CN107212924A - The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk - Google Patents
The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk Download PDFInfo
- Publication number
- CN107212924A CN107212924A CN201710587928.8A CN201710587928A CN107212924A CN 107212924 A CN107212924 A CN 107212924A CN 201710587928 A CN201710587928 A CN 201710587928A CN 107212924 A CN107212924 A CN 107212924A
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- China
- Prior art keywords
- liquid
- bellows
- liquid capsule
- capsule
- turntable
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- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/73—Manipulators for magnetic surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
The present invention discloses the skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk, include liquid storage tank, magnetic flow liquid, bellows outer cover, base station, gear pump, turntable, expanding table, bellows, liquid capsule, magnetic flow liquid is filled inside liquid storage tank, its top is provided with base station, two gear pumps are installed on the upside of base station, supporting table is installed on base station by support bar, connected between liquid capsule and liquid capsule between liquid capsule and gear pump with bellows, link is rotated between each adjacent turntable, and two neighboring pivot center is mutually perpendicular to, expanding table upper side is used to install the manipulator needed for Minimally Invasive Surgery, bellows outer cover is quality of rubber materials, its wall is embedded with the spiral cable of a coiled coil.
Description
Technical field
The present invention relates to a kind of mechanical arm, and in particular to a kind of skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk.
Background technology
With robot technology and the cross development of medical science, the Medical Robot of various uses is just in medical domain
Increasingly it is widely applied.Current medical robot is in neuro-surgery, cardiac repair, gall-bladder excising operation, people
Achieve and be widely applied and great progress in terms of work joint replacement, urological surgery.Robot is grasped by hand with doctor
Make strong compared to having great advantage, because the positioning of robot is more accurate, supporting ＆ stablizing in some aspects, can keep away
Exempt from the fatigue of surgeon's prolonged operationses generation, and the arm vibration that surgeon occurs in operative process, from
And improve precision, stability and the security of operation.
The skilful mechanical arm of oversoul is that one kind can be touched in complex environment in face of various unknown tasks as snake, trunk or octopus
Hand etc. equally has the robot of surprising motion, operation and dexterous performance.In medical field, the skilful mechanical arm of oversoul is grasped in intervention
The flexible and its mutual passive compliant motion of mechanical arm and biological tissue is maximally utilised during work, so as to put
Taken off it is accurate to kinematics calculate, its mechanism and structure design is more focuses on reducing the functional requirement such as wound.Because it has
The skilful characteristic of oversoul, therefore the motion and operational capacity in restricted clearance are far above traditional Joint Manipulator, therefore oversoul is skilful
Mechanical arm has important application value in the medical field.
Magnetic flow liquid is a kind of new intellectual material, and its rheological behavior will occur drastically in the presence of externally-applied magnetic field
Change, (Millisecond) viscosity can increase, be transformed into the state of similar solid by the good liquid of rheological behavior in a short time, and
Once flowable liquid will be recovered to again by losing externally-applied magnetic field.
In Minimally Invasive Surgery, the operation, this species such as especially usually need to cut, be ground, fix in orthopaedics Minimally Invasive Surgery
The operation of type has higher requirement to the end operating load of mechanical arm.The structure of the existing skilful mechanical arm of oversoul is in non-individual body form
Based on, this structure often has relatively low rigidity, and this causes it to bear the ability of external load and make in external load
Stability under is poor, and the increase of external procedure load may trigger the complicated motor behavior of robot, have a strong impact on it
Controllable operating performance.
The content of the invention
The present invention bears external load ability, external load to solve the skilful mechanical arm presence of existing Minimally Invasive Surgery oversoul
Act on stability inferior difference and motor behavior be complicated, the problem of security reliability is poor, the characteristic being had based on magnetic flow liquid, it is proposed that
The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk.
