CN107440798A - A kind of robot controller - Google Patents
A kind of robot controller Download PDFInfo
- Publication number
- CN107440798A CN107440798A CN201710677486.6A CN201710677486A CN107440798A CN 107440798 A CN107440798 A CN 107440798A CN 201710677486 A CN201710677486 A CN 201710677486A CN 107440798 A CN107440798 A CN 107440798A
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- China
- Prior art keywords
- control device
- driving rope
- drive
- driving
- robot controller
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Classifications
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- 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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The present invention relates to field of medical device, disclose a kind of robot controller, the robot being applicable includes the operating theater instruments of mechanical arm and connection on the robotic arm, operating theater instruments is controlled by driving rope, including cabinet, driving rope control device, feed control device and control device for pivoting, driving rope control device is arranged on cabinet with control device for pivoting, wherein, driving rope control device is used to drive driving rope to be stretched, control device for pivoting is used to drive mechanical arm to rotate, feed control device is used to drive cabinet to move, to realize the feeding of mechanical arm.The present invention can carry out centralized Control to driving rope with mechanical arm, compared with the prior art for can simplify structure, reduce and coordinate difficulty, and then production cost can be reduced.
Description
Technical field
The present invention relates to field of medical device, more particularly, to a kind of medical machinery people, is specifically related to the control of robot
Device processed.
Background technology
With the development of technology, medical robot is more and more applied to medical field, for aiding in doctor complete
Into operation technique.Common medical robot includes the operating theater instruments on mechanical arm and connection mechanical arm, and robot requires tool
There are multiple frees degree, such as the rotation and operating theater instruments of feeding of the mechanical arm along itself axial direction, mechanical arm around itself axial direction
Motion (by taking clamping jaw as an example, it is necessary to be related to clamping jaw folding and clamping jaw towards the rotation on four direction), in the prior art on
State motion to be controlled by different devices respectively, complicated, the cooperation difficulty between device is big, it is difficult to meets the need of people
Ask.
The content of the invention
For overcome the deficiencies in the prior art, the present invention provides a kind of robot controller, for solving prior art
It is complicated, the problem of cooperation difficulty between device is big.
The technical solution adopted for the present invention to solve the technical problems is：
A kind of robot controller, the robot being applicable include the surgical device of mechanical arm and connection on the robotic arm
Tool, operating theater instruments are controlled by driving rope, including cabinet, driving rope control device, feed control device are with rotating control dress
To put, driving rope control device is arranged on cabinet with control device for pivoting, wherein, driving rope control device is used to drive driving rope
Stretched, control device for pivoting is used to drive mechanical arm to rotate, and feed control device is used to drive cabinet to move, to realize machine
The feeding of tool arm.
As the further improved procedure of such scheme, driving rope control device includes pedestal and on pedestal
Gear, rack and pinion power set, rack is distributed in gear both sides, and is engaged respectively with gear, and gear can be in gear transmission
Opposite base rotates under the driving of device, to drive the rack synchronous of both sides and counter motion.
As the further improved procedure of such scheme, driving rope control device also includes being used to adjust driving rope tensioning journey
The tensioning apparatus of degree, tensioning apparatus include the swing seat and drive device being arranged on rack, and swing seat can be in drive device
The lower relative rack of driving is swung, and driving rope is tensioned/loosened with the swing of swing seat.
As the further improved procedure of such scheme, tensioning apparatus also includes the fixed seat being arranged on rack, swings
Seat is provided with tensioning wheel, drives the end of rope to be fixedly connected after bypassing tensioning wheel with fixed seat.
As the further improved procedure of such scheme, fixed seat includes upper holder block and lower lock block, upper holder block and lower lock block
Between removably connect, between upper holder block and lower lock block be provided with anchor portion buckling groove.
As the further improved procedure of such scheme, drive device includes drive seat and the screw being arranged on rack,
Tapped through hole is provided with drive seat, screw is spun in tapped through hole, the end of screw stretched out out of tapped through hole and with swing
Seat supports.
As the further improved procedure of such scheme, control device for pivoting includes connector and rotational power plant, even
Fitting is rotatablely connected with cabinet, and rotational power plant drive connection part rotates around Pivot Point Center.
As the further improved procedure of such scheme, rotational power plant is motor, and control device for pivoting also includes master
Driving wheel, driven pulley and timing belt, driving wheel are fixedly connected with the drive shaft of motor, and driven pulley is fixedly connected with connector, synchronous
Band is rotating around being located at driving wheel, on driven pulley.
