CN106691592B - Single-port abdominal cavity minimally invasive surgery robot arm - Google Patents
Single-port abdominal cavity minimally invasive surgery robot arm Download PDFInfo
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- CN106691592B CN106691592B CN201611042777.XA CN201611042777A CN106691592B CN 106691592 B CN106691592 B CN 106691592B CN 201611042777 A CN201611042777 A CN 201611042777A CN 106691592 B CN106691592 B CN 106691592B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention relates to the field of medical instruments, and discloses a single-port abdominal cavity minimally invasive surgery robot arm which comprises a first driving assembly, a second driving assembly, a third driving assembly, an output mechanism and a control system, wherein the first driving assembly, the second driving assembly and the third driving assembly jointly drive the output mechanism to move around a fixed point under the control of the control system, and the fixed point is a common intersection point of a first shaft center and a second shaft center which are horizontally crossed with a third shaft center of the output mechanism. Compared with the traditional multi-hole minimally invasive surgical robot, the single-hole minimally invasive surgical robot has the advantages of small wound, light pain, quick postoperative recovery, good wound attractiveness and the like; meanwhile, the application range of the invention is not limited by the position of the natural cavity of the human body, and the invention has wider application range than the minimally invasive surgery through the natural cavity of the human body; good stability, easy control and lower cost.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to a mechanical arm for performing single-hole surgery in minimally invasive surgery.
Background
In recent years, the concept of minimally invasive surgery has been advanced into various fields of surgical operations, namely minimally invasive surgery, which is a surgery that only needs to cause small wounds on human bodies, has the advantages of small wounds, light pain, quick postoperative recovery, good wound attractiveness and the like, and is widely welcomed by people.
With the development of technology, medical staff usually complete minimally invasive surgery by means of a medical robot, and the surgical robot widely applied in the market at present is a da vinci surgical robot, which has several disadvantages, such as complex operation, high cost, huge machine, etc., and most importantly, the da vinci surgical robot needs to cause multiple wounds on the body, and each wound brings additional risks and pains to patients, so that a robot capable of performing single-hole surgery is needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides the single-port abdominal cavity minimally invasive surgery robot arm.
The technical scheme adopted for solving the technical problems is as follows:
the utility model provides a single-port abdominal cavity minimally invasive surgery uses arm, includes first drive assembly, second drive assembly, third drive assembly, output mechanism and control system, and wherein first, second, third drive assembly jointly drive output mechanism around a fixed point motion under control system's control, and this fixed point is the public intersection point of first, second axle center that level crossed and output mechanism self third axle center.
As a further improvement of the above, the first drive assembly comprises a first actuator arm, the second drive assembly comprises a second actuator arm, and the third drive assembly comprises a third actuator arm, wherein
The first actuating arm can rotate around the first axis, the second actuating arm can rotate around the second axis, the third actuating arm can rotate around the vertical fourth axis and the horizontal fifth axis, and the first actuating arm, the second actuating arm and the third actuating arm can also move along a straight line;
the output ends of the first, second and third actuating arms are respectively connected with the output mechanism in a rotating way, and the output mechanism can also move along the third axial direction relative to the output ends of the first and second actuating arms.
As a further improvement mode of the scheme, the first driving assembly further comprises a first motor and a first connecting arm, the axle center of a driving shaft of the first motor is a first axle center, two ends of the first connecting arm are respectively hinged with the driving shaft and the first executing arm, the first executing arm moves along a straight line through the first connecting arm, and rotates around the first axle center through the driving shaft integrally with the first connecting arm.
As a further development of the above, two first connecting arms are provided in parallel, which form a parallelogram mechanism to keep the first actuating arm horizontal during movement.
As a further improvement mode of the scheme, the second driving assembly further comprises a second motor and a second connecting arm, the axis of a driving shaft of the second motor is a second axis, two ends of the second connecting arm are respectively hinged with the driving shaft and the second executing arm, the second executing arm moves along a straight line through the second connecting arm, and the second executing arm and the second connecting arm integrally rotate around the second axis through the driving shaft.
