CN107007892A - Medical smoking machine people - Google Patents
Medical smoking machine people Download PDFInfo
- Publication number
- CN107007892A CN107007892A CN201611010715.0A CN201611010715A CN107007892A CN 107007892 A CN107007892 A CN 107007892A CN 201611010715 A CN201611010715 A CN 201611010715A CN 107007892 A CN107007892 A CN 107007892A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- drive device
- fixed mount
- aspirator
- sliding block
- 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.)
- Pending
Links
- 230000000391 smoking effect Effects 0.000 title claims abstract description 17
- 239000007788 liquid Substances 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 31
- 230000033001 locomotion Effects 0.000 claims description 15
- 239000007787 solid Substances 0.000 claims description 2
- 230000035479 physiological effects, processes and functions Effects 0.000 abstract description 6
- 210000005252 bulbus oculi Anatomy 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000007812 deficiency 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
- 238000010297 mechanical methods and process Methods 0.000 description 1
- 230000005226 mechanical processes and functions Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
-
- A61M1/0023—
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M1/00—Suction or pumping devices for medical purposes; Devices for carrying-off, for treatment of, or for carrying-over, body-liquids; Drainage systems
- A61M1/84—Drainage tubes; Aspiration tips
- A61M1/842—Drainage tubes; Aspiration tips rotating
Abstract
The invention discloses a kind of medical smoking machine people, it includes：Aspirator, the aspirator has shell and piston rod, and the piston rod is movably disposed in the shell, and liquid can be pumped in shell by the piston rod when movable；Fixing device, the fixing device is used to install aspirator；First driving means, the first driving means can directly drive or movably be set by the first actuator drives piston rod；The fixing device is movably set.Medical smoking machine people in the present invention, both the angle of inclination of fixed mount can be adjusted, aspirator can be rotated again, it can also lift, and moved along the both direction of level, so setting makes it to meet the Operations Requirements of all directions in ophthalmologic operation, allows it to replace human hand to operate aspirator.Aspirated using mechanically actuated, Human Physiology can be avoided to limit to the damage that brought hand shaking etc. is caused.
Description
Technical field
The present invention relates to a kind of medical smoking machine people.
Background technology
In the therapeutic process of disease, often need to extract out the liquid in human body.But in actual mechanical process, some devices
The position of official determines that suction operation has very high difficulty.During than if desired for aspirating liquid in eyeball, because eyeball is small, and
Damage, therefore the required precision aspirated to it is very high.It is difficult due to manual limitation when being aspirated by hand by doctor
Exempt from the risk that there is hand shaking and damage eyeball.In the liquid aspiration procedure at other positions, equally exist positioning and forbidden or human body
The risk that physiology limitation is brought.
The content of the invention
An object of the present invention is that there is provided a kind of doctor operated instead of human hand in order to overcome deficiency of the prior art
Smoking machine people is used in treatment.
To realize object above, the present invention is achieved through the following technical solutions：
Medical smoking machine people, it is characterised in that including：
Aspirator, the aspirator has shell and piston rod, and the piston rod is movably disposed in described outer
In shell, liquid can be pumped in shell by the piston rod when movable；
Fixing device, the fixing device is used to install aspirator；
First driving means, the first driving means can directly drive or be moved by the first actuator drives piston rod
Set dynamicly；
The fixing device is movably set.
According to one embodiment of present invention, the first driving means are linear electric motors, and the linear electric motors have can
The mandrel of activity, the piston rod movement of driving aspirator when the mandrel is movable.
According to one embodiment of present invention, the fixing device is rotatably arranged with when the fixing device is rotated, taking
Rotated with the aspirator.
According to one embodiment of present invention, in addition to the second drive device, the second drive device direct drive or
Rotationally set by fixing device described in the second actuator drives.
According to one embodiment of present invention, second drive device is the first electric rotating machine, the second transmission dress
The first timing belt is set to, the fixing device is belt pulley；First electric rotating machine drives the belt pulley by timing belt
Rotate.
