CN108186121A - A kind of surgery is servo-actuated robotic arm - Google Patents
A kind of surgery is servo-actuated robotic arm Download PDFInfo
- Publication number
- CN108186121A CN108186121A CN201810013776.5A CN201810013776A CN108186121A CN 108186121 A CN108186121 A CN 108186121A CN 201810013776 A CN201810013776 A CN 201810013776A CN 108186121 A CN108186121 A CN 108186121A
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- China
- Prior art keywords
- servo
- joint
- actuated
- arm
- toroidal frame
- 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
- 238000001356 surgical procedure Methods 0.000 title claims abstract description 18
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 3
- 238000012790 confirmation Methods 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 23
- 238000002682 general surgery Methods 0.000 abstract description 3
- 208000014674 injury Diseases 0.000 abstract description 3
- 230000008733 trauma Effects 0.000 abstract description 3
- 230000000694 effects Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 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
- A61B34/37—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
Abstract
A kind of surgery is servo-actuated robotic arm, carrying out surgical operation, particularly the medical treatment of department of general surgery's trauma operation when auxiliary machinery arm, by articulated structure and it is linked, using voltage sensitive sensor and with moving-target, receiving module, it is controlled with reference to PLC, can realize single implementation operation, and energy low cost, high-precision realization follow the function of wound face movement.
Description
Technical field
The present invention relates to surgical field more particularly to surgery machine arms.
Background technology
In recent years, robotic surgical device is gradually introduced in surgical operation, using high-precision navigator fix, to realize machine
Device people's assisted surgery, these equipment are often all using expensive optics, Image Location System and its equipment and complexity
Algorithm, application also tend to be applied in the field of tumor operation etc.；During department of general surgery's trauma operation, fixed wound is generally required
Hinder other devices such as surface and gauze, other medical staff is needed to carry out auxiliary operation at this time, are not only consumed into power material resources, and
And can bring since the cooperation between medical staff and subjectivity bring surgical error, it is brought to patient and medical staff very big
It is inconvenient.
Invention content
It is auxiliary when carrying out surgical operation, particularly department of general surgery's trauma operation medical treatment the purpose of the present invention is to provide one kind
Robotic arm is helped, can realize single implementation operation, and energy low cost, high-precision realization follow the function of wound face movement.
Specific technical solution is as follows：
A kind of surgery is servo-actuated robotic arm, and including the first arm, the second arm, third arm, first arm passes through the first joint
It connect with fixing device, is connected between first arm and the second arm by second joint, between second arm and third arm
It is connected by third joint, the third arm is connected with toroidal frame by the 4th joint, and the second joint and third joint are equal
Horizontal servo motor and vertical servo motor are provided with, the 4th joint is equipped with vertical servo motor and torsion servo motor；
It is evenly equipped with around the toroidal frame multiple to the cantilever arm stretched out obliquely downward, the cantilever arm and wound face angle are α, 0 ° of ＜ α ＜
45 °, the cantilever arm end has contact cushion, and the contact cushion is internally provided with voltage sensitive sensor；The toroidal frame just on
Side is equipped with servo-actuated positioning disk, and the servo-actuated positioning disk is connect by the 5th joint A with linking arm, and the linking arm is fixedly connected on
On the third arm, the 5th joint A is equipped with vertical servo motor A and torsion servo motor A, and is closed respectively with the described 4th
The vertical servo motor of section is synchronous with torsion servo motor, makes servo-actuated positioning disk face parallel with the toroidal frame always；
The servo-actuated positioning tray bottom is equipped with servo-actuated receiving module, and servo-actuated object module is arranged, and the servo-actuated object module is fixed on
Near the wound face；Programmable controller PLC is further included, passes through the information control of the voltage sensitive sensor and servo-actuated receiving module
Make joint linkage make the ring support always with wound face face and keeping parallelism, and the distance being always kept in a fixed state.