As the further improved procedure of such scheme, feed control device includes frame, slide rail, sliding block and feeding power
Device, slide rail are fixedly connected with frame, and sliding block is fixedly connected with cabinet, and are slidably connected with slide rail, the driving of feeding power device
Sliding block slides with respect to slide rail.
As the further improved procedure of such scheme, feeding power device is motor, and feed control device also includes master
Driving wheel, driven pulley, screw mandrel and screw rodb base, driving wheel are fixedly connected with the drive shaft of motor, and driven pulley is fixedly connected with screw mandrel, silk
Bar is threadedly coupled with screw rodb base, and screw rodb base is fixedly connected with cabinet, driving wheel, driven pulley intermeshing.
The beneficial effects of the invention are as follows：
The present invention can to driving rope with mechanical arm carry out centralized Control, compared with the prior art for can simplify structure,
Reduce and coordinate difficulty, and then production cost can be reduced.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the schematic perspective view for the robot that the present invention is applicable；
Fig. 2 is the schematic perspective view of one embodiment of the invention；
Fig. 3 is the schematic perspective view on one direction of present invention driving rope control device；
Fig. 4 is the schematic perspective view on another direction of present invention driving rope control device；
Fig. 5 is the schematic diagram that tensioning apparatus of the present invention is connected with rack；
Fig. 6 is the schematic perspective view that control device for pivoting of the present invention is connected with cabinet；
Fig. 7 is the schematic perspective view of feed control device of the present invention.
Embodiment
Carried out below with reference to the design of embodiment and accompanying drawing to the present invention, concrete structure and caused technique effect clear
Chu, complete description, to be completely understood by the purpose of the present invention, scheme and effect.It should be noted that in situation about not conflicting
Under, the feature in embodiment and embodiment in the application can be mutually combined.
It should be noted that unless otherwise specified, when a certain feature is referred to as " fixing ", " connection " in another feature,
It can directly fix, be connected in another feature, can also indirectly fix, be connected in another feature.In addition, this
The descriptions such as the up, down, left, right, before and after used in invention be only relative in accompanying drawing each part of the present invention it is mutual
For position relationship.
In addition, unless otherwise defined, the technology of all of technologies and scientific terms used here by the article and the art
The implication that personnel are generally understood that is identical.Term used in the description is intended merely to describe specific embodiment herein, without
It is to limit the present invention.Term as used herein " and/or " include the arbitrary of one or more related Listed Items
Combination.
Reference picture 1, the schematic perspective view for the robot that the present invention is applicable is shown, truncation has been carried out in figure.Such as
Shown in figure, robot include mechanical arm 1 be connected the end of mechanical arm 1 operating theater instruments 2 (be clamping jaw in the present embodiment, can also
Replace with other operating theater instruments), by taking clamping jaw as an example, robot has the free degree on five directions：That is the folding of clamping jaw, folder
Pawl around the rotation in joint 3, clamping jaw around joint 4 rotation and mechanical arm around Pivot Point Center of rotation, mechanical arm along itself axially
Feeding.The rotation around joint 4 of rotation and clamping jaw of the folding of clamping jaw in the present embodiment, clamping jaw around joint 3 is restricted by driving
Control.
Reference picture 2, show the schematic perspective view of one embodiment of the invention.As illustrated, robot controller bag
Include driving rope control device 100, control device for pivoting 200, feed control device 300 and cabinet 400, driving rope control device
100 are arranged on cabinet 400 with control device for pivoting 200.Driving rope control device 100 is used to drive above-mentioned driving rope to carry out
It is flexible, so as to control clamping jaw to be acted accordingly；Control device for pivoting is used to drive mechanical arm 1 to rotate, feed control device
300 are used to drive cabinet 400 to move, to realize the feeding of mechanical arm 1.The present invention can concentrate to driving rope with mechanical arm
Control, compared with the prior art for can simplify structure, reduce and coordinate difficulty, and then production cost can be reduced.
Reference picture 3, Fig. 4, respectively illustrate the solid on present invention driving rope control device one embodiment different directions
Schematic diagram.As illustrated, gear 120, rack 130 and tooth the invention mainly comprises pedestal 110 and on pedestal 110
Take turns power set 140.
Gear power unit 140 is fixed on the bottom surface of pedestal 110, and its drive shaft is stretched out upwards from the via on pedestal 110.