According to one embodiment of present invention, in addition to fixed mount, the fixed mount has through hole, the first driving dress
Put and be respectively arranged at the through hole both sides with the fixing device, the first driving means or first transmission device can be worn
Crossing the through hole drives the piston rod movably to set.
According to one embodiment of present invention, in addition to cross-brace arm, the fixing device is installed on fixed mount, institute
It is arranged at stating fixed mount adjustable tilt angle on the cross-brace arm；The cross-brace arm is movably set.
According to one embodiment of present invention, in addition to the 3rd drive device, the 3rd drive device driving is described solid
Determine frame adjustment angle of inclination or set with adjusting the fixed mount angle of inclination by the 3rd transmission device.
According to one embodiment of present invention, described 3rd transmission device one end is set in which can move along a straight line, the other end with
The fixed mount connection；3rd transmission device is the fixed mount angle of inclination of the other end of being moved along a straight line, adjusted by one end
Transmission device.
According to one embodiment of present invention, the 3rd transmission device includes first connecting rod, second connecting rod, the 3rd company
Bar, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is arranged on the cross-brace arm, and described second connects
Bar and the equal lower end of third connecting rod are rotatably coupled with fourth link；Described first connecting rod one end is movably set, the other end
It is connected with the second connecting rod upper end；5th connecting rod is rotatably connected with the second connecting rod, third connecting rod；Institute
The 5th interlinking lever end is stated to be connected with the fixed mount；Described six-bar linkage one end is rotatably connected with third connecting rod, separately
One end is connected with fixed mount；During first connecting rod one end linear motion, the angle of inclination of the fixed mount is adjusted.
According to one embodiment of present invention, the cross-brace arm sets fluted, and the 3rd drive device is set
In in the groove；The first sliding block of linear motion is provided with the groove；The 3rd drive device driving described first
Sliding block moves along a straight line；First sliding block is connected with the 3rd transmission device.
According to one embodiment of present invention, the 3rd drive device is the 3rd electric rotating machine, the 3rd electric rotating
Machine is connected with screw mandrel；First sliding block coordinates with the wire rod thread；3rd electric rotating machine drives the screw mandrel rotation,
First sliding block is driven along screw mandrel axial linear movement during the screw mandrel rotation.
According to one embodiment of present invention, in addition to four-drive device, the cross-brace arm is rotatably mounted
In on the second sliding block；The four-drive device drives the cross-brace arm rotatably to set or driven by the 4th transmission device
The cross-brace arm is moved rotatably to set.
According to one embodiment of present invention, in addition to the 5th drive device；Second sliding block is liftably arranged at
On vertical supporting arm, the 5th drive device directly drives the second sliding block lifting or passes through the 5th actuator drives institute
The second sliding block is stated to set up and down.
According to one embodiment of present invention, in addition to the 6th drive device；The vertical supporting arm is horizontally moveablely
It is arranged in first base, the 6th drive device directly drives the vertical supporting arm and set with moving horizontally or by the
Vertical supporting seat is set with moving horizontally described in six actuator drives.
According to one embodiment of present invention, in addition to the 7th drive device；The first base is set horizontally moveablely
It is placed in second base, the 7th drive device directly drives the first base and set with moving horizontally or by the 7th biography
Dynamic device drives the first base to set with moving horizontally；The vertical supporting arm moves horizontally direction and first bottom
Seat to move horizontally direction vertical.
Medical smoking machine people in the present invention, can both adjust the angle of inclination of fixed mount, suction can be rotated again
Device, can also be lifted, and be moved along the both direction of level, and so setting makes it to meet the work of all directions in medical treatment
It is dynamic to require, allow it to replace human hand to operate aspirator.Using mechanically actuated suction operation, Human Physiology can be avoided to limit to institute
The damage that hand shaking brought etc. is caused.Present invention is particularly suitable for the high suction operation of required precision, liquid in such as suction eyeball
Deng.The present invention can replace human hand operation, using the motion of all directions of computer control and suck device, it can either be controlled to transport
Dynamic precision, will not also be trembled by the physiology of people influences, and suction effect is good and not by ectocine.First driving means use straight line
Motor, can improve the accuracy of operation.3rd transmission device is using six connecting rod assemblies, and can export the 3rd drive device is straight
Line motion driving force is converted to the driving force of the angle of inclination adjustment of driving fixed mount so that the present invention had both realized adjustment ophthalmology
The angle of inclination of operating theater instruments, it is simple in construction to be readily produced, assemble.