The technical solution adopted in the present invention is：The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk, includes liquid storage tank, magnetic current
Become liquid, bellows outer cover, base station, two gear pumps, seven turntables, expanding table, four left bellowss, four left liquid capsules, four
Preceding bellows, four preceding liquid capsules, it is characterised in that：Magnetic flow liquid is filled inside liquid storage tank, its top is provided with base station, base station
Side is provided with two gear pumps, and two straight lines that two gear pump centers are constituted with base station central point respectively are at a right angle, base
Three support bars are laid with the upside of platform, three supporting bar tops are provided with supporting table, as shown in Fig. 2 previous liquid capsule is installed on branch
Support between platform and one-level turntable, three constitutes revolute pair two-by-two, and pivot center is parallel with X-axis, and the first from left liquid capsule is installed on one
Between level turntable and two grades of turntables, three constitutes revolute pair two-by-two, and pivot center is parallel with Y-axis, and the first two liquid capsule is installed on
Between two grades of turntables and three-level turntable, three constitutes revolute pair two-by-two, and pivot center is parallel with X-axis, and the second from left liquid capsule is installed
Between three-level turntable and level Four turntable, three constitutes revolute pair two-by-two, and pivot center is parallel with Y-axis, first three liquid capsule peace
Loaded between level Four turntable and Pyatyi turntable, three constitutes revolute pair two-by-two, and pivot center is parallel with X-axis, left three liquid capsule
It is installed between Pyatyi turntable and six grades of turntables, three constitutes revolute pair two-by-two, and pivot center is parallel with Y-axis, preceding four liquid
Capsule is installed between six grades of turntables and seven grades of turntables, and three constitutes revolute pair two-by-two, and pivot center is parallel with equal X-axis, Zuo Si
Liquid capsule is installed on seven grades between turntable and expanding table, and three constitutes revolute pair two-by-two, and pivot center is parallel with Y-axis,
Further, described gear pump lower end is provided with liquid sucting port, and liquid sucting port is located in liquid storage tank below liquid level, two teeth
Wheel pump upper end is equipped with liquid outlet, and left gear pump upper end liquid outlet is connected with the first from left bellows lower end, the first from left bellows upper end with
The first from left liquid capsule lower end is connected, and the first from left liquid capsule upper end is connected with the second from left bellows lower end, under the second from left bellows upper end and the second from left liquid capsule
End connection, the second from left liquid capsule upper end is connected with left three bellows lower end, and left three bellowss upper end is connected with left three liquid capsules lower end, a left side three
Liquid capsule upper end is connected with left four bellows lower end, and left four bellowss upper end is connected with left four liquid capsules lower end, end seal in left four liquid capsule
Close；Nipper wheel pump upper end liquid outlet is connected with previous bellows lower end, and previous bellows upper end is connected with previous liquid capsule lower end, preceding
One liquid capsule upper end is connected with the first two bellows lower end, and the first two bellows upper end is connected with the first two liquid capsule lower end, the first two liquid capsule upper end
Connected with first three bellows lower end, first three bellows upper end is connected with first three liquid capsule lower end, first three liquid capsule upper end and preceding four ripple
Pipe lower end is connected, and preceding four bellowss upper end is connected with preceding four liquid capsules lower end, preceding four liquid capsules upper end closed.
Further, described expanding table upper side is used to install the manipulator needed for Minimally Invasive Surgery, and bellows outer cover is
Quality of rubber materials, its wall is embedded with the spiral cable of a coiled coil.
Brief description of the drawings
Fig. 1 is outward appearance overall schematic of the present invention.
Fig. 2 is internal structure schematic diagram of the invention.
Fig. 3 is the enlarged diagram of location A part in Fig. 2.
Fig. 4 is the partial cutaway schematic of bellows outer cover in the present invention.
Fig. 5 is the enlarged diagram of B location part in Fig. 4.
A kind of view when Fig. 6 is present invention work.