Gear 120 is fixedly connected in the drive shaft of gear power unit 140, so as to be connected indirectly with pedestal 110.Rack 130 divides
Cloth engages with gear 120 respectively in the both sides of gear 120, in this way, when under driving of the gear 120 in gear power unit 140
When opposite base 110 rotates, the rack 130 of both sides can be with the synchronization of opposite base 110 and counter motion, so as to affect correspondingly
Driving rope be synchronized with the movement, driving rope control device passes through the synchronous fortune that the mechanical drive modes such as gear-tooth bar realize driving rope
It is dynamic, it is not related to the gear power unit and control device of complexity, helps to reduce Material Cost height, reduce assembly difficulty.
Preferably, rack 130 is corresponded on substrate 110 and is fixedly connected with slide track seat 111, is fixedly connected with slide track seat 111
Slide rail 112, sliding block 113 is fixedly connected with rack 130, and rack 130 is realized relative by the cooperation of sliding block 113 and slide rail 112
Pedestal 110 is slidably.Certainly, rack 130 can also be slided using other known features opposite bases 110, the present invention
This is not construed as limiting.
Gear power unit 140 in the present embodiment is preferably motor, naturally it is also possible to using such as hydraulic motor other
Known gear power unit, this is not limited by the present invention.
In addition, the present invention is additionally provided with unshowned sensor, sensor moves to stroke end checking rack 130
When controlled motor stall.
Driving rope may relax in transmission process, influence control effect, based on this, the present invention is additionally provided with use
The tensioning apparatus 150 of rope tensioning degree is driven in regulation.In addition, present invention additionally comprises the peace of the bourdon tube on pedestal 110
Seat 160 is filled, bourdon tube 170 is installed in spring pipe mounting seat 160, for spacing to driving rope progress Flexible Control and space.
Specifically, reference picture 5, Fig. 5 show the schematic diagram that tensioning apparatus of the present invention is connected with rack.As illustrated,
Tight device 150 includes swing seat 151, rotating shaft 152, drive seat 153 and the screw 154 being arranged on rack 130.Swing seat 151
It is rotatablely connected by rotating shaft 152 and rack 130, drive seat 153 forms drive device with screw 154, for driving swing seat 151
Swung with respect to rack 130, and then driving rope is tensioned/is loosened along its length direction.
Rotating shaft 152 uses bolt in the present embodiment, the end of its screw rod through screw in after the through hole in swing seat 151 to
In screwed hole on rack 130, and by nut limit swing seat 151 vertically on displacement.Drive seat 153 and rack
130 are fixedly connected, and are provided with unshowned tapped through hole, and screw 154 is spun in tapped through hole, and its end is from tapped through hole
It is interior to stretch out and supported with swing seat 151, in this way, with the screw-in of screw 154, swing seat 151 can be with relative rack 130 towards one
Individual direction (being illustrated as clockwise) rotates, and then is tensioned driving rope；With the back-out of screw 154, swing seat 151 is driving
Towards reversely (being illustrated as counterclockwise) rotating under the pulling force effect of rope, reduce the tension force of driving rope.
Driving rope directly can be connected with swing seat 151, can also form movable pulley structure, i.e. tensioning apparatus as shown in the figure
150 also include the fixed seat 155 on rack 130, and tensioning wheel 156 is fixedly connected with swing seat 151.Driving rope 180
End bypass tensioning wheel 156 after be fixedly connected again with fixed seat 155, according to the principle of movable pulley, drive the move distance of rope
Equal to twice of the move distance of tensioning wheel 156, so as to reduce the volume of tensioning apparatus.
As driving rope and a kind of preferred connected mode of fixed seat 155, fixed seat 155 includes upper holder block 1551 with pushing
Block 1552, upper holder block 1551 are connected by screw with lower lock block 1552, and clamping is provided between upper holder block 1551 and lower lock block 1552
Groove 1553.In use, in the terminal structure of end set one of driving rope, terminal structure is embedded in buckling groove 1553 and can realized
Driving rope is fixedly connected with fixed seat 155.
Preferably, the pilot hole 1554 being oriented to driving rope is additionally provided between upper holder block 1551 and lower lock block 1552,
Driving rope is located in pilot hole 1554 and can be along the axial movement of pilot hole 1554.