As a further development of the above, two parallel-arranged second connecting arms are included, which form a parallelogram mechanism to keep the second actuating arm horizontal during movement.
As a further improvement mode of the scheme, the third driving assembly further comprises a third motor, a fourth motor and a translation mechanism, the axes of driving shafts of the third motor and the fourth motor are a fourth axis and a fifth axis respectively, the fourth motor is fixed on the driving shaft of the third motor, one end of the translation mechanism is connected with the driving shaft of the fourth motor, the other end of the translation mechanism is connected with the third actuating arm, the third actuating arm moves along a straight line through the translation mechanism, and rotates around the fifth axis through the driving shaft of the fourth motor integrally with the translation mechanism, and rotates around the fourth axis through the driving shaft of the third motor.
As a further improvement mode of the scheme, the translation mechanism comprises a base plate, a third connecting arm and a fourth connecting arm, wherein a driving shaft of the fourth motor and the third actuating arm are respectively connected with a base plate, one end of the third connecting arm and one end of the fourth connecting arm are respectively hinged with the base plate on the driving shaft of the fourth motor and the base plate on the third actuating arm, and the other ends of the third connecting arm and the fourth connecting arm are mutually hinged, so that the third actuating arm and the fourth actuating arm can be folded or unfolded relatively.
As a further improvement mode of the scheme, the base plate is a triangular plate, the adjacent two side edges of the base plate on the driving shaft of the fourth motor are hinged with third connecting arms, and the adjacent two side edges of the base plate on the third actuating arm are hinged with fourth connecting arms.
As a further improvement mode of the scheme, the device comprises a first sleeve, a second sleeve, a first rotating shaft, a second rotating shaft and a third rotating shaft, wherein the first sleeve and the second sleeve are sequentially sleeved on the outer side of the output mechanism, the second sleeve and the first sleeve can rotate relatively with the first sleeve and the output mechanism, and the output mechanism can move along the third axial center direction relative to the first sleeve;
the first rotating shaft is connected to the output end of the first executing arm, the second rotating shaft is connected to the output end of the second executing arm, the third rotating shaft is connected to the output end of the third executing arm, the first rotating shaft is rotationally connected with the first sleeve in the radial direction, the second rotating shaft is rotationally connected with the second sleeve in the radial direction, and the third rotating shaft is rotationally connected with the output mechanism in the radial direction.
The beneficial effects of the invention are as follows:
compared with the traditional multi-hole minimally invasive surgical robot, the single-hole minimally invasive surgical robot has the advantages of small wound, light pain, quick postoperative recovery, good wound attractiveness and the like; meanwhile, the application range of the robot is not limited by the position of the natural cavity of the human body, and the robot has wider application range compared with a minimally invasive surgery robot passing through the natural cavity of the human body; good stability, easy control and lower cost.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a front view of one embodiment of the present invention;
FIG. 2 is a rear view of one embodiment of the present invention;
FIG. 3 is a side view of one embodiment of the present invention;
FIG. 4 is a schematic perspective view of a first direction of an embodiment of the present invention;
FIG. 5 is a schematic perspective view of a second direction of an embodiment of the present invention;
FIG. 6 is a schematic perspective view of one embodiment of a first drive assembly of the present invention;
FIG. 7 is a schematic perspective view of an embodiment of a second drive assembly of the present invention;
FIG. 8 is a schematic perspective view of an embodiment of a third drive assembly of the present invention;
FIG. 9 is a schematic perspective view of the first, second and third actuator arms of the present invention connected to an output mechanism;
FIG. 10 is an exploded view of the first, second and third actuator arms of the present invention coupled to an output mechanism;
fig. 11 is a schematic cross-sectional view of the first sleeve, second sleeve, and output mechanism connection.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, aspects, and effects of the present invention. It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other.
It should be noted that, unless otherwise specified, when a feature is referred to as being "fixed" or "connected" to another feature, it may be directly or indirectly fixed or connected to the other feature. Further, the descriptions of the upper, lower, left, right, etc. used in the present invention are merely with respect to the mutual positional relationship of the constituent elements of the present invention in the drawings.
