CN108969034A - A kind of multiple degrees of freedom Minimally Invasive Surgery instrument - Google Patents
A kind of multiple degrees of freedom Minimally Invasive Surgery instrument Download PDFInfo
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- CN108969034A CN108969034A CN201810860199.3A CN201810860199A CN108969034A CN 108969034 A CN108969034 A CN 108969034A CN 201810860199 A CN201810860199 A CN 201810860199A CN 108969034 A CN108969034 A CN 108969034A
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- Prior art keywords
- chela
- wrist
- transition wheel
- pin shaft
- minimally invasive
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- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 25
- 241000040710 Chela Species 0.000 claims abstract description 71
- 230000007704 transition Effects 0.000 claims abstract description 65
- 210000000707 wrist Anatomy 0.000 claims abstract description 49
- 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 claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims description 18
- 238000009987 spinning Methods 0.000 claims description 5
- 239000000203 mixture Substances 0.000 claims description 2
- ZOKXTWBITQBERF-UHFFFAOYSA-N Molybdenum Chemical compound [Mo] ZOKXTWBITQBERF-UHFFFAOYSA-N 0.000 claims 1
- 229910052750 molybdenum Inorganic materials 0.000 claims 1
- 239000011733 molybdenum Substances 0.000 claims 1
- 238000009434 installation Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000000605 extraction Methods 0.000 description 3
- 210000000056 organ Anatomy 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 210000000080 chela (arthropods) Anatomy 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000593 degrading effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 238000001356 surgical procedure 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
- A61B17/00234—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
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- 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
- A61B2017/00358—Snares for grasping
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0801—Prevention of accidental cutting or pricking
- A61B2090/08021—Prevention of accidental cutting or pricking of the patient or his organs
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to the field of medical instrument technology, and in particular to a kind of multiple degrees of freedom Minimally Invasive Surgery instrument.Including executive device and control mechanism, executive device is connected with control mechanism by connecting rod；The executive device is formed by wrist pedestal, by the wrist that the second transition wheel pin shaft is assemblied in wrist pedestal with the chela connected by actuating station pin shaft；The wrist pedestal is connected with connecting rod, and wrist pedestal root is equipped with cable hole, and top is arc-shaped plate, is equipped with the second transition wheel pin shaft and third transition wheel pin shaft in two sides；The wrist is equipped with cylinder pin hole, First Transition wheel pin shaft and the chela fixed pin for filling chela being inserted in the second transition wheel pin shaft, and wrist root is equipped with the colyliform of cabling channel.Usefulness of the present invention is: it is simple and light, easy for installation, reduce labor intensity, improve work efficiency.
Description
Technical field:
The present invention relates to the field of medical instrument technology, and in particular to a kind of multiple degrees of freedom Minimally Invasive Surgery instrument.
Background technique:
Minimally Invasive Surgery is compared with traditional open surgery, with operative incision is small, amount of bleeding is few, scar after the operation is small, replys
The advantages that time is short is widely used to clinical operation at present.Due to the characteristic of Minimally Invasive Surgery, doctor need to be special using Minimally Invasive Surgery
Operation tool is insinuated by the small notch of body surface and is operated in patient body.Therefore, traditional Minimally Invasive Surgery
Tool usually has an elongate rod, and doctor is dynamic by the operation of the actuating station of the operating side realization other end of control stock one end
Make.However, due to the limitation in space and structure, the flexibility of traditional Minimally Invasive Surgery tool, inaccurate coordination, it is difficult to complete complicated
Suture knot etc. surgical actions, also increase the labor intensity and work difficulty of doctor.
In order to change the defect of traditional Minimally Invasive Surgery tool, research and the discussion of novel Minimally Invasive Surgery instrument never stop.
Novel Minimally Invasive Surgery instrument usually has multiple degrees of freedom, high flexibility, can directly operate or be adapted to micro-wound operation robot, auxiliary
Doctor is helped to complete accurate, complicated surgical action.