Drawing reference numeral：1 liquid storage tank, 1.1 magnetic flow liquids, 2 bellows outer covers, 2.1 spiral cables, 3 base stations, 3.1 support bars,
3.2 supporting tables, 4.1 left gear pumps, 4.2 nipper wheel pumps, 5.1 one-level turntables, 5.2 2 grades of turntables, 5.3 three-level turntables, 5.4 level Four
Turntable, 5.5 Pyatyi turntables, 5.6 6 grades of turntables, 5.7 7 grades of turntables, 6 expanding tables, 7.1 the first from left bellowss, 7.2 the second from left bellowss,
7.3 left three bellowss, 7.4 left four bellowss, 8.1 the first from left liquid capsules, 8.2 the second from left liquid capsules, 8.3 left three liquid capsules, 8.4 left four liquid capsules,
Four bellowss before 9.1 previous bellowss, 9.2 the first two bellows, 9.3 first three bellows, 9.4,10.1 previous liquid capsules, 10.2 the first two
Four liquid capsules before liquid capsule, 10.3 first three liquid capsule, 10.4.
Embodiment
With reference to specific embodiment, the invention will be further described, the illustrative examples and explanation invented herein
For explaining the present invention, but it is not as a limitation of the invention.
As shown in Figure 1 and Figure 2, the skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk, includes liquid storage tank 1, magnetic flow liquid 1.1, ripple
Line pipe outer cover 2, base station 3, two gear pumps (4.1,4.2), seven turntables (5.1,5.2,5.3,5.4,5.5,5.6,5.7), expansions
Exhibition booth 6, four left bellowss (7.1,7.2,7.3,7.4), four left liquid capsules (8.1,8.2,8.3,8.4), four preceding bellowss
(9.1,9.2,9.3,9.4), four preceding liquid capsules (10.1,10.2,10.3,10.4), it is characterised in that：Filled inside liquid storage tank 1
Magnetic flow liquid 1.1, its top is provided with base station 3, and the upside of base station 3 is provided with two gear pumps (4.1,4.2), two gear pumps
Two straight lines that (4.1,4.2) center is constituted with the central point of base station 3 respectively are at a right angle, and the upside of base station 3 is laid with three
Support bar 3.1, three tops of support bar 3.1 are provided with supporting table 3.2, and previous liquid capsule 10.1 is installed on supporting table 3.2 and one-level turns
Between platform 5.1, three constitutes revolute pair two-by-two, and pivot center is parallel with X-axis, and the first from left liquid capsule 8.1 is installed on one-level turntable
Between 5.1 and two grades of turntables 5.2, three constitutes revolute pair two-by-two, and pivot center is parallel with Y-axis, and the first two liquid capsule 10.2 is pacified
Loaded between two grades of turntables 5.2 and three-level turntable 5.3, three constitutes revolute pair two-by-two, and pivot center is parallel with X-axis, left
Two liquid capsules 8.2 are installed between three-level turntable 5.3 and level Four turntable 5.4, and three constitutes revolute pair two-by-two, and pivot center with
Y-axis is parallel, and first three liquid capsule 10.3 is installed between level Four turntable 5.4 and Pyatyi turntable 5.5, and three constitutes revolute pair two-by-two, and
Pivot center is parallel with X-axis, and left three liquid capsule 8.3 is installed between Pyatyi turntable 5.5 and six grades of turntables 5.6, three's structure two-by-two
Into revolute pair, and pivot center is parallel with Y-axis, preceding four liquid capsule 10.4 be installed on six grades of turntables 5.6 and seven grades of turntables 5.7 it
Between, three constitutes revolute pair two-by-two, and pivot center is parallel with equal X-axis, and left four liquid capsule 8.4 is installed on seven grades of turntables 5.7 and expansion
Between exhibition booth 6, three constitutes revolute pair two-by-two, and pivot center is parallel with Y-axis,