Further, when the average value of all voltage sensitive sensors is more than or less than critical value, the PLC controls institute
State second joint and third joint vertical servo motor, linkage so that the toroidal frame rises or falls, until the pressure-sensitive biography
The average value of sensor is equal to critical value；The servo-actuated receiving module is by following the servo-actuated object module simultaneously, and passes through institute
It states PLC and controls the horizontal servo motor of the second joint and third joint, linkage so that the toroidal frame face wound face.
Further, the servo-actuated receiving module and servo-actuated object module are equipped with ultrasonic wave module and wireless receiving and dispatching mould
Block, the confirmation of direction and distance is realized by the ultrasonic wave module, and is passed through the radio receiving transmitting module and realized servo-actuated receive
Communication between module and servo-actuated object module.
Further, the cantilever arm is a, with the contact point of the 4th joint and the toroidal frame and the annular
The center of circle connection extended line of frame is X-axis, perpendicular through the center of circle straight line for Y-axis, the cantilever arm be symmetrical with two-by-two X-axis and
Y-axis is distributed on the toroidal frame, when the average value of the voltage sensitive sensor of the cantilever arm of X-axis both sides does not wait, the PLC controls
The torsion servo motor rotation, until the average value of the voltage sensitive sensor of the cantilever arm of the X-axis both sides is equal；When Y-axis two
Whens the average value of the voltage sensitive sensor of the cantilever arm of side does not wait, the PLC controls the second joint, third joint and the 4th to close
The vertical servo motor linkage of section, until the average value of the voltage sensitive sensor of the cantilever arm of the Y-axis both sides is equal.
Further, when wound face translates, synchronous translational also occurs for the servo-actuated object module, and described be servo-actuated connects
The direction of servo-actuated object module and the translation information of distance are received by the radio receiving transmitting module by module, and information is sent out
Send to the PLC, the PLC controls the horizontal servo motor of the second joint and third joint, linkage, until with it is described fixed
Wound face described in the follower disk face of position, and drive wound face described in the toroidal frame face.
Further, there is annular lamp tube on the toroidal frame
Further, the toroidal frame is equipped with camera, and the camera is connected to network, can pass through network terminal system
System carries out the real time remote consultation of doctors, and the camera can be revolved by guide rail of the network terminal system control ring around the toroidal frame
Turn.
Further, first joint has horizontal mechanical shaft and vertical mechanical shaft, is set on first arm
There is telescopic device, the telescopic device is equipped with elastic button, can Horizontal machine described in manual rotation when the elastic button is pressed
Tool shaft and vertical mechanical shaft, and telescopic device can be adjusted simultaneously, when the elastic button bounces, the water in first joint
Flat mechanical rotating shaft and vertical mechanical shaft and the telescopic device are mechanically locked device and lock.
Further, the servo-actuated object module fixed form is pastes.
Further, the toroidal frame is made of two semicircle framves, and one end of described two semicircle framves passes through axis pin
It connects and is fixed on the 4th joint, the other end is connected by ring buckle, so as to make the toroidal frame can zoom.
The technique effect of the present invention is as follows：
Realize that low cost, high-precision realization follow wound face to move by the cooperation of voltage sensitive sensor and follower location unit
Dynamic function, without setting expensive ghost, complicated image-guidance apparatus；Using multiple voltage sensitive sensors, not only precision it is high and
And the movement for realizing the multiple dimensions of wound face follows function；Position adjustment is realized using the servo motor linkage in joint, is had
Precision is high, speed is fast, compact-sized simple；Servo-actuated positioning disk and toroidal frame by servo motor synchronize realize it is parallel always
Face, in this way in servo-actuated object module, such as using ultrasonic wave, during positioning, it is only necessary to which two dimensional surface positions, without again
Coordinate system is built, algorithm is simple, and equipment cost is low；Cantilever arm and wound face angle are 0 ° of 45 ° of ＜ α ＜, facilitate surgical procedure
Space；It can also be rotated by remote control camera, realize multi-angle observation wound face, improve long-range consultation of doctors effect in real time；
Also there is mechanical rotating shaft and telescopic device and elastic button, mechanical locking, locked for initial alignment and position, cost
It is low, easy to use.