The U.S. Patent Publication of Patent No. 6394998 Intuitive Surgical a kind of transmission, four-degree-of-freedom
Operation tool, the operation tool are driven using wirerope, it can be achieved that four freedom degrees.The operation tool caliper wirerope from
Caliper central axes start the arrangement that extends back, and two extended section wirerope passes through the transmission for being once arranged in main body side respectively
Wheel realizes deflecting, and two sections of wirerope after deflecting pass through from the driving wheel two sides being installed on the pivot pin of tool rear end respectively, two sections
Wirerope compensates mutually during exercise, realizes closed loop steel wire drive system.The shortcomings that structure be caliper shackle line not
It can caliper be degrading tool stress condition, increases silk transmission by additional axial force perpendicular to caliper axis, therefore when being driven
Friction, increases the abrasion of wirerope and driving wheel, makes the reduced service life of operation tool, and reliability reduces.
Summary of the invention:
The technical problem to be solved by the invention is to provide a kind of tool, there are four the Minimally Invasive Surgery instruments of freedom degree.In order to
Above-mentioned technical problem is solved, the present invention is achieved by the following technical solutions: a kind of multiple degrees of freedom Minimally Invasive Surgery instrument, including
Executive device and control mechanism, executive device and control mechanism are connected by connecting rod；The executive device by wrist pedestal, pass through
The chela composition that the wrist that second transition wheel pin shaft is assemblied in wrist pedestal is connected with by actuating station pin shaft；The wrist pedestal
It is connected with connecting rod, wrist pedestal root is equipped with cable hole, and top is arc-shaped plate, is equipped with the second transition wheel pin in two sides
Axis and third transition wheel pin shaft；The wrist is equipped with cylinder pin hole, the First Transition wheel pin shaft being inserted in the second transition wheel pin shaft
With the chela fixed pin for filling chela.
Preferably, in order to increase mechanically actuated flexibility ratio, the control mechanism by wirerope concatenate motor output shaft,
Executive device and the opening of chela control chela are closed, rotate in same direction, and control mechanism is connected to third electricity by third wirerope
Machine output shaft and wrist drive wrist pitching movement, and control mechanism is connected to the 4th motor output shaft and company by the 4th wirerope
The spinning motion of extension bar realization connecting rod.
Preferably, the chela is made of left chela and right chela in order to realize the manipulation to chela, set on left chela
There is cabling channel, terminal groove is equipped in the middle part of the left chela, the side of terminal groove is equipped with cable hole, and cable hole is through-hole.Left chela
Root wheel side be equipped with arc groove and boss, assembled respectively with boss symmetrical on right chela and arc groove, limitation clamps
The maximum folding angle of pawl.
Preferably, wirerope connects for convenience, the First Transition wheel pin shaft, the second transition wheel pin shaft and third mistake
Ferry boat pin shaft two sides are equipped with can be around the transition wheel that pin shaft independently rotates.
Preferably, in order to avoid being damaged to human body or organ, the wrist pedestal, wrist edge be round and smooth
Transition.
Compared with prior art, usefulness of the present invention is: 1, with traditional instruments compared with, there is four-degree-of-freedom, it is reachable
Configuration space is big；With new instruments ratio, shorten the length of wrist, more conducively process, wrist, wrist pedestal edge be circle
It slips over and crosses, no corner angle avoid damaging human body or organ.2, the groover rot diameter of all transition wheels is equal, and is equal to and executes
The spacing on two panels chela root cabling channel inner side edge edge is held, so that drawing chela cabling channel on two side planes of wrist
Steel wire is tangent with cabling channel, introduces tangent with wire casing thereon with the wirerope of all transition wheels of extraction, increases wirerope and exists
The cornerite wound on transition wheel, and make transmission when wirerope and transition wheel between without radial force, reduce a gearing friction, in turn
Reduce the abrasion between wirerope and transition wheel, extends the service life of instrument, new instruments enhance reliability, and structure is simple
It is light, easy for installation, reduce labor intensity, improve work efficiency.
