CN107981932A - 一种泌尿外科手术机器人机械臂 - Google Patents
一种泌尿外科手术机器人机械臂 Download PDFInfo
- Publication number
- CN107981932A CN107981932A CN201810003090.8A CN201810003090A CN107981932A CN 107981932 A CN107981932 A CN 107981932A CN 201810003090 A CN201810003090 A CN 201810003090A CN 107981932 A CN107981932 A CN 107981932A
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- China
- Prior art keywords
- fixing device
- robot arm
- movable
- movable plate
- mounting base
- 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
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- 238000001356 surgical procedure Methods 0.000 title claims abstract description 21
- 230000000694 effects Effects 0.000 claims description 4
- 238000010586 diagram Methods 0.000 description 10
- 238000009434 installation Methods 0.000 description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 2
- 229910000881 Cu alloy Inorganic materials 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- PXHVJJICTQNCMI-UHFFFAOYSA-N Nickel Chemical compound [Ni] PXHVJJICTQNCMI-UHFFFAOYSA-N 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000005452 bending Methods 0.000 description 2
- 229910052802 copper Inorganic materials 0.000 description 2
- 239000010949 copper Substances 0.000 description 2
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 238000009617 vacuum fusion Methods 0.000 description 2
- 206010011498 Cryptorchism Diseases 0.000 description 1
- 208000026292 Cystic Kidney disease Diseases 0.000 description 1
- GYHNNYVSQQEPJS-UHFFFAOYSA-N Gallium Chemical compound [Ga] GYHNNYVSQQEPJS-UHFFFAOYSA-N 0.000 description 1
- 206010038423 Renal cyst Diseases 0.000 description 1
- ATJFFYVFTNAWJD-UHFFFAOYSA-N Tin Chemical compound [Sn] ATJFFYVFTNAWJD-UHFFFAOYSA-N 0.000 description 1
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 201000000160 cryptorchidism Diseases 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 229910052733 gallium Inorganic materials 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 229910052759 nickel Inorganic materials 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 210000001550 testis Anatomy 0.000 description 1
- 201000004822 varicocele Diseases 0.000 description 1
- 238000005491 wire drawing Methods 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
- 229910052725 zinc Inorganic materials 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
Description
Claims (7)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810003090.8A CN107981932B (zh) | 2018-01-02 | 2018-01-02 | 一种泌尿外科手术机器人机械臂 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810003090.8A CN107981932B (zh) | 2018-01-02 | 2018-01-02 | 一种泌尿外科手术机器人机械臂 |
Publications (2)
Publication Number | Publication Date |
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CN107981932A true CN107981932A (zh) | 2018-05-04 |
CN107981932B CN107981932B (zh) | 2019-03-15 |
Family
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Family Applications (1)
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CN201810003090.8A Active CN107981932B (zh) | 2018-01-02 | 2018-01-02 | 一种泌尿外科手术机器人机械臂 |
Country Status (1)
Country | Link |
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CN (1) | CN107981932B (zh) |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108670411A (zh) * | 2018-06-04 | 2018-10-19 | 哈尔滨工业大学 | 一种利用双倍行程弧形滑轨的空间远心点运动机构 |
CN109567944A (zh) * | 2018-11-10 | 2019-04-05 | 谢小姣 | 一种外科器械操作装置及手术机器人 |
CN110464464A (zh) * | 2019-08-06 | 2019-11-19 | 复旦大学附属肿瘤医院 | 一种泌尿外科手术机器人机械臂 |
CN110575258A (zh) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | 一种医疗手术器械及手术机器人 |
