CN107744405A - 一种机器人从端装置、操作系统及其控制方法 - Google Patents
一种机器人从端装置、操作系统及其控制方法 Download PDFInfo
- Publication number
- CN107744405A CN107744405A CN201710767153.2A CN201710767153A CN107744405A CN 107744405 A CN107744405 A CN 107744405A CN 201710767153 A CN201710767153 A CN 201710767153A CN 107744405 A CN107744405 A CN 107744405A
- Authority
- CN
- China
- Prior art keywords
- seal wire
- conduit
- clamp
- end device
- robot
- 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.)
- Granted
Links
- 238000000034 method Methods 0.000 title abstract description 13
- 238000006073 displacement reaction Methods 0.000 claims abstract description 20
- 238000004891 communication Methods 0.000 claims abstract description 3
- 230000007246 mechanism Effects 0.000 claims description 65
- 230000000712 assembly Effects 0.000 claims description 14
- 238000000429 assembly Methods 0.000 claims description 14
- 238000009434 installation Methods 0.000 claims description 13
- 238000002601 radiography Methods 0.000 claims description 8
- 238000012549 training Methods 0.000 claims description 7
- 238000005259 measurement Methods 0.000 claims description 5
- 238000004458 analytical method Methods 0.000 claims description 3
- 238000001356 surgical procedure Methods 0.000 abstract description 15
- 238000013461 design Methods 0.000 abstract description 6
- 210000004204 blood vessel Anatomy 0.000 description 17
- 238000010586 diagram Methods 0.000 description 15
- 230000033001 locomotion Effects 0.000 description 11
- 230000005540 biological transmission Effects 0.000 description 10
- 238000001514 detection method Methods 0.000 description 10
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 10
- 230000002792 vascular Effects 0.000 description 8
- 230000009471 action Effects 0.000 description 7
- 230000002526 effect on cardiovascular system Effects 0.000 description 6
- 238000003780 insertion Methods 0.000 description 6
- 230000037431 insertion Effects 0.000 description 6
- 208000024172 Cardiovascular disease Diseases 0.000 description 5
- 238000010276 construction Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000011282 treatment Methods 0.000 description 5
- 208000026106 cerebrovascular disease Diseases 0.000 description 4
- 239000002360 explosive Substances 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 210000003739 neck Anatomy 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000033228 biological regulation Effects 0.000 description 3
- 230000006378 damage Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 210000003128 head Anatomy 0.000 description 3
- 239000004033 plastic Substances 0.000 description 3
- 229920003023 plastic Polymers 0.000 description 3
- 230000001141 propulsive effect Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- 238000004659 sterilization and disinfection Methods 0.000 description 3
- 238000003756 stirring Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000002872 contrast media Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000002156 mixing Methods 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000011017 operating method Methods 0.000 description 2
- XEBWQGVWTUSTLN-UHFFFAOYSA-M phenylmercury acetate Chemical compound CC(=O)O[Hg]C1=CC=CC=C1 XEBWQGVWTUSTLN-UHFFFAOYSA-M 0.000 description 2
- 239000002574 poison Substances 0.000 description 2
- 231100000614 poison Toxicity 0.000 description 2
- 238000002360 preparation method Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000001954 sterilising effect Effects 0.000 description 2
