CN107928731A - Self-locking needle holder is used in a kind of minimally invasive surgery robot operation - Google Patents
Self-locking needle holder is used in a kind of minimally invasive surgery robot operation Download PDFInfo
- Publication number
- CN107928731A CN107928731A CN201711310437.5A CN201711310437A CN107928731A CN 107928731 A CN107928731 A CN 107928731A CN 201711310437 A CN201711310437 A CN 201711310437A CN 107928731 A CN107928731 A CN 107928731A
- Authority
- CN
- China
- Prior art keywords
- wire rope
- bare terminal
- terminal end
- minimally invasive
- self
- 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
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 26
- 230000007246 mechanism Effects 0.000 claims abstract description 62
- 238000004804 winding Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 27
- 239000010959 steel Substances 0.000 claims description 27
- 210000000683 abdominal cavity Anatomy 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 241000826860 Trapezium Species 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 238000003786 synthesis reaction Methods 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
- A61B17/062—Needle manipulators
-
- 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
- A61B34/30—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
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The present invention provides a kind of minimally invasive surgery robot operation and uses self-locking needle holder, including clamping device, supporting mechanism, winding mechanism, control mechanism and driving mechanism, and the clamping device includes the first bare terminal end and the second bare terminal end, compared with prior art, the beneficial effects of the present invention are, inside holding angle is formed during two bare terminal ends closure of the clamping device, it can ensure that opposite joint pin forms Clamping and self-locking during operation, ensure there will not be suture needle to drop phenomenon during needle-holding stitching, meet that the abdominal cavity suture of minimally invasive surgical operation robot clamps the multiple degrees of freedom of micro- apparatus from the use demand of locking pin, and two bare terminal ends are cross-linked, improve the equivalent working strength of clamped wire rope, and then improve the service life of micro- apparatus；Driving force can be delivered to by the clamping device by the clamped wire rope and the pitching wire rope at the same time, realize pitching, beat and the clamping DOF movement of the clamping device.
Description
Technical field
The present invention relates to the field of medical instrument technology, and in particular to a kind of minimally invasive surgery robot operation locking pin certainly
Device.
Background technology
Robotic surgical system is the synthesis for integrating multinomial modern high tech method, and surgeon may be located remotely from hand
Art platform, which is operated machine, performs the operation, and is totally different from traditional operation concept, is undisputed in world minimally invasive surgery field
Revolutionary Surigical tool.And the design quality of operation tool directly determines the win or lose of surgical robot system, together
When operating robot operation tool actual characteristic and performance indicator also directly instruct operating robot other parts, such as this
The design of system system, and then passive part is influenced with supporting the design of position portion, and the technical indicator of front end operation tool
Directly determine design objective and the layout type requirement of main hand operating system.It can be seen that operating robot operation tool is influenced and determined
Determined the design work of whole robot system, operation tool performance be a set of surgical robot system performance level it is crucial because
Element.
Typical Minimally Invasive Surgery instrument uses the kind of drive of bar transmission, and front end has one degree of freedom, but traditional
The design of the Minimally Invasive Surgery instrument only one free degree determines that it cannot complete the surgical procedure of complexity, limits Minimally Invasive Surgery
Application environment, and the unsecured measure in needle-holding stitching, easily fall pin, influence being normally carried out for operation.
In view of drawbacks described above, creator of the present invention proposes the present invention by prolonged research and practice.
The content of the invention
To solve above-mentioned technological deficiency, the technical solution adopted by the present invention is, there is provided a kind of minimally invasive surgery robot hand
Art self-locking needle holder, it is characterised in that it includes：
One clamping device, including the first bare terminal end and the second bare terminal end, first bare terminal end and second bare terminal end
Staggeredly inserting connection, first bare terminal end after second bare terminal end closure with forming inside holding angle, and described first
Bare terminal end is with setting clamped wire rope on second bare terminal end；
One supporting mechanism, including an opening, a pitching groove, a pitching wire rope and cabling channel, the clamping device are set
Put in the opening, and be connected with the supporting mechanism by holding axis in one, the pitching wire rope is arranged on the pitching
In groove, the cabling channel is arranged on the both sides of the supporting mechanism, and the clamped wire rope is wrapped in the cabling channel；
One winding mechanism, including a reel, the first fixing axle, the first axis hole, the second fixing axle, the second axis hole, first
Active wheels and the second active wheels, the supporting mechanism passes through first axis hole with first active wheels, and passes through
First fixing axle is connected on the reel, and second axis hole is solid by described second with second active wheels
Dead axle is connected on the reel；
One driving mechanism and a control mechanism, and the control mechanism is connected with the winding mechanism, the driving machine
Structure is connected with the control mechanism；
The clamped wire rope and the pitching wire rope are around the supporting mechanism and the winding mechanism and the control
Mechanism processed is connected, and under the action of the driving mechanism, the control mechanism drives first active wheels and the second master
Driving wheel group is moved, and driving force is delivered to the clamping device by the clamped wire rope and the pitching wire rope, real
The multifreedom motion of existing first bare terminal end and second bare terminal end.