Description of the drawings
Fig. 1 is the surgical machine arm structure schematic diagram of the present invention；
Fig. 2 is the toroidal frame structural plan figure of the surgical machine arm of the present invention；
Figure label：Intermediate plate 1, anchor cup 2, back nut 3, the first backing plate 4, slow cohesion steel strand wires 5, sheath 6, spiral bar 7,
Second backing plate 8, extruded sleeve 9, pressing plate 10, jack 11, connector sleeve 12, piston rod 13, tensioning support 14.
Specific embodiment
Below by the description to optimum embodiment, the specific embodiment of the present invention is described in further detail.
As depicted in figs. 1 and 2, surgery of the invention is servo-actuated robotic arm, including the first arm 1, the second arm 2, third arm 3,
First arm 1 is connect by the first joint 4 with fixing device, passes through second joint 5 between 1 and second arm 2 of the first arm
Connection, is connected, the third arm 3 is connected with by the 4th joint 7 between second arm 2 and third arm 3 by third joint 6
Toroidal frame 8, the second joint 5 and third joint 6 be both provided with horizontal servo motor 5-1,6-1 and vertical servo motor 5-2,
6-2, the 4th joint 7 are equipped with vertical servo motor 7-2 and torsion servo motor 7-3；It is evenly equipped with around the toroidal frame 8 more
It is a to the cantilever arm 10 stretched out obliquely downward, the cantilever arm 10 and wound face angle are α, 0 ° of 45 ° of ＜ α ＜, 10 end of cantilever arm
Portion has contact cushion 11, and the contact cushion 11 is internally provided with voltage sensitive sensor；It is servo-actuated fixed to be equipped with right over the toroidal frame 8
Position disk 12, the servo-actuated positioning disk 12 are connect by the 5th joint 7A with linking arm 3-1, and the linking arm 3-1 is fixedly connected on
On the third arm 3, the 5th joint 7A be equipped with vertical servo motor 7A-2 and torsion servo motor 7A-3, and respectively with institute
It is synchronous with torsion servo motor 7-3 to state the vertical servo motor 7-2 in the 4th joint 7, make the servo-actuated positioning disk 12 always with institute
State 8 parallel face of toroidal frame；12 bottom of servo-actuated positioning disk is equipped with servo-actuated receiving module 13, and servo-actuated object module is arranged
14, the servo-actuated object module 14 is fixed near the wound face；PLC is further included, by the voltage sensitive sensor and is servo-actuated
The information of receiving module controls the joint linkage that the ring support 8 is made with wound face face and keeping parallelism, and to begin always
The distance remained fixed eventually.The joint, corresponding servo motor also has shaft and angular transducer, for providing angle of rotation
Spend information, i.e., horizontal servo motor have horizontal rotating shaft and horizontal angle sensor, vertical servo motor have vertical rotation axis and
Vertical angle sensor, torsion servo motor have torsion shaft and windup-degree sensor.
When the average value of all voltage sensitive sensors is more than or less than critical value, the PLC controls described second are closed
Section 5 and third joint 6 vertical servo motor 5-2,6-2 linkage so that the toroidal frame 8 rises or falls, until described pressure-sensitive
The average value of sensor is equal to critical value；Simultaneously the servo-actuated receiving module 13 by following the servo-actuated object module 14, and
The second joint 5 and horizontal servo motor 5-1, the 6-1 in third joint 6 is controlled to link by the PLC so that the annular
8 face wound face of frame.
The servo-actuated receiving module 13 and servo-actuated object module 14 are equipped with ultrasonic wave module and radio receiving transmitting module, pass through
The ultrasonic wave module realizes the confirmation of direction and distance, and passes through the radio receiving transmitting module and realize 13 He of servo-actuated receiving module
Communication between servo-actuated object module 14.2.4G wireless modules can be used in radio receiving transmitting module, and ultrasonic wave module is closed due to the 5th
Section is synchronous with the 4th joint, and the plane that servo-actuated receiving module 13 is extended is parallel with the plane that toroidal frame 8 extends always, it is only necessary to
In-plane displancement information, algorithm can greatly simplify, so this province of ultrasonic wave module precision is not required for too high, can be achieved with whole
The more accurate positioning of body, it is cost-effective.