- 238000002560 therapeutic procedure Methods 0.000 description 2
- 238000002627 tracheal intubation Methods 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 208000019462 Occupational injury Diseases 0.000 description 1
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 201000011510 cancer Diseases 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000008602 contraction Effects 0.000 description 1
- 210000004351 coronary vessel Anatomy 0.000 description 1
- 208000002925 dental caries Diseases 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 239000011888 foil Substances 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000003862 health status Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 210000003734 kidney Anatomy 0.000 description 1
- 210000004185 liver Anatomy 0.000 description 1
- 230000014759 maintenance of location Effects 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001225 therapeutic effect Effects 0.000 description 1
- 210000001685 thyroid gland Anatomy 0.000 description 1
- 230000026683 transduction Effects 0.000 description 1
- 238000010361 transduction Methods 0.000 description 1
- 210000001364 upper extremity Anatomy 0.000 description 1
- 208000029761 vertebral disease Diseases 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive 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
- A61B34/70—Manipulators specially adapted for use in 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- 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
- A61M2210/00—Anatomical parts of the body
- A61M2210/12—Blood circulatory system
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Media Introduction/Drainage Providing Device (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (13)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710767153.2A CN107744405B (zh) | 2017-08-31 | 2017-08-31 | 一种机器人从端装置、操作系统及其控制方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201710767153.2A CN107744405B (zh) | 2017-08-31 | 2017-08-31 | 一种机器人从端装置、操作系统及其控制方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN107744405A true CN107744405A (zh) | 2018-03-02 |
CN107744405B CN107744405B (zh) | 2024-01-30 |
Family
ID=61255576
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201710767153.2A Active CN107744405B (zh) | 2017-08-31 | 2017-08-31 | 一种机器人从端装置、操作系统及其控制方法 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN107744405B (zh) |
Cited By (21)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108354668A (zh) * | 2018-03-16 | 2018-08-03 | 深圳市罗伯医疗科技有限公司 | 一种消化道手术辅助机器人系统 |
CN108888848A (zh) * | 2018-04-13 | 2018-11-27 | 上海交通大学 | 一种微细丝管精密介入操作的机器人机械系统 |
CN109159115A (zh) * | 2018-08-17 | 2019-01-08 | 哈尔滨工业大学 | 一种面向科普的触觉通信装置 |
CN109939332A (zh) * | 2019-03-11 | 2019-06-28 | 南京航空航天大学 | 一种具有三维力感知能力的血管介入手术用捻旋装置 |
CN110322765A (zh) * | 2018-03-29 | 2019-10-11 | 卡艾保健加拿大公司 | 用于模拟医疗仪器插入受试者中的模块化设备 |
CN110877067A (zh) * | 2018-09-05 | 2020-03-13 | Blm有限公司 | 具有用于检测所加工管的任何滑动的装置的管加工机器 |
CN111150921A (zh) * | 2020-01-22 | 2020-05-15 | 上海庆之医疗科技有限公司 | 血管内介入机器人、导管及血管内介入系统 |
CN111514436A (zh) * | 2020-04-28 | 2020-08-11 | 绍兴梅奥心磁医疗科技有限公司 | 导管移动的控制方法及系统 |
CN111991087A (zh) * | 2020-09-10 | 2020-11-27 | 苏州大学 | 一种微创手术机器人及其末端执行器 |
CN112120791A (zh) * | 2020-09-30 | 2020-12-25 | 中国科学院深圳先进技术研究院 | 一种血管介入手术机器人主端操控装置 |
CN112190311A (zh) * | 2020-10-23 | 2021-01-08 | 山东中医药大学第二附属医院 | 一种浮针用进针装置 |
WO2021004255A1 (zh) * | 2019-07-10 | 2021-01-14 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人从端推进装置及其控制方法 |
CN113454696A (zh) * | 2019-02-05 | 2021-09-28 | 史密夫和内修有限公司 | 使用机器人手术数据进行训练 |
