CN107320191A - Transmission component, the operating theater instruments of operating robot and operating robot - Google Patents
Transmission component, the operating theater instruments of operating robot and operating robot Download PDFInfo
- Publication number
- CN107320191A CN107320191A CN201710646011.0A CN201710646011A CN107320191A CN 107320191 A CN107320191 A CN 107320191A CN 201710646011 A CN201710646011 A CN 201710646011A CN 107320191 A CN107320191 A CN 107320191A
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- China
- Prior art keywords
- drive
- drive link
- enforcement division
- operating
- transmission component
- 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.)
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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
-
- 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
- F16H—GEARING
- F16H21/00—Gearings comprising primarily only links or levers, with or without slides
- F16H21/10—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane
- F16H21/12—Gearings comprising primarily only links or levers, with or without slides all movement being in, or parallel to, a single plane for conveying rotary motion
-
- 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
Abstract
The invention provides a kind of transmission component, the operating theater instruments of operating robot and operating robot, wherein, transmission component includes：First drive link, one end of the first drive link is rotated with operation enforcement division by the first bearing pin to be connected；Second drive link, the second drive link is connected with drive component；Drive rod, one end of drive rod is rotated with one end of the second drive link and is connected, and the other end of drive rod is rotated by the second bearing pin with operation enforcement division to be connected；Wherein, drive component drives the motion of the second drive link, and the second drive link drives drive rod to move so that operation enforcement division is rotated around the first bearing pin.The transmission component that the present invention is provided, realize motion mode of the enforcement division along a fixed-axis rotation that will perform the operation, so that operation enforcement division possesses the free degree of a rotation and reliable rotation can be realized in limited space, the flexibility of operation enforcement division motion is improved.
Description
Technical field
The present invention relates to Medical robot technical field, in particular to a kind of transmission component, the hand of operating robot
Art apparatus and operating robot.
Background technology
At present, robot assisted micro-wound surgical operation is increasingly becoming the development trend of micro-wound surgical operation, in correlation technique
In, due to micro-wound surgical operation own characteristic so that the activity space of robot is greatly limited, cause robot can not be certainly
By moving, and due to operating robot operating theater instruments it is complicated, volume is big, further have compressed the activity of robot
Space.Therefore, how to design a operating robot that neatly can be assembled and move in limited space turns into urgent need solution
Certainly the problem of.
The content of the invention
At least one in order to solve the above-mentioned technical problem, the embodiment of the first aspect of the present invention proposes a kind of transmission group
Part.
A kind of the second aspect of the present invention embodiment, it is also proposed that operating theater instruments of operating robot.
A kind of the third aspect of the present invention embodiment, it is also proposed that operating robot.
In view of this, embodiment according to the first aspect of the invention, the present invention proposes a kind of transmission component, for hand
The operating theater instruments of art robot, the operating theater instruments of operating robot includes drive component and operation enforcement division, and transmission component includes：
First drive link, one end of the first drive link is rotated with operation enforcement division by the first bearing pin to be connected；Second drive link, second passes
Lever is connected with drive component；Drive rod, one end of one end of drive rod and the second drive link, which is rotated, to be connected, drive rod it is another
One end is rotated with operation enforcement division by the second bearing pin and is connected；Wherein, drive component drives the motion of the second drive link, the second transmission
Bar drives drive rod to move so that operation enforcement division is rotated around the first bearing pin.
The transmission component that the present invention is provided, can drive the second drive link and drive rod motion so that hand by drive component
Art enforcement division is rotated around the first bearing pin, is so achieved that motion mode of the enforcement division along a fixed-axis rotation that will perform the operation so that hand
Art enforcement division possesses the free degree of a rotation and reliable rotation can be realized in limited space, such to rotate
Similar to the carpal front and rear flexibility for rotating, thus improving operation enforcement division motion of human body so that in actually control hand
Can be more flexible, convenient during art enforcement division, improve the function of the operating theater instruments for the operating robot for possessing the transmission component
Property, improve the flexibility of operation technique.