In the present embodiment, the cantilever arm 10 is 8 (or other quantities), with the 4th joint 7 and described
The contact point of toroidal frame 8 connect extended line with the center of circle of the toroidal frame 8 as X-axis, and the straight line perpendicular through the center of circle is Y
Axis, the cantilever arm is symmetrical with X-axis two-by-two and Y-axis is distributed on the toroidal frame 8, when the pressure-sensitive biography of the cantilever arm of X-axis both sides
Whens the average value of sensor does not wait, the PLC controls torsion servo motor 7-3 rotations, until the cantilever arm of the X-axis both sides
Voltage sensitive sensor average value it is equal；When the average value of the voltage sensitive sensor of the cantilever arm of Y-axis both sides does not wait, the PLC
Control the second joint 5,6 and the 4th joint 7 of third joint vertical servo motor linkage, until stretching for the Y-axis both sides
The average value for going out the voltage sensitive sensor of arm is equal.
When wound face translates, synchronous translational, the servo-actuated receiving module also occur for the servo-actuated object module 14
13 receive the translation information of the direction of servo-actuated object module 14 and distance by the radio receiving transmitting module, and information is sent
To the PLC, the PLC controls the second joint 5 and the linkage of the horizontal servo motor (5-1,6-1) in third joint 6, until
Wound face described in 12 face of follower disk is positioned, and drive wound face described in 8 face of toroidal frame with described.
There is annular lamp tube 8-1. on the toroidal frame 8
The toroidal frame 8 is connected to network, can pass through network terminal system equipped with camera 8-2, the camera 8-2
The real time remote consultation of doctors is carried out, the camera 8-2 can be by the network terminal system control ring around the guide rail of the toroidal frame 8
Rotation.
First joint 4 has horizontal mechanical shaft 4-1 and vertical mechanical shaft 4-2, is provided on first arm 1
Telescopic device 1-1, the telescopic device 1-1 are equipped with elastic button 1-2, can be described in manual rotation when the elastic button is pressed
Horizontal mechanical shaft 4-1 and vertical mechanical shaft 4-2, and telescopic device 1-1 can be adjusted simultaneously, when the elastic button bounces,
The horizontal mechanical shaft 4-1 and vertical mechanical shaft 4-2 and the telescopic device 1-1 in first joint 4 are mechanically locked
Device locks.
14 fixed form of servo-actuated object module is pastes.
The toroidal frame 8 is made of two semicircle framves, and one end of described two semicircle framves is connected and consolidated by axis pin
Due on the 4th joint 7, the other end is connected by ring buckle, so as to make the toroidal frame 8 can zoom.
During using the device, elastic button is pressed first, and toroidal frame is moved near wound face manually, then, is passed through
PLC control each diarthrodial servo motor of electricity cause ring support 8 always with wound face face simultaneously keeping parallelism, and protecting always
Hold fixed distance.
The present invention is exemplarily described above, it is clear that present invention specific implementation is not subject to the restrictions described above,
As long as it employs the various improvement of inventive concept and technical scheme of the present invention progress or not improved directly applies to other fields
It closes, within protection scope of the present invention.