Reference picture 3, Fig. 4, spring pipe mounting seat 160 is similar with fixed seat 155, including upper holder block and lower lock block, lower lock block
It is fixedly connected with pedestal 110, upper holder block is connected by screw with lower lock block, and buckling groove, bullet are formed between upper holder block and lower lock block
Reed pipe 170 is fixed in the buckling groove.The axle center of bourdon tube 170, buckling groove 1553 and pilot hole 1554 is in same in the present invention
In one plane so that driving rope also maintains on a horizontal plane all the time, ensures the stability of transmission.
Driving rope alleged by the present invention both includes the soft drive rope that can only transmit pulling force, also includes that pulling force and one can be transmitted
Determine the rigidity driving rope (such as steel wire rope) of thrust.
The quantity of driving rope control device 100 can adjust as needed, by taking the present embodiment as an example, because clamping jaw needs three
To driving rope be controlled, therefore be provided with cabinet three driving rope control devices 100, three driving rope control device 100 it
Between independently of each other.
Reference picture 6, the schematic perspective view that control device for pivoting of the present invention is connected with cabinet is shown, for ease of understanding, figure
In biopsy cavity marker devices have been carried out to the side wall of cabinet, and conceal other devices.As illustrated, control device for pivoting 200 includes connecting
Fitting 210 and rotational power plant 220, connector 210 are preferably connecting shaft, are turned by the front end side wall of bearing and cabinet 400
Dynamic connection, mechanical arm 1 are fixedly connected by modes such as welding with connecting shaft.
Rotational power plant 220 is preferably motor, is rotated for drive connection part 210 around Pivot Point Center, so as to motivation
Tool arm 1 rotates.Motor both can be rotated directly with follower link 210, can also be passed through a series of transmission as shown in FIG. and be tied
Structure drives indirectly, and the drive mechanism in the present embodiment includes driving wheel 230, driven pulley 240 and unshowned timing belt, driving wheel
230 are fixedly connected with the drive shaft of motor, and driven pulley 240 is fixedly connected with connector, and timing belt is rotating around being located at driving wheel
230th, on driven pulley 240.Certainly, drive mechanism can also use the structures such as gear.
Reference picture 7, show the schematic perspective view of feed control device of the present invention.As illustrated, feed control device 300
Including frame 310, slide rail 320, sliding block 330 and feeding power device 340.
Slide rail 320 is fixedly connected with frame 310, and sliding block 330 is fixedly connected with unshowned cabinet 400, and with slide rail 320
It is slidably connected, feeding power device 340 drives sliding block 330 to be slided with respect to slide rail 320.
Feeding power device 340 is preferably motor, in the present embodiment feed control device 300 also include driving wheel 350, from
Driving wheel 360, screw mandrel 370 and screw rodb base 380, driving wheel 350 are fixedly connected with the drive shaft of motor, driven pulley 360 and screw mandrel 370
It is fixedly connected, screw mandrel 370 is threadedly coupled with screw rodb base 380, and screw rodb base 380 is fixedly connected with unshowned cabinet 400, driving wheel
350th, driven pulley 360 is intermeshed.
If need not accurately be controlled feeding distance, cabinet can also be by cylinder or motor-synchronizing wheel-synchronization
Band system is driven.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent variations on the premise of without prejudice to spirit of the invention or replace
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (10)
1. a kind of robot controller, the robot being applicable includes mechanical arm and the operation being connected on the mechanical arm
Apparatus, the operating theater instruments are controlled by driving rope, it is characterised in that including cabinet, driving rope control device, feeding control
Device and control device for pivoting, the driving rope control device are arranged on the cabinet with control device for pivoting, wherein, it is described
Driving rope control device is used to drive the driving rope to be stretched, and the control device for pivoting is used to drive the mechanical arm to turn
Dynamic, the feed control device is used to drive the cabinet to move, to realize the feeding of the mechanical arm.
2. robot controller according to claim 1, it is characterised in that the driving rope control device includes pedestal
And gear, rack and pinion power set on the pedestal, the rack is distributed in the gear both sides, and divides
Do not engaged with the gear, the gear can rotate under the driving of the gear power unit relative to the pedestal, to drive
The rack synchronous of both sides and counter motion.
3. robot controller according to claim 2, it is characterised in that the driving rope control device also includes using
In adjust it is described driving rope tensioning degree tensioning apparatus, the tensioning apparatus include be arranged on the rack on swing seat with
Drive device, the swing seat relatively described rack can be swung under the driving of the drive device, and the driving rope is with described
The swing of swing seat and be tensioned/loosen.