In addition, the transmission component in above-described embodiment that the present invention is provided can also have following additional technical feature：
In the above-mentioned technical solutions, it is preferable that the first drive link is hollow structure, the second drive link is arranged on the first transmission
In bar.
In the technical scheme, the first drive link is hollow structure and the second drive link is arranged in the first drive link, is led to
Cross and the second drive link is embedded in the first drive link, reduce the volume of the operating theater instruments of transmission component and operating robot, enter
And efficiently reducing occupancy of the operating theater instruments to space of transmission component operating robot so that the structure of device is compacter
Rationally.
In any of the above-described technical scheme, it is preferable that also include：Guide pad, guide pad is arranged in the first drive link, is led
Block is provided with guide groove, drive rod is embedded in guide groove.
In the technical scheme, by setting guide pad and drive rod being embedded in the guide groove of guide pad, realize and be oriented to
Block plays a part of guiding to drive rod, so can improve transmission efficiency and be effectively guaranteed the standard of the drive rod direction of motion
True property and the stability of motion.
In any of the above-described technical scheme, it is preferable that be provided with position limiting structure in the first drive link, position limiting structure is used for the
One drive link it is spacing.
In the technical scheme, it is provided with the first drive link for the position limiting structure spacing to the first drive link, to prevent
Only because the first drive link more spend motion cause operation enforcement division rotate excessively can not normal reset, and thus limit operation perform
The slewing area in portion.
In any of the above-described technical scheme, it is preferable that the scope of the rotational angle of operation enforcement division is 50 ° to 100 °.
In the technical scheme, the scope of the rotational angle for enforcement division of performing the operation is 50 ° to 100 °, that is, performs the operation enforcement division in
Between the position scope of angle that allows to rotate to same direction be 25 ° to 50 °, general preferable 45 °, can either so ensure hand
The feature that art enforcement division is rotated, while also avoiding causing operation enforcement division can not normal reset because rotating excessively.
The embodiment of second aspect of the present invention additionally provides a kind of operating theater instruments of operating robot, including：Drive component；
Operation enforcement division；And above-mentioned transmission component, drive component and operation enforcement division are connected with transmission component respectively.
The operating theater instruments for the operating robot that the present invention is provided, by using above-mentioned transmission component, realizing to perform the operation
Motion mode of the enforcement division along a fixed-axis rotation so that operation enforcement division possesses the free degree of a rotation and can had
The reliable flexibility for rotating, improving operation enforcement division motion is realized in the space of limit so that perform in actually control operation
Can be more flexible, convenient during portion, the feature of the operating theater instruments of operating robot is improved, the flexible of operation technique is improved
Property.
In addition, the operating theater instruments of the operating robot in above-described embodiment that the present invention is provided can also have following add
Technical characteristic：
In the above-mentioned technical solutions, it is preferable that drive component includes：Contiguous block, the second drive link is connected with contiguous block；
Screw mandrel, contiguous block is set on screw mandrel；Motor, the output shaft of motor is connected with screw mandrel；Wherein, motor drive screw is rotated simultaneously
Axial movement of the contiguous block along screw mandrel is driven, so that the second drive link is moved.
In the technical scheme, by setting screw mandrel with by the linear motion for being changed into contiguous block of motor, and then
The second drive link is driven to move so that operation enforcement division rotation, is realized by drive component to the second drive link direction of motion
Transformation, while the flexibility of device inner structure setting is improved, while also allowing for follow-up maintenance and replacing.
In any of the above-described technical scheme, it is preferable that be arranged with retainer ring on the second drive link；Contiguous block is provided with installation
Groove, retainer ring is folded in mounting groove.
In the technical scheme, by retainer ring with the cooperation of the mounting groove on contiguous block to be connected the second drive link and company
Connect block so that the second drive link is consistent with the motion of contiguous block, lift the control essence for the second drive link and operation enforcement division
Degree.