CN110897720A (zh) * | 2019-12-16 | 2020-03-24 | 杨锐 | 一种医疗手术机器人手术器械平移单元 |
CN114770573A (zh) * | 2022-04-07 | 2022-07-22 | 北京科迈玄机医疗科技有限公司 | 具有拆卸和静态防水结构的经尿道手术机器人执行器 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1155833A (zh) * | 1995-06-20 | 1997-07-30 | 伍云升 | 用于医疗处理的活节机械手 |
CN101712157A (zh) * | 2009-10-30 | 2010-05-26 | 北京航空航天大学 | 一种焊接机器人及其焊枪姿态调整装置 |
CN106901836A (zh) * | 2017-04-12 | 2017-06-30 | 华中科技大学 | 一种前列腺穿刺手术机器人 |
WO2017192796A1 (en) * | 2016-05-04 | 2017-11-09 | The Johns Hopkins University | Remote center of motion robot |
CN107456252A (zh) * | 2017-09-21 | 2017-12-12 | 孙艳平 | 一种手术机器人牵开器 |
-
2018
- 2018-01-02 CN CN201810003090.8A patent/CN107981932B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1155833A (zh) * | 1995-06-20 | 1997-07-30 | 伍云升 | 用于医疗处理的活节机械手 |
CN101712157A (zh) * | 2009-10-30 | 2010-05-26 | 北京航空航天大学 | 一种焊接机器人及其焊枪姿态调整装置 |
WO2017192796A1 (en) * | 2016-05-04 | 2017-11-09 | The Johns Hopkins University | Remote center of motion robot |
CN106901836A (zh) * | 2017-04-12 | 2017-06-30 | 华中科技大学 | 一种前列腺穿刺手术机器人 |
CN107456252A (zh) * | 2017-09-21 | 2017-12-12 | 孙艳平 | 一种手术机器人牵开器 |
Cited By (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN108670411A (zh) * | 2018-06-04 | 2018-10-19 | 哈尔滨工业大学 | 一种利用双倍行程弧形滑轨的空间远心点运动机构 |
CN108670411B (zh) * | 2018-06-04 | 2019-08-02 | 哈尔滨工业大学 | 一种利用双倍行程弧形滑轨的空间远心点运动机构 |
CN109567944A (zh) * | 2018-11-10 | 2019-04-05 | 谢小姣 | 一种外科器械操作装置及手术机器人 |
CN110464464A (zh) * | 2019-08-06 | 2019-11-19 | 复旦大学附属肿瘤医院 | 一种泌尿外科手术机器人机械臂 |
CN110575258A (zh) * | 2019-10-21 | 2019-12-17 | 重庆师范大学 | 一种医疗手术器械及手术机器人 |
CN110575258B (zh) * | 2019-10-21 | 2022-04-22 | 重庆师范大学 | 一种医疗手术器械及手术机器人 |
CN110897720A (zh) * | 2019-12-16 | 2020-03-24 | 杨锐 | 一种医疗手术机器人手术器械平移单元 |
CN110897720B (zh) * | 2019-12-16 | 2020-07-07 | 青岛大学附属医院 | 一种医疗手术机器人手术器械平移单元 |
CN114770573A (zh) * | 2022-04-07 | 2022-07-22 | 北京科迈玄机医疗科技有限公司 | 具有拆卸和静态防水结构的经尿道手术机器人执行器 |
CN114770573B (zh) * | 2022-04-07 | 2024-04-09 | 北京科迈玄机医疗科技有限公司 | 具有拆卸和静态防水结构的经尿道手术机器人执行器 |
Also Published As
Publication number | Publication date |
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CN107981932B (zh) | 2019-03-15 |
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CB03 | Change of inventor or designer information |
Inventor after: Yue Dong Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
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CB03 | Change of inventor or designer information | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20190219 Address after: 272000 Department of Urology, Affiliated Hospital of Jining Medical College, 79 Guhuai Road, Shizhong District, Jining City, Shandong Province Applicant after: Yue Dong Address before: 610000 Sichuan Province Chengdu Tianfu New District Lugang 3 Building 1 Unit 601 Applicant before: Liao Rong |
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TA01 | Transfer of patent application right | ||
GR01 | Patent grant | ||
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TR01 | Transfer of patent right |
Effective date of registration: 20231212 Address after: 610041 Chengdu Tianfu international biological city, Chengdu, Sichuan (No. 18, Section 2, biological city middle road, Shuangliu District) Patentee after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 272000 Department of Urology, Affiliated Hospital of Jining Medical College, 79 Guhuai Road, Shizhong District, Jining City, Shandong Province Patentee before: Yue Dong |
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TR01 | Transfer of patent right |