Preferably, first bare terminal end includes a beveled end, before the beveled end is arranged at first bare terminal end
Portion, and the beveled end includes an inclined plane, the front end of the inclined plane is higher than rear end, and setting one is recessed inside the beveled end
Groove, and depth is in increase tendency to the groove from bottom to top.
Preferably, it is characterized in that, second bare terminal end includes a clamping face, and the clamping face inclines relative to described
Inclined-plane is vertical plane.
Preferably, first bare terminal end and the second bare terminal end root are provided with chucking grooves, the clamped wire rope
It is arranged in the chucking grooves.
Preferably, the clamped wire rope, which includes a closure steel wire rope and one, opens steel wire rope, and it is separately fixed at described
In chucking grooves.
Preferably, first active wheels and second active wheels include four equal in magnitude, shape phases respectively
Same guide wheel.
Preferably, first active wheels are identical with the second active wheels shape, but first active wheels
The diameter of middle guide wheel is more than the diameter of guide wheel in second active wheels.
Preferably, the midpoint of the pitching wire rope is fixed on the pitching groove, and the two of the pitching wire rope
End is postponed downwards, and is connected with the control mechanism.
Preferably, the winding mechanism bottom further includes some cable holes.
Compared with the prior art, the beneficial effects of the present invention are：A kind of minimally invasive surgery robot operation self-locking is provided
Needle holder, can be delivered to the clamping device by the clamped wire rope and the pitching wire rope by driving force, realize
Pitching, beat and the clamping DOF movement of the clamping device；First bare terminal end and second bare terminal end at the same time
Inside holding angle is formed after closure, it is ensured that during operation opposite joint pin formed Clamping and self-locking, ensure needle-holding stitching when will not
There is suture needle to drop phenomenon, meet that the abdominal cavity suture of minimally invasive surgical operation robot clamps the multiple degrees of freedom of micro- apparatus from locking pin
Use demand；And two bare terminal ends are cross-linked, one end is inclined in the arrangement of the clamped wire rope, increases guide wheel placement
Space so that the diameter increase of guide wheel, the cornerite that clamped wire rope is wound on guide wheel also increases in succession, so as to extend clamping
The service life of steel wire rope, and the equivalent working strength of clamped wire rope is improved, and then improve the use longevity of micro- apparatus
Life.
Brief description of the drawings
It is required in being described below to embodiment in order to illustrate more clearly of the technical solution in various embodiments of the present invention
The attached drawing used is briefly described.
Fig. 1 is the structure diagram of the first bare terminal end described in the embodiment of the present invention 1,
Fig. 2 is the structure diagram of the second bare terminal end described in the embodiment of the present invention 1,
Fig. 3 is a kind of front view of minimally invasive surgery robot operation self-locking needle holder in the embodiment of the present invention 1,
Fig. 4 is a kind of rearview of minimally invasive surgery robot operation self-locking needle holder in the embodiment of the present invention 1,
Fig. 5 is a kind of right view of minimally invasive surgery robot operation self-locking needle holder in the embodiment of the present invention 1.
Digital representation in figure：The first bare terminal ends of 101-, 102- left sides close steel wire rope, steel wire rope is opened in 103- left sides,
The second bare terminal ends of 104-, closure steel wire rope on the right side of 105-, open on the right side of 106- held in steel wire rope, 107- supporting mechanisms, 108- axis,
The small guide wheel of 109- right hand externals, the internal small guide wheel in 110- right sides, 111- reels, the internal big guide wheel in 112- left sides, 113- left sides
Exterior big guide wheel, 114- pitching wire ropes, the internal small guide wheel in 115- left sides, the small guide wheel of 116- left hand externals, 117- right sides are internal
Big guide wheel, the big guide wheel of 118- right hand externals, the second fixing axles of 119-, the first fixing axles of 120-.
Embodiment
Below in conjunction with attached drawing, the forgoing and additional technical features and advantages are described in more detail.