In any of the above-described technical scheme, it is preferable that one end of screw mandrel is provided with the first terminal pad, the output shaft of motor
It is provided with the second terminal pad；Wherein, in the first terminal pad and the second terminal pad one is upper to set fluted, setting on another
There is projection, groove is adapted with projection, by groove with raised cooperation so that the second terminal pad drives the first terminal pad to rotate.
In the technical scheme, screw mandrel is connected with the output shaft of motor by the first terminal pad and the second terminal pad, its
In raised or groove is respectively arranged with two terminal pads, so more improve flexibility and the versatility of apparatus structure, together
When also allow for the first terminal pad during motor rotation and found accurately with the second terminal pad, that both realizes is reliably connected.
In any of the above-described technical scheme, it is preferable that operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, holds pin
Device or endoscope.
In the technical scheme, operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, needle holder or endoscope, on
The various operation enforcement divisions stated are required for the motion control of complexity, and the operation of the operating robot during actual use
Apparatus can realize that enforcement divisions are reliable, high-precision rotation for various operations, and the operating theater instruments for lifting operating robot is grasped
The flexibility of work, it is ensured that operation is normally carried out.
The embodiment of third aspect present invention additionally provides a kind of operating robot, including：Above-mentioned operating robot
Operating theater instruments.
The operating robot that the present invention is provided, by using the operating theater instruments of above-mentioned operating robot, is realized hand
Motion mode of the art enforcement division along a fixed-axis rotation so that operation enforcement division possesses the free degree of a rotation and can be
Realization is reliably rotated in limited space, and such rotate is similar to the carpal front and rear rotation of human body, thus improves hand
The flexibility of art enforcement division motion so that can be more flexible, convenient in actually control operation enforcement division, improves surgical engine
The feature of device people, improves the flexibility of operation technique.
The additional aspect and advantage of the present invention will become obvious in following description section, or pass through the practice of the present invention
Recognize.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is the structural representation of an embodiment of the present invention；
Fig. 2 is the close-up schematic view of part A in structure shown in Fig. 1；
Fig. 3 is the close-up schematic view of part B in structure shown in Fig. 1；
Fig. 4 is the structural representation of an embodiment of the present invention；
Fig. 5 is the close-up schematic view of C portion in structure shown in Fig. 4；
Fig. 6 is the structural representation of the transmission component of an embodiment of the present invention；
Fig. 7 is the close-up schematic view of D parts in structure shown in Fig. 6；
Fig. 8 is the drive component structural representation of an embodiment of the present invention.
Wherein, corresponding relations of the Fig. 1 into Fig. 8 between reference and component names is：
102 first drive links, 104 first bearing pins, 106 second drive links, 1062 retainer rings, 108 drive rods, 110 second
Bearing pin, the operating theater instruments of 2 operating robots, 22 operation enforcement divisions, 24 drive components, 242 contiguous blocks, 2422 mounting grooves, 244
Bar, 2,442 first terminal pads, 246 motors, 2,462 second terminal pads.
Embodiment
It is below in conjunction with the accompanying drawings and specific real in order to be more clearly understood that the above objects, features and advantages of the present invention
Mode is applied the present invention is further described in detail.It should be noted that in the case where not conflicting, the implementation of the application
Feature in example and embodiment can be mutually combined.
Many details are elaborated in the following description to facilitate a thorough understanding of the present invention, still, the present invention may be used also
Implemented with being different from other modes described here using other, therefore, protection scope of the present invention is not by described below
Specific embodiment limitation.
The hand of transmission component described according to some embodiments of the invention, operating robot is described referring to Fig. 1 to Fig. 8
Art apparatus and operating robot.
As shown in Figures 1 to 7, the invention provides a kind of transmission component, for the operating theater instruments 2 of operating robot, hand
The operating theater instruments 2 of art robot includes drive component 24 and operation enforcement division 22, and transmission component includes：First drive link 102, the
One end of one drive link 102 is rotated by the first bearing pin 104 with operation enforcement division 22 and is connected；Second drive link 106, the second transmission
Bar 106 is connected with drive component 24；One end of drive rod 108, one end of drive rod 108 and the second drive link 106, which is rotated, to be connected
Connect, the other end of drive rod 108 is rotated by the second bearing pin 110 with operation enforcement division 22 to be connected；Wherein, drive component 24 drives
Second drive link 106 is moved, and the second drive link 106 drives drive rod 108 to move so that enforcement division 22 of performing the operation is around the first bearing pin 104
Rotate.