Brief description of the drawings
Fig. 1 is the aspirator structural representation in the present invention.
Fig. 2 is schematic structural view of the invention.
Fig. 3 is the structural representation on cross-brace arm of the present invention.
Fig. 4 is the structural representation on the fixed mount of the present invention.
Embodiment
The present invention is further described with accompanying drawing with reference to embodiments.
As shown in Figure 1, Figure 2, Figure 3 and Figure 4, medical smoking machine people, it includes fixed mount 10, linear electric motors 11 and can
The belt pulley 12 of rotation.There is through hole 13 on fixed mount 10.Linear electric motors 11 have mandrel 14 movable linearly.Linear electric motors
11 are separately positioned on through hole with belt pulley 12, and about 13 both sides.The belt pulley 12 is rotatably arranged.Aspirator 200 is fixed
On belt pulley 12.The shell 201 of aspirator 200 and piston rod 202.Piston rod 202 is movably disposed in shell 201
It is interior.During pull piston rod 202, liquid can be pumped in shell 201.When the mandrel 14 of linear electric motors 11 moves linearly, it can wear
The piston rod 202 for crossing the driving aspirator 200 of through hole 13 is moved.Smokable human body during the activity of piston rod 202 of aspirator 200
Interior liquid.
The first electric rotating machine 15 is additionally provided with fixed mount 10.First electric rotating machine 15 passes through the driving belt pulley of timing belt 16
12 rotations.When belt pulley 12 rotates, aspirator 200 can be driven to rotate, adjust the angle of aspirator 200.
It is arranged on cross-brace arm 20 adjustable tilt angle of fixed mount 10.The cross-brace arm 20 is set
Fluted 21.The 3rd electric rotating machine 31 is provided with groove 21.3rd electric rotating machine 31 is connected with screw mandrel 41, screw mandrel 41 and is set with
There is the first sliding block 51.First sliding block 51 coordinates with the screw thread of screw mandrel 41.The drive screw 41 of 3rd electric rotating machine 31 rotates, and can make first
Sliding block 51 axially moves linearly along the first leading screw 41.
The one end of cross-brace arm 20 is arranged on the second sliding block 60, and the other end is provided with the 3rd transmission device.3rd transmission
Device includes first connecting rod 71, second connecting rod 72, third connecting rod 73, fourth link 74, the 5th connecting rod 75 and six-bar linkage 76.Institute
Fourth link 74 is stated on the cross-brace arm 20, the equal lower end of the second connecting rod 72 and third connecting rod 73 connects with the 4th
Bar 74 is rotatably coupled.Described one end of first connecting rod 71 is connected with the first sliding block 51, on the other end and the second connecting rod 72
End connection.5th connecting rod 75 is rotatably connected with the second connecting rod 72, third connecting rod 73.5th connecting rod
75 ends are connected with the fixed mount 10；Described one end of six-bar linkage 76 is rotatably connected with third connecting rod 73, another
End is connected with fixed mount 10.
The cross-brace arm 20 is rotatably mounted on the second sliding block 60.The 4th driving is installed on second sliding block 60
Device 32.The four-drive device 32 drives the cross-brace arm 10 rotatably to set or by the 4th actuator drives
The cross-brace arm 10 is rotatably set.
Second sliding block 60 is liftably arranged on vertical supporting arm 61.Described is provided with vertical supporting arm 61
Five drive devices 33.5th drive device 33 directly drives second sliding block 60 and lifted or by the 5th actuator drives institute
The second sliding block 60 is stated to set up and down.
The vertical supporting arm 61 is arranged in first base 62 horizontally moveablely.The 6th is provided with first base 62
Drive device 34.6th drive device 34 directly drives the vertical supporting arm 61 and set with moving horizontally or by the 6th
Vertical supporting arm 61 is set with moving horizontally described in actuator drives.