Furthermore, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art. The terminology used in the description presented herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and/or" as used herein includes any combination of one or more of the associated listed items.
Referring to fig. 1 to 5, a front view, a rear view, a side view, a perspective view in a first direction and a perspective view in a second direction of an embodiment of the present invention are respectively shown, and as shown in the drawings, the present invention includes a first driving component 100, a second driving component 200, a third driving component 300, an output mechanism 400 and a control system, wherein the first, second and third driving components jointly drive the output mechanism 400 to move around a fixed point a under the control of the control system, and the fixed point is a common intersection point of a first axis x1, a second axis x2 which are horizontally crossed and a third axis x3 of the output mechanism itself. The movement of the output mechanism 400 includes, but is not limited to, swinging past the fixed point a, and moving along the third axis x3, in which the output mechanism 400 is already in a deflected position, and the first drive assembly 100, the second drive assembly 200, and the third drive assembly 300 are each in a different motion profile.
The first driving assembly and the second driving assembly are disposed at two sides of the third driving assembly 300 and are distributed along the first axis and the second axis, and preferably, the first driving assembly and the second driving assembly are symmetrically distributed with respect to the third driving assembly 300.
In the following, referring to fig. 6, a schematic perspective view of an embodiment of a first driving assembly of the present invention is shown, where the first driving assembly includes a first actuator arm 110, a first motor 120 and a first connecting arm 130, the axis of the driving shaft of the first motor 120 is a first axis x1, and two ends of the first connecting arm 130 are hinged to the driving shaft of the first motor 120 and the first actuator arm 110 respectively, so that the first actuator arm 110 moves along a straight line through the first connecting arm 130, and rotates around the first axis x1 integrally with the first connecting arm 130 through the driving shaft of the first motor 120.
Specifically, the first actuator arm 110 includes a first arm segment 111 and a second arm segment 112, wherein the second arm segment 112 is inclined with respect to the first arm segment 111, and a hinge seat 113 is connected to the second arm segment 112 as an output end of the first actuator arm 110.
Referring to fig. 7, a schematic perspective view of an embodiment of a second driving assembly of the present invention is shown, and the structure of the second driving assembly is substantially the same as that of the first driving assembly, that is, the second driving assembly includes a second actuator arm 210, a second motor 220 and a second connecting arm 230, and the same connection relationship between the components is not described herein. The second drive assembly differs from the first drive assembly in that it includes two parallel second connecting arms 230 that form a parallelogram mechanism to keep the second actuator arm 210 horizontal during movement.
It is of course also possible that the first drive assembly 100 comprises two first connecting arms 130 or that the first and second drive assemblies each comprise two connecting arms.
In addition, the second actuator arm 210 also includes two arm segments, and the tilting direction of the second arm segment is opposite to that of the second arm segment in the first driving assembly, so that the first and second actuator arms may be mutually staggered when connected to the output mechanism 400, so as to avoid interference.
Referring to fig. 8, a schematic perspective view of an embodiment of a third driving assembly of the present invention is shown, where the third driving assembly includes a third actuator arm 310, a third motor 320, a fourth motor 330, a base plate 340, a third connecting arm 350 and a fourth connecting arm 360, the base plate 340, the third connecting arm 350 and the fourth connecting arm 360 form a translation mechanism, and a hinge seat is also connected to the third actuator arm 310 as an output end.
The axes of the driving shafts of the third motor and the fourth motor are a fourth axis x4 and a fifth axis x5 respectively, the third motor 320 is vertically arranged, and the fourth motor 330 is fixed on the driving shaft of the third motor 320 through a mounting plate. The driving shaft of the fourth motor 330 and the third actuating arm 310 are respectively connected with a base plate, one end of the third connecting arm and one end of the fourth connecting arm are respectively hinged with the base plate on the driving shaft of the fourth motor and the base plate on the third actuating arm, and the other ends of the third connecting arm and the fourth connecting arm are mutually hinged, so that the third connecting arm and the fourth connecting arm can be folded or unfolded relatively.