CN113644780A (zh) * | 2021-07-28 | 2021-11-12 | 智新科技股份有限公司 | 一种电机定位装置 |
CN114469354A (zh) * | 2022-04-13 | 2022-05-13 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端初始化方法和可读存储介质 |
WO2022159303A1 (en) * | 2021-01-20 | 2022-07-28 | Covidien Lp | Steerable endoscope system and method |
CN115317125A (zh) * | 2022-08-16 | 2022-11-11 | 文皓(武汉)科技有限责任公司 | 一种准分子激光导管输送装置 |
WO2023280031A1 (zh) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端装置 |
WO2023280049A1 (zh) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端装置 |
WO2023016119A1 (zh) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | 一种具有识别导管导丝直径功能的介入手术机器人驱动装置 |
WO2023030255A1 (zh) * | 2021-07-05 | 2023-03-09 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端装置 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6375471B1 (en) * | 1998-07-10 | 2002-04-23 | Mitsubishi Electric Research Laboratories, Inc. | Actuator for independent axial and rotational actuation of a catheter or similar elongated object |
CN103280145A (zh) * | 2013-05-03 | 2013-09-04 | 上海交通大学 | 心血管介入虚拟手术力反馈系统 |
CN103976766A (zh) * | 2014-05-16 | 2014-08-13 | 天津理工大学 | 一种主从微创血管介入手术辅助系统 |
CN105662588A (zh) * | 2016-03-16 | 2016-06-15 | 北京理工大学 | 一种主从式微创血管介入手术远程操作系统 |
CN105662586A (zh) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | 一种导管导丝协同推送的介入手术机器人及其控制方法 |
US20160338783A1 (en) * | 2012-05-25 | 2016-11-24 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
CN107374737A (zh) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | 一种介入手术机器人导管导丝协同操作系统及其控制方法 |
CN209136865U (zh) * | 2017-08-31 | 2019-07-23 | 首都医科大学附属北京天坛医院 | 一种机器人从端装置、操作系统 |
-
2017
- 2017-08-31 CN CN201710767153.2A patent/CN107744405B/zh active Active
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6375471B1 (en) * | 1998-07-10 | 2002-04-23 | Mitsubishi Electric Research Laboratories, Inc. | Actuator for independent axial and rotational actuation of a catheter or similar elongated object |
US20160338783A1 (en) * | 2012-05-25 | 2016-11-24 | Hansen Medical, Inc. | Low friction instrument driver interface for robotic systems |
CN103280145A (zh) * | 2013-05-03 | 2013-09-04 | 上海交通大学 | 心血管介入虚拟手术力反馈系统 |
CN103976766A (zh) * | 2014-05-16 | 2014-08-13 | 天津理工大学 | 一种主从微创血管介入手术辅助系统 |
CN105662586A (zh) * | 2016-03-03 | 2016-06-15 | 北京理工大学 | 一种导管导丝协同推送的介入手术机器人及其控制方法 |
CN105662588A (zh) * | 2016-03-16 | 2016-06-15 | 北京理工大学 | 一种主从式微创血管介入手术远程操作系统 |
CN107374737A (zh) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | 一种介入手术机器人导管导丝协同操作系统及其控制方法 |
CN209136865U (zh) * | 2017-08-31 | 2019-07-23 | 首都医科大学附属北京天坛医院 | 一种机器人从端装置、操作系统 |
Cited By (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108354668A (zh) * | 2018-03-16 | 2018-08-03 | 深圳市罗伯医疗科技有限公司 | 一种消化道手术辅助机器人系统 |
CN108354668B (zh) * | 2018-03-16 | 2024-03-15 | 深圳市罗伯医疗科技有限公司 | 一种消化道手术辅助机器人系统 |
CN110322765A (zh) * | 2018-03-29 | 2019-10-11 | 卡艾保健加拿大公司 | 用于模拟医疗仪器插入受试者中的模块化设备 |
CN108888848A (zh) * | 2018-04-13 | 2018-11-27 | 上海交通大学 | 一种微细丝管精密介入操作的机器人机械系统 |
CN109159115A (zh) * | 2018-08-17 | 2019-01-08 | 哈尔滨工业大学 | 一种面向科普的触觉通信装置 |
CN110877067A (zh) * | 2018-09-05 | 2020-03-13 | Blm有限公司 | 具有用于检测所加工管的任何滑动的装置的管加工机器 |
CN113454696A (zh) * | 2019-02-05 | 2021-09-28 | 史密夫和内修有限公司 | 使用机器人手术数据进行训练 |
CN109939332A (zh) * | 2019-03-11 | 2019-06-28 | 南京航空航天大学 | 一种具有三维力感知能力的血管介入手术用捻旋装置 |
WO2021004255A1 (zh) * | 2019-07-10 | 2021-01-14 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人从端推进装置及其控制方法 |
CN111150921A (zh) * | 2020-01-22 | 2020-05-15 | 上海庆之医疗科技有限公司 | 血管内介入机器人、导管及血管内介入系统 |
CN111514436A (zh) * | 2020-04-28 | 2020-08-11 | 绍兴梅奥心磁医疗科技有限公司 | 导管移动的控制方法及系统 |