The first base 62 is arranged in second base 63 horizontally moveablely.The 7th drive is provided with second base 63
Dynamic device 35.7th drive device 35 directly drives the first base 62 and set with moving horizontally or by the 7th transmission
Device drives the first base 62 to set with moving horizontally；The vertical supporting arm 61 moves horizontally direction and described first
Base 62 to move horizontally direction vertical.
First driving means, the second drive device, the 3rd drive device, four-drive device, the 5th drive in the present invention
Dynamic device, the 6th drive device and the 7th drive device, can be using drive devices such as electric rotating machine, linear electric motors, cylinders.It is excellent
Choosing uses electric rotating machine, the drive device that more preferably use can be controlled using computer, such as servomotor.First in the present invention
Transmission device, the second transmission device, the 3rd transmission device, the 4th transmission device, the 5th transmission device, the 6th transmission device and
Seven transmission devices, can be using transmission devices such as feed screw nut, transmission belt, driving-chain, gears；It is preferred to use feed screw nut.
In use, as shown in figure 1, starting the 3rd electric rotating machine 31, the 3rd electric rotating machine 31 drives first by screw mandrel 41
Sliding block 51 is moved.When first sliding block 51 is moved, driving first connecting rod 71 is moved, and the movement of first connecting rod 71 can make the He of second connecting rod 72
Third connecting rod 73 is rotated relative to fourth link 74.Second connecting rod 72 and third connecting rod 73 relative to fourth link 74 rotate when, can lead to
Crossing the 5th connecting rod 75 and six-bar linkage 76 makes the angle change of fixed mount 10.Driven, can passed through by four-drive device 32
The driving fixed mount 10 of cross-brace arm 20 rotates.Driven by the 5th drive device 33, can lift fixed mount 10.Pass through the 6th
The drive device 35 of drive device 34 and the 7th drives, and can make to move in the both direction of fixed mount 10 in the horizontal direction.Utilize
One electric rotating machine 15, can make belt pulley 12 drive aspirator 200 to rotate.Operated more than, aspirator is adjusted to suitable
Close the state of suction.Start linear electric motors 11, the piston rod for driving aspirator 200 using the rectilinear movement of mandrel 14 is moved,
Complete suction operation.
Medical smoking machine people in the present invention, can both adjust the angle of inclination of fixed mount, suction can be rotated again
Device, can also be lifted, and be moved along the both direction of level, and so setting makes it to meet the work of all directions in medical treatment
It is dynamic to require, allow it to replace human hand to operate aspirator.Using mechanically actuated suction operation, Human Physiology can be avoided to limit to institute
The damage that hand shaking brought etc. is caused.Present invention is particularly suitable for the high suction operation of required precision, liquid in such as suction eyeball
Deng.The present invention can replace human hand operation, using the motion of all directions of computer control and suck device, it can either be controlled to transport
Dynamic precision, will not also be trembled by the physiology of people influences, and suction effect is good and not by ectocine.First driving means use straight line
Motor, can improve the accuracy of operation.3rd transmission device is using six connecting rod assemblies, and can export the 3rd drive device is straight
Line motion driving force is converted to the driving force of the angle of inclination adjustment of driving fixed mount so that the present invention had both realized adjustment ophthalmology
The angle of inclination of operating theater instruments, it is simple in construction to be readily produced, assemble.
Embodiment in the present invention is only used for that the present invention will be described, and is not construed as limiting the scope of claims limitation,
Other substantial equivalent replacements that those skilled in that art are contemplated that, all fall in the scope of protection of the present invention.
Claims (16)
1. medical smoking machine people, it is characterised in that including：
Aspirator, the aspirator has shell and piston rod, and the piston rod is movably disposed in the shell,
Liquid can be pumped in shell by the piston rod when movable；
Fixing device, the fixing device is used to install aspirator；
First driving means, the first driving means can directly drive or by the first actuator drives piston rod movably
Set；
The fixing device is movably set.
2. medical smoking machine people according to claim 1, it is characterised in that the first driving means are straight-line electric
Machine, the linear electric motors have mobilizable mandrel, the piston rod movement of driving aspirator when the mandrel is movable.