The third actuator arm 310 moves in a straight line by the translation mechanism, and rotates about the fifth axis x5 integrally with the translation mechanism by the driving shaft of the fourth motor 330, and rotates about the fourth axis x4 by the driving shaft of the third motor 320.
Preferably, the base 340 is a triangle, more precisely an isosceles right triangle, wherein the two right-angle sides of the base connected with the driving shaft of the fourth motor 330 are hinged with the third connecting arm 350, the two right-angle sides of the base connected with the third actuating arm 310 are hinged with the fourth connecting arm 360, and the two groups of connecting arms move together to make the stress of the third actuating arm more balanced.
Referring to fig. 9 and 10, a perspective view and an exploded view of the connection of the first, second and third actuator arms and the output mechanism are shown, wherein the connection structure includes a first sleeve 510, a second sleeve 520, a first rotating shaft 530, a second rotating shaft 540, a third rotating shaft 550, a rotating block 560, a guide sleeve 570, a guide sleeve 580, a guide sleeve 590 and a clamp spring.
The second sleeve and the first sleeve are sequentially sleeved on the outer side of the output mechanism 400, the first sleeve and the second sleeve can rotate relative to the first sleeve 510 and the output mechanism 400, and the output mechanism 400 can also move along the direction of the third axis x3 relative to the first sleeve 510.
Specifically, the first shaft 530 is connected to the hinge seat of the first actuator arm 110, the second shaft 540 is connected to the hinge seat of the second actuator arm 210, the third shaft 550 is connected to the hinge seat of the third actuator arm, a radial through hole 511 is formed in the wall of the first sleeve 510, a radial through hole 531 is also formed in the first shaft 530, the first shaft 530 traverses through the through hole 511 to realize the rotational connection between the first actuator arm 110 and the first sleeve 510, and the output mechanism 400 passes through the through hole 531 in the first shaft 530.
The second rotating shafts 540 are respectively arranged at two positions and are arranged at two sides of the hinge seat of the second actuating arm 210, the second sleeve 520 is provided with a transverse groove 521 corresponding to the first rotating shaft 530, the corresponding second rotating shaft 540 is provided with a through hole 522, and the first rotating shaft 530 extends out of the transverse groove 521 and can slide along the groove, so that the second sleeve 520 can prevent the first rotating shaft 530 from being blocked when the first sleeve and the second sleeve rotate relatively, the second rotating shafts 540 at two sides are respectively inserted into the through holes 522, the rotary connection of the second actuating arm 210 and the second sleeve 520 is realized, and meanwhile, the first sleeve 510 passes through between the two second rotating shafts 540. Based on the above, the first and second actuator arms disposed in a crossed manner can not only push the output mechanism 400 to swing around the fixed point a without obstructing the movement of the output mechanism 400 along the third axis x 3.
The third rotating shaft 550 passes through the rotating block 560 and is connected to the hinge seat of the third actuating arm 310, and the top end of the output mechanism 400 is connected to the rotating block 560, so as to realize the rotating connection between the third actuating arm 310 and the output mechanism 400.
Referring to fig. 11, a schematic cross-sectional view of the connection of the first sleeve, the second sleeve and the output mechanism is shown, the cross-section passing through the third axis and the axis of the second actuator arm, and the actuator arms are hidden. As shown, the guide sleeve 570 is disposed between the output mechanism 400 and the first sleeve 510, the guide sleeve 580 is sleeved on the shoulder of the first sleeve 510, the guide sleeve 590 is disposed between the guide sleeve 580 and the second sleeve 520, and the guide sleeve 590 is fixed by a clamp spring, not shown.
The first rotating shaft 530 passes through a radial through hole of the first sleeve 510, the output mechanism 400 passes through a radial through hole of the first rotating shaft 530, the two second rotating shafts 540 are respectively inserted into radial through holes on the second sleeve 520, and the first sleeve 510 passes through between the two second rotating shafts 540.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and these equivalent modifications or substitutions are included in the scope of the present invention as defined in the appended claims.