Detailed description of the invention:
Fig. 1 is Minimally Invasive Surgery apparatus structure schematic diagram；
Fig. 2 to 5 is the freedom of motion schematic diagram of Minimally Invasive Surgery instrument；
Fig. 5 to Fig. 6 is the executive device structural schematic diagram of Minimally Invasive Surgery instrument；
Fig. 7 is chela structural schematic diagram；
Fig. 8 and Fig. 9 is wirerope cabling schematic diagram.
In figure: 1, executive device；1-1, wrist pedestal；1-2, wrist；1-3, chela；1-3-1, left chela；1-3-2, the right side
Chela；1-3-1-1, terminal groove；1-3-1-2, threading hole；1-3-1-3, cabling channel；1-3-1-4, band terminal wirerope；1-3-1-
5, groove；1-3-1-6, boss；1-4, third transition wheel pin shaft；1-5, the second transition wheel pin shaft；1-6, First Transition wheel pin shaft；
1-7, the second transition wheel pin shaft cylinder pin hole；1-8, chela fixed pin；1-9, chela fixed pin holes；1-10, cable hole；2, it connects
Bar；3, control mechanism；4, transition wheel；4-1, first group of transition wheel；4-2, second group of transition wheel；4-3, third group transition wheel；4-
4, the 4th group of transition wheel；The 5th group of transition wheel of 4-5；5-1, first motor output shaft；5-2, the second motor output shaft；5-3,
Three motor output shafts；5-4, the 4th motor output shaft；6-1, the first wirerope；6-2, the second wirerope；6-3, third wirerope；
6-4, the 4th wirerope；
Specific embodiment:
With reference to the accompanying drawing and specific embodiment the present invention will be described in detail:
As shown in Figures 1 to 4, a kind of multiple degrees of freedom Minimally Invasive Surgery instrument, including executive device 1 and control mechanism 2 execute
Device 1 and control mechanism 2 are connected by connecting rod 3；The Minimally Invasive Surgery instrument can be realized the rotation of four kinds of free angles, respectively
It is the spinning motion R3 of the opening of chela 6, closing motion G1, beat movement R1,5 pitching movement R2 of wrist, connecting rod 3.
As shown in Figures 5 to 7, a kind of multiple degrees of freedom Minimally Invasive Surgery instrument, it is characterised in that: including executive device 1 and control
Mechanism 2 processed, executive device 1 and control mechanism 2 are connected by connecting rod 3；The executive device 1 by wrist pedestal 1-1, pass through the
Two transition wheel pin shaft 1-5 are assemblied in the chela 1-3 group that the wrist 1-2 of wrist pedestal 1-1 is connected with by chela fixed pin 1-8
At；The wrist pedestal 1-1 is connected with connecting rod 3, and the wrist root pedestal 1-1 is equipped with cable hole 1-10, and top is arc-shaped
Plate is installed with the second transition wheel pin shaft 1-5 and third transition wheel pin shaft 1-4 in plate；The wrist 1-2 is equipped with and is inserted in the second mistake
Ferry boat pin shaft cylinder pin hole 1-7, First Transition wheel pin shaft 1-6 and chela fixed pin 1-8 for filling chela 1-3.The control
Mechanism 2 concatenates first motor output shaft 5-1 and the second motor output shaft 5- by the first wirerope 6-1 and the second wirerope 6-2
2, executive device 1 and chela 1-3, control opening, closure, the beat rotation of chela 1-3, and control mechanism 2 passes through third wirerope
6-3 is connected to third motor output shaft 5-3 and wrist 1-2, drives wrist 1-2 pitching movement, and control mechanism 2 passes through the 4th steel wire
Rope 6-4 is connected to the 4th motor output shaft 5-4 and connecting rod 3, realizes the spinning motion of connecting rod 3.The First Transition wheel pin
Axis 1-6, the second transition wheel pin shaft 1-5 and the third transition wheel two sides pin shaft 1-4 are equipped with can be around the transition wheel 4 that pin shaft independently rotates.