Claims (10)
1. a kind of surgery is servo-actuated robotic arm, including the first arm (1), the second arm (2), third arm (3), first arm (1) is logical
It crosses the first joint (4) to connect with fixing device, be connected between first arm (1) and the second arm (2) by second joint (5),
It is connected between second arm (2) and third arm (3) by third joint (6), the third arm (3) passes through the 4th joint (7)
Be connected with toroidal frame (8), the second joint (5) and third joint (6) be both provided with horizontal servo motor (5-1), (6-1) and
Vertical servo motor (5-2), (6-2), the 4th joint (7) is equipped with vertical servo motor (7-2) and torsion servo motor (7-
3)；It is evenly equipped with around the toroidal frame (8) multiple to the cantilever arm stretched out obliquely downward (10), the cantilever arm (10) and wound face folder
Angle is α, 0 ° of 45 ° of ＜ α ＜, and cantilever arm (10) end has contact cushion (11), and the contact cushion (11) is internally provided with
Voltage sensitive sensor；Servo-actuated positioning disk (12) is equipped with right over the toroidal frame (8), the servo-actuated positioning disk (12) is closed by the 5th
Section (7A) is connect with linking arm (3-1), and the linking arm (3-1) is fixedly connected on the third arm (3), the 5th joint
(7A) is equipped with vertical servo motor (7A-2) and reverses servo motor (7A-3), and vertical with the 4th joint (7) respectively
Servo motor (7-2) with torsion servo motor (7-3) it is synchronous, make the servo-actuated positioning disk (12) always with the toroidal frame (8)
Parallel face；Servo-actuated positioning disk (12) bottom is equipped with servo-actuated receiving module (13), and servo-actuated object module (14), institute is arranged
Servo-actuated object module (14) is stated to be fixed near the wound face；Programmable controller PLC is further included, passes through the pressure-responsive
The information of device and servo-actuated receiving module controls joint linkage to make the ring support (8) always with wound face face and keeping
Distance that is parallel, and being always kept in a fixed state.
2. surgery as described in claim 1 is servo-actuated robotic arm, when the average value of all voltage sensitive sensors is more than or small
When critical value, the PLC controls the second joint (5) and third joint (6) vertical servo motor (5-2), (6-2) connection
It is dynamic so that the toroidal frame (8) rises or falls, until the average value of the voltage sensitive sensor is equal to critical value；It is described simultaneously
Servo-actuated receiving module (13) passes through the PLC and controls the second joint (5) by following the servo-actuated object module (14)
Horizontal servo motor (5-1), (6-1) linkage with third joint (6) so that toroidal frame (8) the face wound face.
3. surgery as claimed in claim 2 is servo-actuated robotic arm, the servo-actuated receiving module (13) and servo-actuated object module
(14) ultrasonic wave module and radio receiving transmitting module are equipped with, the confirmation of direction and distance is realized by the ultrasonic wave module, and
Servo-actuated communication between receiving module (13) and servo-actuated object module (14) is realized by the radio receiving transmitting module.
4. surgery as described in claim 1 is servo-actuated robotic arm, the cantilever arm (10) is 8, with the 4th joint (7)
Extended line is connect with the contact point of the toroidal frame (8) with the center of circle of the toroidal frame (8) as X-axis, perpendicular through the center of circle
Straight line for Y-axis, the cantilever arm is symmetrical with X-axis two-by-two and Y-axis is distributed on the toroidal frame (8), when the stretching of X-axis both sides
Whens the average value of the voltage sensitive sensor of arm does not wait, the PLC controls torsion servo motor (7-3) rotates, until the X-axis
The average value of the voltage sensitive sensor of the cantilever arm of both sides is equal；When the cantilever arm of Y-axis both sides voltage sensitive sensor average value not
Whens waiting, the PLC controls the vertical servo motor linkage in the second joint (5), third joint (6) and the 4th joint (7), directly
Average value to the voltage sensitive sensor of the cantilever arm of the Y-axis both sides is equal.
5. surgery as claimed in claim 3 is servo-actuated robotic arm, when wound face translates, the servo-actuated object module
(14) synchronous translational also occurs, the servo-actuated receiving module (13) is received by the radio receiving transmitting module with moving-target mould
The direction of block (14) and the translation information of distance, and the PLC is sent information to, the PLC controls the second joint (5)
Horizontal servo motor (5-1), (6-1) linkage with third joint (6), until with being created described in described positioning follower disk (12) face
Hinder face, and drive wound face described in the toroidal frame (8) face.
6. surgery as described in claim 1 is servo-actuated robotic arm, there is annular lamp tube (8-1) on the toroidal frame (8).