During the description to the technology of the present invention feature, term, " on ", " under ", " interior ", " outer ", "left", "right" etc. refer to
The orientation or position relationship shown is based on orientation shown in the drawings or position relationship, is for only for ease of description the application and simplification
Description, rather than the device or element of instruction or hint meaning must have specific orientation, with specific azimuth configuration and behaviour
Make, therefore it is not intended that limitation to the application.
In addition, term " first ", " second " are only used for description purpose, and it is not intended that instruction or hint relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed or
Implicitly include one or more this feature.
Embodiment 1
Fig. 1, Fig. 2, Fig. 3, Fig. 4 and Fig. 5 are referred to,
Fig. 1 is the structure diagram of the first bare terminal end in the present embodiment,
Fig. 2 is the structure diagram of the second bare terminal end in the present embodiment,
Fig. 3 is a kind of front view of minimally invasive surgery robot operation self-locking needle holder in the present embodiment,
Fig. 4 is a kind of rearview of minimally invasive surgery robot operation self-locking needle holder in the present embodiment,
Fig. 5 is a kind of right view of minimally invasive surgery robot operation self-locking needle holder in the present embodiment.
The present embodiment provides a kind of minimally invasive surgery robot operation self-locking needle holder, including clamping device, supporting mechanism
107th, winding mechanism, control mechanism and driving mechanism.
The clamping device includes the first bare terminal end 101 and the second bare terminal end 104, and first bare terminal end 101 includes one
Beveled end, the beveled end is arranged at the front portion of first bare terminal end 101, and the beveled end includes an inclined plane, described
The front end of inclined plane is higher than rear end, sets a groove inside the beveled end, and depth becomes the groove in increase from bottom to top
Gesture；Second bare terminal end 104 includes a clamping face, and the clamping face is vertical plane relative to the inclined plane, and described
One bare terminal end 101 after second bare terminal end 104 closure with forming inside holding angle, it is ensured that opposite joint aciculiform during operation
Into Clamping and self-locking, ensure will not to have during needle-holding stitching suture needle to drop phenomenon, meet the abdominal cavity suture of minimally invasive surgical operation robot
The multiple degrees of freedom of micro- apparatus is clamped from the use demand of locking pin.
The root of first bare terminal end 101 and second bare terminal end 104 is provided with the chucking grooves of non-full circle, described
Clamped wire rope is set in chucking grooves, and the clamped wire rope includes left side closure steel wire rope 102, steel wire rope is opened in left side
103rd, steel wire rope 106 is opened on 105 right side of right side closure steel wire rope, and steel is opened in the left side closure steel wire rope 102 and the left side
Cord 103 is separately fixed in the chucking grooves of first bare terminal end 101, the right side closure steel wire rope 105 and the right side
Open steel wire rope 106 and be separately fixed in the chucking grooves of second bare terminal end 104 in side.
The supporting mechanism 107 includes an opening, a pitching groove and a pitching wire rope 114, first bare terminal end
101 and second bare terminal end 104 be staggeredly inserted into the opening, and linked together by holding axis 108 in one, Ci Zhongjiao
The arrangement of the clamped wire rope is inclined to one end by misplug dress connection mode, increases what each guide wheel in the winding mechanism was placed
Space so that the diameter increase of guide wheel, the cornerite that the clamped wire rope is wound on guide wheel also increases in succession, so as to extend
The service life of the clamped wire rope, and the equivalent working strength of clamped wire rope is improved, and then improve micro- apparatus
Service life.The midpoint of the pitching wire rope 114 is fixed on the pitching groove, and the pitching wire rope 114
Both ends are postponed downwards, and are connected with the control mechanism, and the middle part of the supporting mechanism 107 is trapezium structure, no guide wheel, mistake
Spend round and smooth.
The winding mechanism, including reel 111, the first fixing axle 120, the first axis hole, the second fixing axle 119, second
Axis hole, the first active wheels and the second active wheels, the supporting mechanism 107 pass through described first with first active wheels
Axis hole, and be connected to by first fixing axle 120 on the reel 111, second axis hole and the described second active
Wheel group is connected on the reel 111 by second fixing axle 119, and first active wheels and described second are actively
Wheel group shape is identical, but the diameter of guide wheel is more than the diameter of guide wheel in second active wheels in first active wheels,
The difference of such a size diameter, increase pitching wire rope 114 move when around wheel arc length, add pitching wire rope 114
Service life；First active wheels include the big guide wheel 113 of left hand external, the big guide wheel 112 in left side inside, right hand external and lead greatly
Big guide wheel 117 inside wheel 118, right side, and the four big guide wheel of first active wheels is equal in magnitude, shape is identical；It is described
Second active wheels are including in the small guide wheel 116 of left hand external, the small guide wheel 115 in left side inside, the small guide wheel 109 of right hand external, right side
The small guide wheel 110 in portion, and the four big guide wheel of second active wheels is equal in magnitude, shape is identical.