Described gear pump (4.1,4.2) lower end is provided with liquid sucting port, and liquid sucting port is located in liquid storage tank 1 below liquid level, two
Gear pump (4.1,4.2) upper end is equipped with liquid outlet, and the upper end liquid outlet of left gear pump 4.1 is connected with the lower end of the first from left bellows 7.1,
The upper end of the first from left bellows 7.1 is connected with the lower end of the first from left liquid capsule 8.1, and the upper end of the first from left liquid capsule 8.1 connects with the lower end of the second from left bellows 7.2
Logical, the upper end of the second from left bellows 7.2 is connected with the lower end of the second from left liquid capsule 8.2, the upper end of the second from left liquid capsule 8.2 and the left lower end of three bellows 7.3
Connection, the left upper end of three bellows 7.3 is connected with the left lower end of three liquid capsule 8.3, under the left upper end of three liquid capsule 8.3 and left four bellows 7.4
End connection, the left upper end of four bellows 7.4 is connected with the left lower end of four liquid capsule 8.4, the left upper end closed of four liquid capsule 8.4；Nipper wheel pump 4.2
Upper end liquid outlet is connected with the previous lower end of bellows 9.1, and the previous upper end of bellows 9.1 is connected with the previous lower end of liquid capsule 10.1, preceding
The upper end of one liquid capsule 10.1 is connected with the first two lower end of bellows 9.2, and the first two upper end of bellows 9.2 connects with the first two lower end of liquid capsule 10.2
Logical, the first two upper end of liquid capsule 10.2 is connected with first three lower end of bellows 9.3, under first three upper end of bellows 9.3 and first three liquid capsule 10.3
End connection, first three upper end of liquid capsule 10.3 is connected with the preceding lower end of four bellows 9.4, the preceding upper end of four bellows 9.4 and preceding four liquid capsule
10.4 lower ends are connected, the preceding upper end closed of four liquid capsule 10.4.
The described upper side of expanding table 6 is used to install the manipulator needed for Minimally Invasive Surgery, and bellows outer cover 2 is rubber material
Matter, its wall is embedded with the spiral cable 2.1 of a coiled coil.
Embodiments of the invention：
The initial pose of the skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk is that shown in Fig. 1, institute is needed in Minimally Invasive Surgery
State mechanical arm it is bending to the right when, as shown in fig. 6, left gear pump 4.1 is rotated, by four left bellowss (7.1,7.2,7.3,
7.4) the injection magnetic flow liquid 1.1 into four left liquid capsules (8.1,8.2,8.3,8.4), when the manipulator that expanding table 6 is installed is arrived
Up to formulating behind position, the spiral cable 2.1 in bellows outer cover 2 is powered, and helicoidal cable 2.1 produces electromagnetic field, in electromagnetism
In the presence of, the magnetic flow liquid 1.1 in liquid capsule and bellows solidifies, now the bionical oversoul of trunk skilful Minimally Invasive Surgery mechanical arm
Load capacity is greatly improved, doctor can according to operation need operate expanding table 6 on manipulator performed the operation, when need convert
, it is necessary to which the spiral cable 2.1 in bellows outer cover 2 is powered off during the pose of the mechanical arm, now, magnetic flow liquid 1.1 recovers
For liquid, control two gear pumps (4.1,4.2) to input or export corresponding liquid capsule by magnetic flow liquid 1.1 as needed, just may be used
Adjust the mechanical arm and be transformed to required pose.