7. surgery as described in claim 1 is servo-actuated robotic arm, the toroidal frame (8) is equipped with camera (8-2), described to take the photograph
Picture head (8-2) is connected to network, can carry out the real time remote consultation of doctors by network terminal system, the camera (8-2) can pass through
The network terminal system control ring is rotated around the guide rail of the toroidal frame (8).
8. surgery as described in claim 1 is servo-actuated robotic arm, first joint (4) has horizontal mechanical shaft (4-1)
With vertical mechanical shaft (4-2), telescopic device (1-1) is provided on first arm (1), is set on the telescopic device (1-1)
Flexible button (1-2), can horizontal mechanical shaft (4-1) described in manual rotation and vertical mechanical turn when the elastic button is pressed
Axis (4-2), and telescopic device (1-1) can be adjusted simultaneously, when the elastic button bounces, the Horizontal machine of first joint (4)
Tool shaft (4-1) and vertical mechanical shaft (4-2) and the telescopic device (1-1) are mechanically locked device and lock.
9. surgery as described in claim 1 is servo-actuated robotic arm, servo-actuated object module (14) fixed form is pastes.
10. surgery as described in claim 1 is servo-actuated robotic arm, the toroidal frame (8) is made of two semicircle framves, described
One end of two semicircle framves is connected by axis pin and is fixed on the 4th joint (7), and the other end is connected by ring buckle,
So as to make the toroidal frame (8) can zoom.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810013776.5A CN108186121B (en) | 2018-01-08 | 2018-01-08 | Surgical follow-up robot arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810013776.5A CN108186121B (en) | 2018-01-08 | 2018-01-08 | Surgical follow-up robot arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108186121A true CN108186121A (en) | 2018-06-22 |
| CN108186121B CN108186121B (en) | 2020-09-11 |
Family
ID=62588194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810013776.5A Expired - Fee Related CN108186121B (en) | 2018-01-08 | 2018-01-08 | Surgical follow-up robot arm |
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| Country | Link |
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| CN (1) | CN108186121B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124773A (en) * | 2018-06-25 | 2019-01-04 | 深圳市精锋医疗科技有限公司 | mechanical arm |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5382885A (en) * | 1993-08-09 | 1995-01-17 | The University Of British Columbia | Motion scaling tele-operating system with force feedback suitable for microsurgery |
| CN101227870A (en) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | Software center and highly configurable robotic systems for surgery and other uses |
| US20090187288A1 (en) * | 2006-06-15 | 2009-07-23 | Kansai Technology Licensing Organization Co., Ltd. | Remote control system |
| CN102905641A (en) * | 2010-05-14 | 2013-01-30 | 直观外科手术操作公司 | Medical robotic system with coupled control modes |
| CN105997249A (en) * | 2016-04-26 | 2016-10-12 | 哈尔滨工业大学 | Hybrid mechanism with five freedom degrees, capable of implementing spatial three-dimensional positioning and two-dimensional orientation |
-
2018
- 2018-01-08 CN CN201810013776.5A patent/CN108186121B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5382885A (en) * | 1993-08-09 | 1995-01-17 | The University Of British Columbia | Motion scaling tele-operating system with force feedback suitable for microsurgery |
| CN101227870A (en) * | 2005-05-19 | 2008-07-23 | 直观外科手术公司 | Software center and highly configurable robotic systems for surgery and other uses |
| US20090187288A1 (en) * | 2006-06-15 | 2009-07-23 | Kansai Technology Licensing Organization Co., Ltd. | Remote control system |
| CN102905641A (en) * | 2010-05-14 | 2013-01-30 | 直观外科手术操作公司 | Medical robotic system with coupled control modes |
| CN105997249A (en) * | 2016-04-26 | 2016-10-12 | 哈尔滨工业大学 | Hybrid mechanism with five freedom degrees, capable of implementing spatial three-dimensional positioning and two-dimensional orientation |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109124773A (en) * | 2018-06-25 | 2019-01-04 | 深圳市精锋医疗科技有限公司 | mechanical arm |
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| Publication number | Publication date |
|---|---|
| CN108186121B (en) | 2020-09-11 |
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