The transmission component that the present invention is provided, can drive the He of the second drive link 106 by the drive component 24 of drive component 24
Drive rod 108 is moved so that enforcement division 22 of performing the operation is rotated around the first bearing pin 104, is so achieved that enforcement division 22 along one of performing the operation
The motion mode of fixed-axis rotation so that operation enforcement division 22 possesses the free degree of a rotation and can be in limited space
Interior realize reliably rotates, and such rotate is similar to the carpal front and rear rotation of human body, thus improves operation enforcement division 22
The flexibility of motion so that can be more flexible, convenient in actually control operation enforcement division 22, improves and possesses the transmission group
The feature of the operating theater instruments 2 of the operating robot of part, improves the flexibility of operation technique.
In one embodiment of the invention, it is preferable that as shown in Figures 4 to 7, the first drive link 102 is hollow structure,
Second drive link 106 is arranged in the first drive link 102.
In this embodiment, the first drive link 102 is hollow structure and the second drive link 106 is arranged on the first drive link
In 102, by the way that the second drive link 106 is embedded in the first drive link 102, the operation of transmission component and operating robot is reduced
The volume of apparatus 2, and then efficiently reduce occupancy of the operating theater instruments 2 to space of transmission component operating robot so that dress
The structure put more compact and reasonable.
In one embodiment of the invention, it is preferable that also include：Guide pad, guide pad is arranged on the first drive link 102
In, guide pad is provided with guide groove, and drive rod 108 is embedded in guide groove.
In this embodiment, by setting guide pad and drive rod 108 being embedded in the guide groove of guide pad, realize and be oriented to
Block plays a part of guiding to drive rod 108, can so improve transmission efficiency and be effectively guaranteed the side of moving of drive rod 108
To accuracy and motion stability.
In one embodiment of the invention, it is preferable that be provided with position limiting structure, position limiting structure in the first drive link 102
For the spacing of the first drive link 102.
In this embodiment, it is provided with the first drive link 102 for the position limiting structure spacing to the first drive link 102,
With prevent because the degree motion of the first drive link more than 102 cause operation enforcement division 22 rotate excessively can not normal reset, and thus limit
Surely the slewing area for enforcement division 22 of performing the operation.
In one embodiment of the invention, it is preferable that operation enforcement division 22 rotational angle scope for 50 ° extremely
100°。
In this embodiment, operation enforcement division 22 rotational angle scope be 50 ° to 100 °, that is, perform the operation enforcement division 22 by
The scope for the angle that centre position allows to rotate to same direction is 25 ° to 50 °, general preferable 45 °, can either so be ensured
The feature that enforcement division 22 of performing the operation is rotated, while also avoiding causing operation enforcement division 22 can not normal reset because rotating excessively.
Present invention also offers a kind of operating theater instruments 2 of operating robot, as shown in Figures 1 to 8, including：Drive component
24；Operation enforcement division 22；And above-mentioned transmission component, drive component 24 and operation enforcement division 22 are connected with transmission component respectively
Connect.
The operating theater instruments 2 for the operating robot that the present invention is provided, by using above-mentioned transmission component, realizing to perform the operation
Motion mode of the enforcement division 22 along a fixed-axis rotation so that operation enforcement division 22 possesses the free degree of a rotation and can
The reliable flexibility for rotating, improving the operation motion of enforcement division 22 is realized in limited space so that actually controlling hand
Can be more flexible, convenient during art enforcement division 22, the feature of the operating theater instruments 2 of operating robot is improved, operation is improved
The flexibility of operation.