The driving mechanism is used to provide power input to whole needle holder, and is connected with the control mechanism, and institute
Clamped wire rope and the pitching wire rope 114 are stated around the supporting mechanism 107 and the winding mechanism and the control machine
Structure is connected, and under the action of the driving mechanism, the control mechanism drives first active wheels and the second driving wheel
Group movement, and driving force is delivered to by the clamping device by the clamped wire rope and the pitching wire rope 114, realize
The multifreedom motion of needle holder.
The clamped wire rope and the pitching wire rope 114 and first active wheels and two active wheels
Specific connection mode is as described below：
The left side closure steel wire rope 102 opens steel wire rope 103 with the left side and is separately fixed at first bare terminal end
On 101, the left side closure steel wire rope 102 is postponed by the supporting mechanism 107 downwards, around the big guide wheel of the right hand external
After 118, postpone tangentially around the small guide wheel 109 of the right hand external until the control mechanism；Open steel wire rope 103 in the left side
Postpone by the supporting mechanism 107 downwards, after big guide wheel 112 inside the left side, postpone and tangentially bypass the left side
Internal small guide wheel 115 is until the control mechanism；The right side closure steel wire rope 105 opens steel wire rope 106 with the right side and divides
It is not fixed on second bare terminal end 104, the right side closure steel wire rope 105 is postponed by the supporting mechanism 107 downwards,
After the big guide wheel 113 of the left hand external, postpone tangentially around the small guide wheel 116 of the left hand external until the control machine
Structure；The right side opening steel wire rope 106 is postponed by the supporting mechanism 107 downwards, around big guide wheel 117 inside the right side
Afterwards, postpone tangentially around small guide wheel 110 inside the right side until the control mechanism；The midpoint of the pitching wire rope 114
It is fixed on the pitching groove of 107 bottom of supporting mechanism, both ends are postponed separately down until the control mechanism, passes through institute
The movement of clamped wire rope and the pitching wire rope 114 is stated, realizes first bare terminal end 101 and second bare terminal end
104 pitching, beat and clamping DOF movement.
The foregoing is merely presently preferred embodiments of the present invention, is merely illustrative for the purpose of the present invention, and non-limiting
's.Those skilled in the art understands, many changes can be carried out to it in the spirit and scope that the claims in the present invention are limited,
Modification, in addition it is equivalent, but fall within protection scope of the present invention.
Claims (9)
1. self-locking needle holder is used in a kind of minimally invasive surgery robot operation, it is characterised in that it includes：
One clamping device, including the first bare terminal end and the second bare terminal end, first bare terminal end and second bare terminal end interlock
Inserting connection, first bare terminal end is with forming inside holding angle, and first clamping after second bare terminal end closure
End is with setting clamped wire rope on second bare terminal end；
One supporting mechanism, including an opening, a pitching groove, a pitching wire rope and cabling channel, the clamping device are arranged on
In the opening, and it is connected with the supporting mechanism by holding axis in one, the pitching wire rope is arranged on the pitching groove
Interior, the cabling channel is arranged on the both sides of the supporting mechanism, and the clamped wire rope is wrapped in the cabling channel；
One winding mechanism, including a reel, the first fixing axle, the first axis hole, the second fixing axle, the second axis hole, first are actively
Wheel group and the second active wheels, the supporting mechanism pass through first axis hole with first active wheels, and by described
First fixing axle is connected on the reel, and second axis hole passes through second fixing axle with second active wheels
It is connected on the reel；
One driving mechanism and a control mechanism, and the control mechanism is connected with the winding mechanism, the driving mechanism with
The control mechanism is connected；
The clamped wire rope and the pitching wire rope are around the supporting mechanism and the winding mechanism and the control machine
Structure is connected, and under the action of the driving mechanism, the control mechanism drives first active wheels and the second driving wheel
Group movement, and driving force is delivered to by the clamping device by the clamped wire rope and the pitching wire rope, realize institute
State the multifreedom motion of the first bare terminal end and second bare terminal end.