CN111991087A (zh) * | 2020-09-10 | 2020-11-27 | 苏州大学 | 一种微创手术机器人及其末端执行器 |
CN112120791A (zh) * | 2020-09-30 | 2020-12-25 | 中国科学院深圳先进技术研究院 | 一种血管介入手术机器人主端操控装置 |
CN112190311B (zh) * | 2020-10-23 | 2022-05-06 | 山东中医药大学第二附属医院 | 一种浮针用进针装置 |
CN112190311A (zh) * | 2020-10-23 | 2021-01-08 | 山东中医药大学第二附属医院 | 一种浮针用进针装置 |
WO2022159303A1 (en) * | 2021-01-20 | 2022-07-28 | Covidien Lp | Steerable endoscope system and method |
WO2023030255A1 (zh) * | 2021-07-05 | 2023-03-09 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端装置 |
WO2023280031A1 (zh) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端装置 |
WO2023280049A1 (zh) * | 2021-07-05 | 2023-01-12 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端装置 |
US11998294B2 (en) | 2021-07-05 | 2024-06-04 | Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. | Slave-end apparatus for interventional robot |
CN113644780A (zh) * | 2021-07-28 | 2021-11-12 | 智新科技股份有限公司 | 一种电机定位装置 |
WO2023016119A1 (zh) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | 一种具有识别导管导丝直径功能的介入手术机器人驱动装置 |
CN114469354B (zh) * | 2022-04-13 | 2022-06-24 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端初始化方法和可读存储介质 |
CN114469354A (zh) * | 2022-04-13 | 2022-05-13 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端初始化方法和可读存储介质 |
WO2023197489A1 (zh) * | 2022-04-13 | 2023-10-19 | 深圳市爱博医疗机器人有限公司 | 一种介入手术机器人从端初始化方法和可读存储介质 |
CN115317125A (zh) * | 2022-08-16 | 2022-11-11 | 文皓(武汉)科技有限责任公司 | 一种准分子激光导管输送装置 |
Also Published As
Publication number | Publication date |
---|---|
CN107744405B (zh) | 2024-01-30 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN107744405A (zh) | 一种机器人从端装置、操作系统及其控制方法 | |
CN107374737B (zh) | 一种介入手术机器人导管导丝协同操作系统 | |
CN107744406A (zh) | 一种机器人操作平台及其操作方法 | |
CN209136865U (zh) | 一种机器人从端装置、操作系统 | |
CN107374740B (zh) | 一种导管导丝协同操作介入机器人 | |
CN107307909B (zh) | 一种介入机器人远程操作系统 | |
CN107754072A (zh) | 一种导丝控制器及其操作方法 | |
CN107789720A (zh) | 一种导丝辅助夹紧装置及其控制导丝的方法 | |
CN208989133U (zh) | 一种机器人操作平台 | |
CN107753107A (zh) | 一种导丝控制器及其操作方法 | |
CN208893426U (zh) | 一种导丝辅助夹紧装置 | |
CN105662586B (zh) | 一种导管导丝协同推送的介入手术机器人及其控制方法 | |
CN209137698U (zh) | 一种导管控制器 | |
CN107374738A (zh) | 一种介入手术机器人从端及其移动平台和控制方法 | |
CN101991901B (zh) | 用于导管的机器人驱动器 | |
CN105662588B (zh) | 一种主从式微创血管介入手术远程操作系统 | |
CN107374739A (zh) | 一种介入手术机器人从端装置及其控制方法 | |
CN107744616A (zh) | 一种导管控制器及其使用方法 | |
CN107349514A (zh) | 一种介入手术用导管导丝控制装置及其控制方法 | |
CN109567947A (zh) | 一种介入手术机器人从端装置及其控制方法 | |
CN105796179B (zh) | 一种主从介入手术机器人从端操作装置及其控制方法 | |
CN208876745U (zh) | 一种导丝控制器 | |
CN207979771U (zh) | 一种介入手术机器人从端装置及其操作平台 | |
CN207979770U (zh) | 一种介入手术机器人从端及其移动平台 | |
CN106175917A (zh) | 滑动交叉透视骨科椎弓根螺钉置入辅助设备 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20201015 Address after: 100050 No. 6, West Lane, Tiantan, Beijing, Dongcheng District Applicant after: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Address before: 100050 No. 6, West Lane, Tiantan, Beijing, Dongcheng District Applicant before: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Applicant before: Li Youxiang Applicant before: Jiang Yuhua |
|
GR01 | Patent grant | ||
GR01 | Patent grant | ||
EE01 | Entry into force of recordation of patent licensing contract | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20180302 Assignee: Beijing wansi Medical Technology Co.,Ltd. Assignor: BEIJING TIANTAN HOSPITAL, CAPITAL MEDICAL University Contract record no.: X2024980004749 Denomination of invention: A robot slave device, operating system and its control method Granted publication date: 20240130 License type: Exclusive License Record date: 20240422 |