In one embodiment of the invention, it is preferable that as depicted in figs. 1 and 2, drive component 24 includes：Contiguous block
242, the second drive link 106 is connected with contiguous block 242；Screw mandrel 244, contiguous block 242 is set on screw mandrel 244；Motor 246,
The output shaft of motor 246 is connected with screw mandrel 244；Wherein, the drive screw 244 of motor 246 rotates and drives contiguous block 242 along silk
The axial movement of bar 244, so that the second drive link 106 is moved.
In this embodiment, by set screw mandrel 244 with by motor 246 be changed into contiguous block 242 straight line transport
It is dynamic, and then drive the second drive link 106 to move so that enforcement division 22 of perform the operation is rotated, realize by the transmission of drive component 24 to the second
Transformation in the direction of motion of bar 106, at the same improve device inner structure setting flexibility, while also allow for follow-up maintenance and
Change.
In one embodiment of the invention, it is preferable that as shown in figure 5, being arranged with retainer ring on the second drive link 106
1062；Contiguous block 242 is provided with mounting groove 2422, and retainer ring 1062 is folded in mounting groove 2422.
In this embodiment, by retainer ring 1062 with the cooperation of the mounting groove 2422 on contiguous block 242 to be connected second
Drive link 106 and contiguous block 242 so that the second drive link 106 is consistent with the motion of contiguous block 242, lifting is for the second transmission
The control accuracy of bar 106 and operation enforcement division 22.
In one embodiment of the invention, it is preferable that as shown in Figure 2 and Figure 8, one end of screw mandrel 244 is provided with first
The second terminal pad 2462 is provided with terminal pad 2442, the output shaft of motor 246；Wherein, the first terminal pad 2442 and second connects
Connect one in disk 2462 it is upper set fluted, be provided with projection on another, groove is adapted with projection, by groove with it is convex
The cooperation risen is so that the second terminal pad 2462 drives the first terminal pad 2442 to rotate.
In this embodiment, the output shaft of screw mandrel 244 and motor 246 passes through the first terminal pad 2442 and the second terminal pad
2462 are connected, and raised or groove is respectively arranged with two of which terminal pad, the flexibility of apparatus structure is so more improved
And versatility, found accurately while also allowing for the first terminal pad 2442 during motor 246 rotates with the second terminal pad 2462,
Realize both be reliably connected.
In one embodiment of the invention, it is preferable that operation enforcement division 22 include scissors, nipper, electric hook, elastic separating plier,
Needle holder or endoscope.
In this embodiment, operation enforcement division 22 includes scissors, nipper, electric hook, elastic separating plier, needle holder or endoscope, on
The various operation enforcement divisions 22 stated are required for the motion control of complexity, and the hand of the operating robot during actual use
Art apparatus 2 can realize that enforcement divisions 22 are reliable, high-precision rotation for various operations, the surgical device of lifting operating robot
The flexibility that tool 2 is operated, it is ensured that operation is normally carried out.
Present invention also offers a kind of operating robot, including：The operating theater instruments 2 of above-mentioned operating robot.
The operating robot that the present invention is provided, by using the operating theater instruments 2 of above-mentioned operating robot, is realized hand
Motion mode of the art enforcement division 22 along a fixed-axis rotation so that operation enforcement division 22 possesses the free degree and energy of a rotation
Enough realizations in limited space are reliably rotated, and such rotate is similar to the carpal front and rear rotation of human body, is thus lifted
The flexibility that operation enforcement division 22 is moved so that can be more flexible, convenient in actually control operation enforcement division 22, improves
The feature of operating robot, improves the flexibility of operation technique.
In the present invention, term " multiple " then refers to two or more, unless otherwise clear and definite restriction.Term " peace
The term such as dress ", " connected ", " connection ", " fixation " all should be interpreted broadly, for example, " connection " can be fixedly connected, can also
It is to be detachably connected, or is integrally connected；" connected " can be joined directly together, and can also be indirectly connected to by intermediary.It is right
For one of ordinary skill in the art, the concrete meaning of above-mentioned term in the present invention can be understood as the case may be.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.