3. medical smoking machine people according to claim 1, it is characterised in that the fixing device is rotationally set
Put, when the fixing device is rotated, carry the aspirator and rotate.
4. medical smoking machine people according to claim 3, it is characterised in that described also including the second drive device
Second drive device directly drives or rotationally set by fixing device described in the second actuator drives.
5. medical smoking machine people according to claim 4, it is characterised in that second drive device is the first rotation
Rotating motor, second transmission device is the first timing belt, and the fixing device is belt pulley；First electric rotating machine passes through
Timing belt drives the pulley rotation.
6. medical smoking machine people according to claim 1, it is characterised in that also including fixed mount, the fixed mount
With through hole, the first driving means and the fixing device are respectively arranged at the through hole both sides, the first driving dress
Put or first transmission device may pass through the through hole and drive the piston rod movably to set.
7. according to the medical smoking machine people described in claim 1, it is characterised in that also including cross-brace arm, the fixation
Device is installed on fixed mount, is arranged on the cross-brace arm fixed mount adjustable tilt angle；The transverse direction
Support arm is movably set.
8. novel ophthalmic surgical robot according to claim 7, it is characterised in that also including the 3rd drive device, institute
The 3rd drive device is stated to drive the fixed mount adjustment angle of inclination or adjust the fixed mount by the 3rd transmission device
Set to angle of inclination.
9. novel ophthalmic surgical robot according to claim 8, it is characterised in that described 3rd transmission device one end can
Linear motion ground is set, and the other end is connected with the fixed mount；3rd transmission device is to be moved along a straight line, adjusted by one end
The transmission device at the fixed mount angle of inclination of the other end.
10. novel ophthalmic surgical robot according to claim 9, it is characterised in that the 3rd transmission device includes
First connecting rod, second connecting rod, third connecting rod, fourth link, the 5th connecting rod and six-bar linkage；The fourth link is arranged on described
On cross-brace arm, the equal lower end of second connecting rod and third connecting rod is rotatably coupled with fourth link；The first connecting rod
One end is movably set, and the other end is connected with the second connecting rod upper end；5th connecting rod and the second connecting rod, the 3rd
Connecting rod is rotatably connected；5th interlinking lever end is connected with the fixed mount；Described six-bar linkage one end and the 3rd
Connecting rod is rotatably connected, and the other end is connected with fixed mount；During first connecting rod one end linear motion, adjust described solid
Determine the angle of inclination of frame.
11. novel ophthalmic surgical robot according to claim 7, it is characterised in that the cross-brace arm is provided with
Groove, the 3rd drive device is arranged in the groove；The first sliding block of linear motion is provided with the groove；It is described
3rd drive device drives first sliding block to move along a straight line；First sliding block is connected with the 3rd transmission device.
12. novel ophthalmic surgical robot according to claim 11, it is characterised in that the 3rd drive device is the
Three electric rotating machines, the 3rd electric rotating machine is connected with screw mandrel；First sliding block coordinates with the wire rod thread；Described 3rd
Electric rotating machine drives the screw mandrel rotation, and first sliding block is driven along screw mandrel axial linear movement during the screw mandrel rotation.
13. novel ophthalmic surgical robot according to claim 7, it is characterised in that also including four-drive device, institute
Cross-brace arm is stated to be rotatably mounted on the second sliding block；The four-drive device drives the cross-brace arm rotatably
Set or rotatably set by cross-brace arm described in the 4th actuator drives.
14. novel ophthalmic surgical robot according to claim 13, it is characterised in that also including the 5th drive device；
Second sliding block is liftably arranged on vertical supporting arm, and the 5th drive device directly drives the second sliding block liter
Drop is set up and down by the second sliding block described in the 5th actuator drives.
15. novel ophthalmic surgical robot according to claim 14, it is characterised in that also including the 6th drive device；
The vertical supporting arm is arranged in first base horizontally moveablely, and the 6th drive device directly drives the vertical branch
Brace sets or set with moving horizontally by vertical supporting seat described in the 6th actuator drives with moving horizontally.