Claims (3)
1. the skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk, comprising liquid storage tank (1), magnetic flow liquid (1.1), bellows outer cover (2),
Base station (3), two gear pumps (4.1,4.2), seven turntables (5.1,5.2,5.3,5.4,5.5,5.6,5.7), expanding table (6),
Four left bellowss (7.1,7.2,7.3,7.4), four left liquid capsules (8.1,8.2,8.3,8.4), four preceding bellowss (9.1,
9.2nd, 9.3,9.4), four preceding liquid capsules (10.1,10.2,10.3,10.4), it is characterised in that：Magnetic current is filled inside liquid storage tank (1)
Become liquid (1.1), its top is provided with the upside of base station (3), base station (3) and is provided with two gear pumps (4.1,4.2), two gear pumps
Two straight lines that (4.1,4.2) center is constituted with base station (3) central point respectively are at a right angle, are laid with the upside of base station (3)
Three support bars (3.1), three support bar (3.1) tops are provided with supporting table (3.2), and previous liquid capsule (10.1) is installed on supporting table
(3.2) between one-level turntable (5.1), three constitutes revolute pair two-by-two, and pivot center is parallel with X-axis, the first from left liquid capsule
(8.1) be installed between one-level turntable (5.1) and two grades of turntables (5.2), three constitutes revolute pair two-by-two, and pivot center with
Y-axis is parallel, and (10.2 are installed between two grades of turntables (5.2) and three-level turntable (5.3) the first two liquid capsule, and three constitutes rotation two-by-two
Pair, and pivot center is parallel with X-axis, the second from left liquid capsule (8.2 are installed between three-level turntable (5.3) and level Four turntable (5.4),
Three constitutes revolute pair two-by-two, and pivot center is parallel with Y-axis, first three liquid capsule (10.3) be installed on level Four turntable (5.4) and
Between Pyatyi turntable (5.5), three constitutes revolute pair two-by-two, and pivot center is parallel with X-axis, and left three liquid capsule (8.3) is installed
Between Pyatyi turntable (5.5) and six grades of turntables (5.6), three constitutes revolute pair two-by-two, and pivot center is parallel with Y-axis,
Preceding four liquid capsule (10.4) is installed between six grades of turntables (5.6) and seven grades of turntables (5.7), and three constitutes revolute pair two-by-two, and turns
Shaft line is parallel with equal X-axis, and left four liquid capsule (8.4) is installed between seven grades of turntables (5.7) and expanding table (6), three's structure two-by-two
Into revolute pair, and pivot center is parallel with Y-axis.
2. the skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk as claimed in claim 1, it is characterised in that：Gear pump (4.1,
4.2) lower end is provided with liquid sucting port, and liquid sucting port is located at below liquid storage tank (1) interior liquid level, and two gear pump (4.1,4.2) upper ends are all provided with
There is liquid outlet, left gear pump (4.1) upper end liquid outlet is connected with the first from left bellows (7.1) lower end, the first from left bellows (7.1) upper end
Connected with the first from left liquid capsule (8.1) lower end, the first from left liquid capsule (8.1) upper end is connected with the second from left bellows (7.2) lower end, the second from left bellows
(7.2) upper end is connected with the second from left liquid capsule (8.2) lower end, and the second from left liquid capsule (8.2) upper end is connected with left three bellows (7.3) lower end,
Left three bellowss (7.3) upper end is connected with left three liquid capsule (8.3) lower end, left three liquid capsules (8.3) upper end and left four bellows (7.4)
Lower end is connected, and left four bellowss (7.4) upper end is connected with left four liquid capsule (8.4) lower end, left four liquid capsule (8.4) upper end closed；Before
Gear pump (4.2) upper end liquid outlet is connected with previous bellows (9.1) lower end, previous bellows (9.1) upper end and previous liquid capsule
(10.1) lower end is connected, and previous liquid capsule (10.1) upper end is connected with the first two bellows (9.2) lower end, on the first two bellows (9.2)
End is connected with the first two liquid capsule (10.2) lower end, and the first two liquid capsule (10.2) upper end is connected with first three bellows (9.3) lower end, first three
Bellows (9.3) upper end is connected with first three liquid capsule (10.3) lower end, under first three liquid capsule (10.3) upper end and preceding four bellows (9.4)
End connection, preceding four bellowss (9.4) upper end is connected with preceding four liquid capsule (10.4) lower end, preceding four liquid capsule (10.4) upper end closed.