Mean that combining the embodiment or specific features, structure, material or the feature of example description is contained at least one reality of the invention
Apply in example or example.In this manual, identical embodiment or reality are not necessarily referring to the schematic representation of above-mentioned term
Example.Moreover, description specific features, structure, material or feature can in any one or more embodiments or example with
Suitable mode is combined.
The preferred embodiments of the present invention are the foregoing is only, are not intended to limit the invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.Within the spirit and principles of the invention, that is made any repaiies
Change, equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (11)
1. a kind of transmission component, for the operating theater instruments of operating robot, the operating theater instruments of the operating robot includes driving
Component and operation enforcement division, it is characterised in that the transmission component includes：
First drive link, one end of first drive link is rotated with operation enforcement division by the first bearing pin to be connected；
Second drive link, second drive link is connected with the drive component；
Drive rod, one end of the drive rod rotates with one end of second drive link and is connected, the other end of the drive rod
Rotated and be connected with the operation enforcement division by the second bearing pin；
Wherein, the drive component drives the second drive link motion, and second drive link drives the drive rod motion
So that the operation enforcement division is rotated around first bearing pin.
2. transmission component according to claim 1, it is characterised in that
First drive link is hollow structure, and second drive link is arranged in first drive link.
3. transmission component according to claim 2, it is characterised in that also include：
Guide pad, the guide pad is arranged in first drive link, and the guide pad is provided with guide groove, the drive rod
It is embedded in the guide groove.
4. transmission component according to claim 2, it is characterised in that
Position limiting structure is provided with first drive link, the position limiting structure is used for the spacing of first drive link.
5. transmission component according to any one of claim 1 to 4, it is characterised in that
The scope of the rotational angle of the operation enforcement division is 50 ° to 100 °.
6. a kind of operating theater instruments of operating robot, it is characterised in that including：
Drive component；
Operation enforcement division；And
Transmission component as any one of claim 1 to 5, the drive component and the operation enforcement division respectively with institute
Transmission component is stated to be connected.
7. the operating theater instruments of operating robot according to claim 6, it is characterised in that the drive component includes：
Contiguous block, second drive link is connected with the contiguous block；
Screw mandrel, the contiguous block is set on the screw mandrel；
Motor, the output shaft of the motor is connected with the screw mandrel；
Wherein, the motor drives the screw mandrel to rotate and drive axial movement of the contiguous block along the screw mandrel, so that institute
State the motion of the second drive link.
8. the operating theater instruments of operating robot according to claim 7, it is characterised in that
Retainer ring is arranged with second drive link；
The contiguous block is provided with mounting groove, and the retainer ring is folded in the mounting groove.
9. the operating theater instruments of operating robot according to claim 7, it is characterised in that
One end of the screw mandrel is provided with the first terminal pad, the output shaft of the motor and is provided with the second terminal pad；
Wherein, in first terminal pad and second terminal pad one upper to set fluted, is provided with another convex
Rise, the groove is adapted with the projection, by the groove and the raised cooperation so that the second terminal pad drive the
One terminal pad is rotated.
10. the operating theater instruments of the operating robot according to any one of claim 6 to 9, it is characterised in that
The operation enforcement division includes scissors, nipper, electric hook, elastic separating plier, needle holder or endoscope.
11. a kind of operating robot, it is characterised in that including：
The operating theater instruments of operating robot as any one of claim 6 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646011.0A CN107320191B (en) | 2017-07-31 | 2017-07-31 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710646011.0A CN107320191B (en) | 2017-07-31 | 2017-07-31 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
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| Publication Number | Publication Date |
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| CN107320191A true CN107320191A (en) | 2017-11-07 |
| CN107320191B CN107320191B (en) | 2021-10-15 |
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ID=60199779
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| CN201710646011.0A Active CN107320191B (en) | 2017-07-31 | 2017-07-31 | Transmission assembly, surgical instrument of surgical robot and surgical robot |
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Address after: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant after: CHENGDU BORNS MEDICAL ROBOT Co.,Ltd. Address before: 610041 Tianfu Software Park Area B, Chengdu High-tech Zone, Sichuan Province Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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