The wrist pedestal 1-1, wrist 1-2 edge be rounding off.The chela 1-3 is equipped with chela fixed pin holes 1-9, pincers
Pawl 1-3 is made of left chela 1-3-1 and right chela 1-3-2, is illustrated by taking the structure of left chela 1-3-1 as an example below.Left pincers
The root pawl 1-3-1 is colyliform.Terminal groove 1-3-1-1 is equipped in the middle part of left chela 1-3-1, the side of terminal groove 1-3-1-1 is equipped with away
String holes 1-3-1-2, cable hole 1-3-1-2 are through-hole, and can pass through wirerope；The other side of terminal groove 1-3-1-1 is equipped with cabling
Slot 1-3-1-3, cabling channel 1-3-1-3 take turns edge along root and connect with cable hole 1-3-1-2, form the cabling channel of whole circle.Steel
After cord passes through cable hole 1-3-1-2, the wirerope 1-3-1-4 with terminal is formed after being compressed with center circular terminal with holes,
It is placed in terminal groove 1-3-1-1, the wirerope other end is arranged in cabling channel 1-3-1-3.The root wheel side of left chela 1-3-1 is set
There are arc groove 1-3-1-5 and boss 1-3-1-6, assembled respectively with symmetrical boss on right chela 1-3-2 and arc groove,
Limit the maximum folding angle of chela 1-3.The edge of left chela 1-3-1 and right chela 1-3-2 is rounding off, and no corner angle are kept away
Exempt to damage human body or organ.
It as shown in Figure 8 and Figure 9, is the cabling mode of wirerope, for purposes of illustration only, adding spacing between each transition wheel in figure
It greatly, is close arrangement between each transition wheel and pin shaft in actual implementation mode.The face A, the face B are that two of wrist installation transition wheel are opposite
And parallel side.First motor output shaft 5-1 is fixed in first one end wirerope 6-1, then successively passes through the face A from bottom to top
Second group of transition wheel 4-2, first group of transition wheel 4-1 on wire casing, introduce the cabling channel 1-3-1-3 on left chela 1-3-1, and
Across cable hole 1-3-1-2, after being fixed on terminal groove 1-3-1-1 using terminal, then along the left chela 1- of cabling channel 1-3-1-3 extraction
3-1 introduces the wire casing of the third group transition wheel 4-3 in the face B, then passes through the 4th group of transition wheel 4-4, the 5th group of transition wheel 4-5
On wire casing, fixed with first motor output shaft 5-1.When motor output rotates forward, the side A wirerope shortens, due to wirerope
By third group transition wheel 4-3 deflecting, the side B rope stretch, left chela 1-3-1 is to A LRO Lateral Runout.Similarly, the second wirerope 6-2
The second motor output shaft 5-2, then bottom-up second group of transition wheel 4-2 for successively turning over the face A, first group of mistake are fixed in one end
Wire casing on ferry boat 4-1 introduces the cabling channel 1-3-2-3 on right chela 1-3-2, and passes through cable hole 1-3-2-2, uses end
After son is fixed on terminal groove 1-3-2-1, then along the cabling channel 1-3-2-3 right chela 1-3-2 of extraction, introduce the third group transition in the face B
The wire casing of 4-3 is taken turns, then by the wire casing on the 4th group of transition wheel 4-4, the 5th group of transition wheel 4-5, with the second motor output shaft
5-2 is fixed.When motor output rotates forward, the side A wirerope shortens, since wirerope passes through the 4-3 deflecting of third group transition wheel, B
Side rope stretch, right chela 1-3-2 is to B LRO Lateral Runout.When first motor output shaft 5-1,5-2 is rotated forward simultaneously, chela
1-3 is to A LRO Lateral Runout, and when first motor output shaft 5-1, the second motor output shaft 5-2 are rotated backward simultaneously, chela 1-3 is to the side B
Beat, this moves R1 for the beat of instrument.When first motor output shaft 5-1 is rotated backward, the second motor output shaft 5-2 forward direction turns
When dynamic, left chela 1-3-1 and right chela 1-3-2 relative motion, this is the closing motion G1 of instrument.As first motor output shaft 5-