2. self-locking needle holder is used in minimally invasive surgery robot operation according to claim 1, it is characterised in that first folder
Holding end includes a beveled end, and the beveled end is arranged at the front portion of first bare terminal end, and the beveled end includes one and tilts
Face, the front end of the inclined plane are higher than rear end, set a groove inside the beveled end, and depth is in the groove from bottom to top
Increase tendency.
3. self-locking needle holder is used in minimally invasive surgery robot operation according to claim 2, it is characterised in that second folder
Holding end includes a clamping face, and the clamping face is vertical plane relative to the inclined plane.
4. the minimally invasive surgery robot operation self-locking needle holder according to Claims 2 or 3, it is characterised in that described
One bare terminal end and the second bare terminal end root are provided with chucking grooves, and the clamped wire rope is arranged in the chucking grooves.
5. self-locking needle holder is used in minimally invasive surgery robot operation according to claim 4, it is characterised in that the clamping steel
Cord includes a closure steel wire rope and one and opens steel wire rope, and is separately fixed in the chucking grooves.
6. self-locking needle holder is used in minimally invasive surgery robot operation according to claim 1, it is characterised in that first master
Driving wheel group and second active wheels include four guide wheels equal in magnitude, shape is identical respectively.
7. self-locking needle holder is used in minimally invasive surgery robot operation according to claim 6, it is characterised in that first master
Driving wheel group is identical with the second active wheels shape, but the diameter of guide wheel is more than the described second master in first active wheels
The diameter of guide wheel in driving wheel group.
8. self-locking needle holder is used in minimally invasive surgery robot operation according to claim 1, it is characterised in that the pitching steel
The midpoint of cord is fixed on the pitching groove, and the both ends of the pitching wire rope are postponed downwards, and with the control machine
Structure is connected.
9. self-locking needle holder is used in minimally invasive surgery robot operation according to claim 8, it is characterised in that the coil winding machine
Structure bottom further includes some cable holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310437.5A CN107928731B (en) | 2017-12-11 | 2017-12-11 | self-locking needle holder for minimally invasive surgical robot operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711310437.5A CN107928731B (en) | 2017-12-11 | 2017-12-11 | self-locking needle holder for minimally invasive surgical robot operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107928731A true CN107928731A (en) | 2018-04-20 |
| CN107928731B CN107928731B (en) | 2020-01-31 |
Family
ID=61946581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711310437.5A Active CN107928731B (en) | 2017-12-11 | 2017-12-11 | self-locking needle holder for minimally invasive surgical robot operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107928731B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692862A (en) * | 2021-03-25 | 2021-04-23 | 成都博恩思医学机器人有限公司 | Multi-degree-of-freedom instrument for robot |
| CN114533273A (en) * | 2022-02-11 | 2022-05-27 | 常州唯精医疗机器人有限公司 | Clamping execution mechanism and minimally invasive surgery robot using same |
| CN116250895A (en) * | 2023-01-31 | 2023-06-13 | 极限人工智能有限公司 | Multi-degree-of-freedom abdominal cavity surgical forceps based on steel wire coupling and surgical robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5618305A (en) * | 1993-07-21 | 1997-04-08 | Lolagne; Fritz | Forceps with v-shaped grasping tips |
| US20030004523A1 (en) * | 2001-07-02 | 2003-01-02 | Cornell Research Foundation, Inc. | Multi-needle holding device |
| US20030229976A1 (en) * | 2002-06-12 | 2003-12-18 | Scheller Gregg D. | Surgical instrument constructed by electric discharge machining |
| US20120289975A1 (en) * | 2011-05-10 | 2012-11-15 | Martin David T | Articulating needle driver |
| CN104116547A (en) * | 2014-07-25 | 2014-10-29 | 上海交通大学 | Low-friction low-inertia surgical instrument for minimally invasive surgical robot |
| CN106691593A (en) * | 2016-12-30 | 2017-05-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Micro instrument clamping mechanism for minimally invasive surgery |
| CN208464165U (en) * | 2017-12-11 | 2019-02-05 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of self-locking needle holder of minimally invasive surgery robot operation |
-
2017