16. novel ophthalmic surgical robot according to claim 15, it is characterised in that also including the 7th drive device；
The first base is arranged in second base horizontally moveablely, and the 7th drive device directly drives the first base
Set with moving horizontally or set with moving horizontally by first base described in the 7th actuator drives；The vertical supporting arm
Move horizontally direction and the first base to move horizontally direction vertical.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611010715.0A CN107007892A (en) | 2016-11-16 | 2016-11-16 | Medical smoking machine people |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611010715.0A CN107007892A (en) | 2016-11-16 | 2016-11-16 | Medical smoking machine people |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107007892A true CN107007892A (en) | 2017-08-04 |
Family
ID=59439499
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611010715.0A Pending CN107007892A (en) | 2016-11-16 | 2016-11-16 | Medical smoking machine people |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107007892A (en) |
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|---|---|---|---|---|
| US20070287884A1 (en) * | 2006-06-13 | 2007-12-13 | Intuitive Surgical, Inc. | Extendable suction surface for bracing medial devices during robotically assisted medical procedures |
| CN101421080A (en) * | 2006-02-03 | 2009-04-29 | 欧洲原子能共同体由欧洲委员会代表 | Medical robotic system with manipulator arm of the cylindrical coordinate type |
| US20120211006A1 (en) * | 2009-08-24 | 2012-08-23 | Board Of Regents The University Of Texas System | Automated Needle Insertion Mechanism |
| KR20120117223A (en) * | 2011-04-14 | 2012-10-24 | 주식회사 이턴 | Master manipulation device for robot and control method of surgical robot having the same |
| US20130131867A1 (en) * | 2011-11-04 | 2013-05-23 | The Johns Hopkins University | Steady hand micromanipulation robot |
| US20150351857A1 (en) * | 2013-01-11 | 2015-12-10 | Katholieke Universiteit Leuven | An apparatus for generating motion around a remote centre of motion |
| WO2016049294A1 (en) * | 2014-09-25 | 2016-03-31 | The Johns Hopkins University | Surgical system user interface using cooperatively-controlled robot |
| TW201626964A (en) * | 2015-01-23 | 2016-08-01 | Univ Kun Shan | Skull surgical device |
| CN206745665U (en) * | 2016-11-16 | 2017-12-15 | 温州医科大学附属眼视光医院 | Medical smoking machine people |
-
2016
- 2016-11-16 CN CN201611010715.0A patent/CN107007892A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101421080A (en) * | 2006-02-03 | 2009-04-29 | 欧洲原子能共同体由欧洲委员会代表 | Medical robotic system with manipulator arm of the cylindrical coordinate type |
| US20100204713A1 (en) * | 2006-02-03 | 2010-08-12 | The European Atomic Energy Community (Euratom) | Medical robotic system |
| US20070287884A1 (en) * | 2006-06-13 | 2007-12-13 | Intuitive Surgical, Inc. | Extendable suction surface for bracing medial devices during robotically assisted medical procedures |
| US20120211006A1 (en) * | 2009-08-24 | 2012-08-23 | Board Of Regents The University Of Texas System | Automated Needle Insertion Mechanism |
| KR20120117223A (en) * | 2011-04-14 | 2012-10-24 | 주식회사 이턴 | Master manipulation device for robot and control method of surgical robot having the same |
| US20130131867A1 (en) * | 2011-11-04 | 2013-05-23 | The Johns Hopkins University | Steady hand micromanipulation robot |
| US20150351857A1 (en) * | 2013-01-11 | 2015-12-10 | Katholieke Universiteit Leuven | An apparatus for generating motion around a remote centre of motion |
| WO2016049294A1 (en) * | 2014-09-25 | 2016-03-31 | The Johns Hopkins University | Surgical system user interface using cooperatively-controlled robot |
| TW201626964A (en) * | 2015-01-23 | 2016-08-01 | Univ Kun Shan | Skull surgical device |
| CN206745665U (en) * | 2016-11-16 | 2017-12-15 | 温州医科大学附属眼视光医院 | Medical smoking machine people |
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