4. robot controller according to claim 3, it is characterised in that the tensioning apparatus also includes being arranged on institute
State the fixed seat on rack, the swing seat is provided with tensioning wheel, the end of the driving rope bypass after the tensioning wheel with institute
Fixed seat is stated to be fixedly connected.
5. robot controller according to claim 4, it is characterised in that the fixed seat includes upper holder block with pushing
Block, removably connected between the upper holder block and lower lock block, the fixed end is provided between the upper holder block and lower lock block
Buckling groove.
6. robot controller according to claim 3, it is characterised in that the drive device is included installed in described
Drive seat and screw on rack, tapped through hole are provided with the drive seat, the screw is spun in the tapped through hole, institute
The end for stating screw is stretched out out of described tapped through hole and supported with the swing seat.
7. robot controller according to any one of claim 1 to 6, it is characterised in that described to rotate control dress
Put including connector and rotational power plant, the connector is rotatablely connected with the cabinet, the rotational power plant driving
The connector rotates around Pivot Point Center.
8. robot controller according to claim 7, it is characterised in that the rotational power plant is motor, institute
Stating control device for pivoting also includes driving wheel, driven pulley and timing belt, and the drive shaft of the driving wheel and the motor fixes company
Connect, the driven pulley is fixedly connected with the connector, and the timing belt is rotating around being located at the driving wheel, on driven pulley.
9. robot controller according to any one of claim 1 to 6, it is characterised in that the feeding control dress
Put and be fixedly connected including frame, slide rail, sliding block and feeding power device, the slide rail with the frame, the sliding block with it is described
Cabinet is fixedly connected, and is slidably connected with the slide rail, and the feeding power device drives the relatively described slide rail of the sliding block to slide
It is dynamic.
10. robot controller according to claim 9, it is characterised in that the feeding power device is motor, institute
Stating feed control device also includes driving wheel, driven pulley, screw mandrel and screw rodb base, and the drive shaft of the driving wheel and the motor is consolidated
Fixed connection, the driven pulley are fixedly connected with the screw mandrel, and the screw mandrel is threadedly coupled with the screw rodb base, the screw rodb base and
The cabinet is fixedly connected, the driving wheel, driven pulley intermeshing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710677486.6A CN107440798B (en) | 2017-08-09 | 2017-08-09 | Robot control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710677486.6A CN107440798B (en) | 2017-08-09 | 2017-08-09 | Robot control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107440798A true CN107440798A (en) | 2017-12-08 |
| CN107440798B CN107440798B (en) | 2023-09-29 |
Family
ID=60491743
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710677486.6A Active CN107440798B (en) | 2017-08-09 | 2017-08-09 | Robot control device |
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| Country | Link |
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| CN (1) | CN107440798B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108338839A (en) * | 2018-03-12 | 2018-07-31 | 深圳市精锋医疗科技有限公司 | Driving mechanism, motion arm, from operation equipment and operating robot |
| CN108354668A (en) * | 2018-03-16 | 2018-08-03 | 深圳市罗伯医疗科技有限公司 | A kind of operation on digestive tract robotic system |
| CN108498174A (en) * | 2018-03-12 | 2018-09-07 | 深圳市精锋医疗科技有限公司 | Driving mechanism, motion arm, from operation equipment and operating robot |
| CN108498175A (en) * | 2018-03-12 | 2018-09-07 | 深圳市精锋医疗科技有限公司 | From operation equipment and operating robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108338839A (en) * | 2018-03-12 | 2018-07-31 | 深圳市精锋医疗科技有限公司 | Driving mechanism, motion arm, from operation equipment and operating robot |
| CN108498174A (en) * | 2018-03-12 | 2018-09-07 | 深圳市精锋医疗科技有限公司 | Driving mechanism, motion arm, from operation equipment and operating robot |
| CN108498175A (en) * | 2018-03-12 | 2018-09-07 | 深圳市精锋医疗科技有限公司 | From operation equipment and operating robot |
| CN108354668A (en) * | 2018-03-16 | 2018-08-03 | 深圳市罗伯医疗科技有限公司 | A kind of operation on digestive tract robotic system |
| CN108354668B (en) * | 2018-03-16 | 2024-03-15 | 深圳市罗伯医疗科技有限公司 | Auxiliary robot system for digestive tract operation |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107440798B (en) | 2023-09-29 |
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