- 2017-12-11 CN CN201711310437.5A patent/CN107928731B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5618305A (en) * | 1993-07-21 | 1997-04-08 | Lolagne; Fritz | Forceps with v-shaped grasping tips |
| US20030004523A1 (en) * | 2001-07-02 | 2003-01-02 | Cornell Research Foundation, Inc. | Multi-needle holding device |
| US20030229976A1 (en) * | 2002-06-12 | 2003-12-18 | Scheller Gregg D. | Surgical instrument constructed by electric discharge machining |
| US20120289975A1 (en) * | 2011-05-10 | 2012-11-15 | Martin David T | Articulating needle driver |
| CN104116547A (en) * | 2014-07-25 | 2014-10-29 | 上海交通大学 | Low-friction low-inertia surgical instrument for minimally invasive surgical robot |
| CN106691593A (en) * | 2016-12-30 | 2017-05-24 | 哈尔滨思哲睿智能医疗设备有限公司 | Micro instrument clamping mechanism for minimally invasive surgery |
| CN208464165U (en) * | 2017-12-11 | 2019-02-05 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of self-locking needle holder of minimally invasive surgery robot operation |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112692862A (en) * | 2021-03-25 | 2021-04-23 | 成都博恩思医学机器人有限公司 | Multi-degree-of-freedom instrument for robot |
| WO2022199695A1 (en) * | 2021-03-25 | 2022-09-29 | 成都博恩思医学机器人有限公司 | Multi-degree-of-freedom instrument for robot |
| CN114533273A (en) * | 2022-02-11 | 2022-05-27 | 常州唯精医疗机器人有限公司 | Clamping execution mechanism and minimally invasive surgery robot using same |
| CN114533273B (en) * | 2022-02-11 | 2023-10-03 | 常州唯精医疗机器人有限公司 | Clamping executing mechanism and minimally invasive surgery robot using same |
| CN116250895A (en) * | 2023-01-31 | 2023-06-13 | 极限人工智能有限公司 | Multi-degree-of-freedom abdominal cavity surgical forceps based on steel wire coupling and surgical robot |
| CN116250895B (en) * | 2023-01-31 | 2024-04-12 | 极限人工智能有限公司 | Multi-degree-of-freedom abdominal cavity surgical forceps based on steel wire coupling and surgical robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107928731B (en) | 2020-01-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107928731A (en) | Self-locking needle holder is used in a kind of minimally invasive surgery robot operation | |
| US9033957B2 (en) | Surgical anchor and system | |
| EP2633961B1 (en) | Steerable multi-linked device having multiple working ports | |
| US20100256636A1 (en) | Devices for Use in Transluminal and Endoluminal Surgery | |
| US20150150635A1 (en) | Compact robotic wrist | |
| US20050143774A1 (en) | Laparoscopic needle manipulator | |
| CN106691593B (en) | Micro-instrument clamping mechanism for minimally invasive surgery | |
| CN105287003B (en) | Mechanical arm and its method of work | |
| CN105287002A (en) | Flexible multi-joint operation micro instrument for robot-assisted minimally invasive surgery | |
| CN104490448A (en) | Clamping applying pincers for surgical ligation | |
| CA2918098A1 (en) | Braided hemostasis shaft for improved torsional response | |
| CN107789062A (en) | A kind of bipolar wrench structure for Minimally Invasive Surgery | |
| WO2017098264A1 (en) | Drive assembly interface | |
| KR102191483B1 (en) | Surgical instruments | |
| CN106166092A (en) | Lift threaded fusion cage and for driving the operator of lifting threaded fusion cage | |
| CN107928792A (en) | One kind is used for minimally invasive surgery robot multiple degrees of freedom needle holder | |
| Li et al. | Configuration transition control of a continuum surgical manipulator for improved kinematic performance | |
| CN208464165U (en) | A kind of self-locking needle holder of minimally invasive surgery robot operation | |
| CN212326569U (en) | Multi-degree-of-freedom needle holder for minimally invasive surgical robot | |
| CN209734146U (en) | Minimally invasive robot clamp holder | |
| CN109009395B (en) | Centrum centre gripping pincers | |
| CN216570196U (en) | Multi-degree-of-freedom surgical robot rigid clamp and distal clamp mechanism thereof | |
| CN108606838B (en) | Surgical instrument and surgical robot | |
| CN105904355A (en) | Clamp-type tool for pulling out fibers and light module | |
| KR102487586B1 (en) | A discharge apparatus for an underwater vehicle with a structure for generating compressed water bidirectionally |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP03 | Change of name, title or address |
Address after: No. 8, Dalian North Road, Haping Road Concentration Zone, Economic Development Zone, Harbin City, Heilongjiang Province, 150040 Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150010 room 08, 15th floor, No.368, Changjiang Road, Nangang District, economic development zone, Harbin City, Heilongjiang Province Patentee before: HARBIN SIZHERUI INTELLIGENT MEDICAL EQUIPMENT Co.,Ltd. |
|
| CP03 | Change of name, title or address |