-05-20 | 北京航空航天大学 | High-rigidity four-freedom-degree remote motion center mechanism |
CN104908042A (en) * | 2015-06-18 | 2015-09-16 | 华南理工大学 | Extensible-connection six-freedom-degree force feedback mechanical arm |
CN205272022U (en) * | 2015-12-23 | 2016-06-01 | 江苏久信医疗科技股份有限公司 | Long -range motorium mechanism |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
CN110236677B (en) * | 2019-04-30 | 2024-04-30 | 汕头大学 | Parallelogram structure minimally invasive surgery mechanical arm |
Also Published As
Publication number | Publication date |
---|---|
CN105397805B (en) | 2017-03-22 |
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Legal Events
Date | Code | Title | Description |
---|---|---|---|
C06 | Publication | ||
PB01 | Publication | ||
C10 | Entry into substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
CB02 | Change of applicant information |
Address after: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Applicant after: Jiangsu Jiuxin Medical Technology Co., Ltd. Address before: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Applicant before: JIANGSU JIUXIN MEDICAL TECHNOLOGY CO., LTD. |
|
CB03 | Change of inventor or designer information |
Inventor after: Fang Zhigang Inventor after: Yang Changrong Inventor after: Zhou Liang Inventor after: Lu Ye Inventor after: Xu Ting Inventor after: Ji Dan Inventor after: Wang Zhenghua Inventor after: She Xiaomin Inventor before: Fang Zhigang Inventor before: Yang Changrong Inventor before: Zhou Liang Inventor before: Lu Ye Inventor before: Xu Ting Inventor before: Ji Dan |
|
COR | Change of bibliographic data | ||
C14 | Grant of patent or utility model | ||
GR01 | Patent grant | ||
CP01 | Change in the name or title of a patent holder |
Address after: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Patentee after: Jiangsu Dashi Jiuxin Medical Technology Co Ltd Address before: 213000 Hanjiang Road, Xinbei District, Jiangsu, Changzhou, China, No. 103 Patentee before: Jiangsu Jiuxin Medical Technology Co., Ltd. |
|
CP01 | Change in the name or title of a patent holder |