3. the skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk as claimed in claim 1, it is characterised in that：On the upside of expanding table (6)
Face is used to install the manipulator needed for Minimally Invasive Surgery, and bellows outer cover (2) is quality of rubber materials, and its wall is embedded with a coiled coil
Spiral cable (2.1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710587928.8A CN107212924A (en) | 2017-07-19 | 2017-07-19 | The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710587928.8A CN107212924A (en) | 2017-07-19 | 2017-07-19 | The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk |
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| Publication Number | Publication Date |
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| CN107212924A true CN107212924A (en) | 2017-09-29 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710587928.8A Pending CN107212924A (en) | 2017-07-19 | 2017-07-19 | The skilful Minimally Invasive Surgery mechanical arm of the bionical oversoul of trunk |
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| CN (1) | CN107212924A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108606834A (en) * | 2018-02-05 | 2018-10-02 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and its control method |
| CN109176489A (en) * | 2018-10-11 | 2019-01-11 | 燕山大学 | A kind of continuous variable-stiffness flexible robot |
| CN110480673A (en) * | 2019-08-30 | 2019-11-22 | 上海大学 | A kind of magnetorheological fluid stiffness variable flexibility clamping jaw |
| CN111166480A (en) * | 2018-11-09 | 2020-05-19 | 中国科学院沈阳自动化研究所 | Hierarchical rack and pinion driven surgical instrument |
| CN111329592A (en) * | 2020-03-17 | 2020-06-26 | 上海奥朋医疗科技有限公司 | Sterile isolation method and system for rotating and clamping hand in vascular intervention operation |
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| CN101622107B (en) * | 2006-10-13 | 2012-09-19 | 机扑工程技术利得股份有限公司 | Worm-like mechanism |
| CN102825593A (en) * | 2012-06-04 | 2012-12-19 | 东北林业大学 | Magnetorheological fluid continuum robot manipulator |
| US20130158544A1 (en) * | 2011-12-14 | 2013-06-20 | Erbe Elektromedizin Gmbh | Instrument for water jet surgery |
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| CN101622107B (en) * | 2006-10-13 | 2012-09-19 | 机扑工程技术利得股份有限公司 | Worm-like mechanism |
| US20130158544A1 (en) * | 2011-12-14 | 2013-06-20 | Erbe Elektromedizin Gmbh | Instrument for water jet surgery |
| CN102825593A (en) * | 2012-06-04 | 2012-12-19 | 东北林业大学 | Magnetorheological fluid continuum robot manipulator |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108606834A (en) * | 2018-02-05 | 2018-10-02 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and its control method |
| CN108606834B (en) * | 2018-02-05 | 2021-07-20 | 中国矿业大学 | Soft robot control system based on magnetorheological fluid and control method thereof |
| CN109176489A (en) * | 2018-10-11 | 2019-01-11 | 燕山大学 | A kind of continuous variable-stiffness flexible robot |
| CN109176489B (en) * | 2018-10-11 | 2020-06-19 | 燕山大学 | Continuous variable-rigidity flexible robot |
| CN111166480A (en) * | 2018-11-09 | 2020-05-19 | 中国科学院沈阳自动化研究所 | Hierarchical rack and pinion driven surgical instrument |
| CN111166480B (en) * | 2018-11-09 | 2021-09-21 | 中国科学院沈阳自动化研究所 | Hierarchical rack and pinion driven surgical instrument |
| CN110480673A (en) * | 2019-08-30 | 2019-11-22 | 上海大学 | A kind of magnetorheological fluid stiffness variable flexibility clamping jaw |
| CN111329592A (en) * | 2020-03-17 | 2020-06-26 | 上海奥朋医疗科技有限公司 | Sterile isolation method and system for rotating and clamping hand in vascular intervention operation |
| CN111329592B (en) * | 2020-03-17 | 2021-06-22 | 上海奥朋医疗科技有限公司 | Sterile isolation method and system for rotating and clamping hand in vascular intervention operation |
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Application publication date: 20170929 |