Claims (8)
1. The single-port abdominal cavity minimally invasive surgery robot arm is characterized by comprising a first driving assembly, a second driving assembly, a third driving assembly, an output mechanism and a control system, wherein the first driving assembly, the second driving assembly and the third driving assembly jointly drive the output mechanism to move around a fixed point under the control of the control system, and the fixed point is a common intersection point of a first shaft center and a second shaft center which are horizontally crossed with a third shaft center of the output mechanism;
the first drive assembly includes a first actuator arm, the second drive assembly includes a second actuator arm, and the third drive assembly includes a third actuator arm, wherein
The first driving assembly and the second driving assembly are arranged on two sides of the third driving assembly and are respectively distributed along the first axis and the second axis, the first actuating arm can rotate around the first axis, the second actuating arm can rotate around the second axis, the third actuating arm can rotate around a vertical fourth axis and a horizontal fifth axis, and the first actuating arm, the second actuating arm and the third actuating arm can also move along a straight line;
the output ends of the first, second and third execution arms are respectively connected with the output mechanism in a rotating way, and the output mechanism can also move along the third axial direction relative to the output ends of the first and second execution arms;
the output ends of the first, second and third execution arms are connected with the output mechanism through a connecting structure, the connecting structure comprises a first sleeve, a second sleeve, a first rotating shaft, a second rotating shaft and a third rotating shaft, the second sleeve and the first sleeve are sequentially sleeved on the outer side of the output mechanism, the first sleeve and the second sleeve can rotate relatively with the first sleeve and the output mechanism, and the output mechanism can also move along the third axial direction relative to the first sleeve;
the first rotating shaft is connected with the output end of the first executing arm, the second rotating shaft is connected with the output end of the second executing arm, the third rotating shaft is connected with the output end of the third executing arm, the first rotating shaft is rotationally connected with the first sleeve in the radial direction, the second rotating shaft is rotationally connected with the second sleeve in the radial direction, and the third rotating shaft is rotationally connected with the output mechanism in the radial direction;
the first rotating shaft is transversely penetrated through the through hole of the first sleeve to realize the rotating connection of the first executing arm and the first sleeve, and the output mechanism penetrates through the through hole of the first rotating shaft;
the second rotating shafts are respectively arranged at two positions and are arranged at two sides of the output end of the second executing arm, a transverse groove is arranged on the second sleeve corresponding to the first rotating shaft, a through hole is arranged corresponding to the second rotating shaft, the first rotating shaft extends out of the transverse groove and can slide along the transverse groove, the second rotating shafts at two sides are respectively inserted into the through holes of the second sleeve, the second executing arm is connected with the second sleeve in a rotating mode, and the first sleeve penetrates through the two second rotating shafts.
2. The single port abdominal minimally invasive surgical robotic arm of claim 1, wherein the first drive assembly further comprises a first motor and a first connecting arm, wherein the axis of the first motor drive shaft is the first axis, two ends of the first connecting arm are respectively hinged to the drive shaft and the first actuating arm, the first actuating arm moves along a straight line through the first connecting arm, and rotates around the first axis integrally with the first connecting arm through the drive shaft.
3. The robotic arm for single port laparoscopic minimally invasive surgery of claim 2, comprising two of said first connecting arms disposed in parallel, said two first connecting arms forming a parallelogram mechanism to maintain said first actuator arm horizontal during movement.
4. The single port abdominal minimally invasive surgical robotic arm of claim 1, wherein the second drive assembly further comprises a second motor and a second connecting arm, wherein the axis of the second motor drive shaft is the second axis, two ends of the second connecting arm are respectively hinged to the drive shaft and a second actuating arm, and the second actuating arm moves along a straight line through the second connecting arm and rotates around the second axis integrally with the second connecting arm through the drive shaft.
5. The robotic arm for single port laparoscopic minimally invasive surgery of claim 4, comprising two said second connecting arms arranged in parallel, forming a parallelogram mechanism to keep said second actuator arm horizontal during movement.
6. The robotic arm for single port abdominal minimally invasive surgery according to claim 1, wherein the third driving assembly further comprises a third motor, a fourth motor and a translation mechanism, the axes of the driving shafts of the third motor and the fourth motor are the fourth axis and the fifth axis respectively, the fourth motor is fixed on the driving shaft of the third motor, one end of the translation mechanism is connected with the driving shaft of the fourth motor, the other end of the translation mechanism is connected with the third actuator arm, the third actuator arm moves along a straight line through the translation mechanism, rotates around the fifth axis through the driving shaft of the fourth motor integrally with the translation mechanism, and rotates around the fourth axis through the driving shaft of the third motor.
7. The robot arm for single port abdominal minimally invasive surgery according to claim 6, wherein the translation mechanism comprises a base plate, a third connecting arm and a fourth connecting arm, wherein the driving shaft of the fourth motor and the third actuating arm are respectively connected with the base plate, one end of the third connecting arm and one end of the fourth connecting arm are respectively hinged with the base plate on the driving shaft of the fourth motor and the base plate on the third actuating arm, and the other end of the third connecting arm and the other end of the fourth connecting arm are mutually hinged so that the third connecting arm and the fourth connecting arm can be folded or unfolded relatively.
8. The robotic arm for single port abdominal minimally invasive surgery according to claim 7, wherein the base plate is a triangle, the third connecting arms are hinged to adjacent sides of the base plate on the fourth motor drive shaft, and the fourth connecting arms are hinged to adjacent sides of the base plate on the third actuator arm.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611042777.XA CN106691592B (en) | 2016-11-23 | 2016-11-23 | Single-port abdominal cavity minimally invasive surgery robot arm |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611042777.XA CN106691592B (en) | 2016-11-23 | 2016-11-23 | Single-port abdominal cavity minimally invasive surgery robot arm |
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| CN106691592B true CN106691592B (en) | 2023-08-04 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2020524020A (en) * | 2017-06-19 | 2020-08-13 | コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． | Configurable parallel medical robot with coaxial end effector |
| CN109480967B (en) * | 2017-09-12 | 2021-02-19 | 赛诺微医疗科技(北京)有限公司 | Operation puncture actuating mechanism and operation mechanical arm adopting same |
| CN109770970B (en) * | 2019-03-08 | 2021-05-04 | 康年医疗科技有限公司 | Abdominal cavity minimally invasive surgery robot |
| CN110897720B (en) * | 2019-12-16 | 2020-07-07 | 青岛大学附属医院 | Medical treatment operation robot surgical instruments translation unit |
| CN114052930B (en) * | 2021-11-25 | 2023-08-22 | 天津大学医疗机器人与智能系统研究院 | Main operation hand |
| CN117357043A (en) * | 2022-06-30 | 2024-01-09 | 中国科学院自动化研究所 | Flexible end controllable medical instrument motion control system and medical equipment |
| CN115281588B (en) * | 2022-06-30 | 2023-02-03 | 中国科学院自动化研究所 | Flexible tail end controllable medical instrument motion control system and medical equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101889900B (en) * | 2010-07-12 | 2012-04-11 | 天津大学 | Master-slave integrated mechanical arm for assisting minimally invasive surgery |
| CN103264386B (en) * | 2013-04-19 | 2015-09-30 | 南京理工大学 | Three Degree Of Freedom high-speed translation motion parallel connection mechanism |
| CN104337579B (en) * | 2014-10-28 | 2016-08-17 | 浙江理工大学 | A kind of series-parallel connection manipulator for Minimally Invasive Surgery |
| CN106002934A (en) * | 2016-01-21 | 2016-10-12 | 盐城工学院 | Industrial mechanical arm |
| CN206836961U (en) * | 2016-11-23 | 2018-01-05 | 深圳市罗伯医疗科技有限公司 | A kind of single hole abdominal-cavity minimal-invasion surgery robotic arm |
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