1 rotates forward, and when the second motor output shaft 5-2 is rotated backward, left chela 1-3-1 and right chela 1-3-2 back movement, this is
The opening movement G1 of instrument.Since the groover rot diameter of all transition wheels is equal, and it is equal to actuating station two panels chela root cabling channel
The spacing on inner side edge edge is drawn so that the steel wire for drawing chela cabling channel is tangent with cabling channel on two side planes of wrist
Steel wire and the wire casing thereon for entering, drawing all transition wheels are also tangent.Third wirerope 6-3 is fixed on third motor output shaft in one end
5-3, then passes through the wire casing of wrist driving wheel 1-2-1, then is fixed on third motor output shaft 5-3.Third motor output shaft 5-3
When rotation, wrist motion is driven, this is the pitching movement R2 of instrument.Since the cable hole on wrist pedestal 1-1 is located at transition wheel
The underface of wire casing, all wirerope for introducing, drawing transition wheel are all tangent with transition wheel.4th one end wirerope 6-4 is fixed
In motor output shaft 5-4, being fixed and the 4th motor output shaft 5-4 again from after turn trough in connecting rod 2.When the 4th motor is defeated
When shaft 5-4 is rotated, connecting rod 2 is rotated, this is the spinning motion R3 of instrument.
It is emphasized that: the above is only presently preferred embodiments of the present invention, not make in any form to the present invention
Limitation, any simple modification, equivalent change and modification to the above embodiments according to the technical essence of the invention,
All of which are still within the scope of the technical scheme of the invention.
Claims (5)
1. a kind of multiple degrees of freedom Minimally Invasive Surgery instrument, it is characterised in that: including executive device (1) and control mechanism (2), execute dress
(1) and control mechanism (2) is set to be connected by connecting rod (3)；The executive device (1) by wrist pedestal (1-1), pass through the second transition
Wheel pin shaft (1-5) is assemblied in the wrist (1-2) of wrist pedestal (1-1) and the chela (1-3) by chela fixed pin (1-8) connection
Composition；The wrist pedestal (1-1) is connected with connecting rod (3), and the wrist pedestal root (1-1) is equipped with cable hole (1-10), top
End is arc-shaped plate, and the second transition wheel pin shaft (1-5) and third transition wheel pin shaft (1-4) are installed in plate；Wrist (the 1-
2) it is equipped with and is inserted in the second transition wheel pin shaft cylinder pin hole (1-7), First Transition wheel pin shaft (1-6) and for filling molybdenum pawl (1-3)
Chela fixed pin (1-8).
2. a kind of multiple degrees of freedom Minimally Invasive Surgery instrument according to claim 1, it is characterised in that: the control mechanism (2) is logical
Cross the first wirerope (6-1) and the second wirerope (6-2) concatenation first motor output shaft (5-1) and the second motor output shaft (5-
2), executive device (1) and chela (1-3), control the opening of chela (1-3), closure, beat rotation, and control mechanism (2) passes through the
Three wirerope (6-3) are connected to third motor output shaft (5-3) and wrist (1-2), drive wrist (1-2) pitching movement, control
Mechanism (2) is connected to the 4th motor output shaft (5-4) and connecting rod (3) by the 4th wirerope (6-4), realizes connecting rod (3)
Spinning motion.
3. a kind of multiple degrees of freedom Minimally Invasive Surgery instrument according to claim 1, it is characterised in that: the First Transition wheel pin shaft
(1-6), the second transition wheel pin shaft (1-5) and the third transition wheel pin shaft two sides (1-4) are equipped with can be around the transition that pin shaft independently rotates
It takes turns (4).
4. a kind of multiple degrees of freedom Minimally Invasive Surgery instrument according to claim 1, it is characterised in that: the wrist pedestal (1-1),
The edge of wrist (1-2) is rounding off.
5. a kind of multiple degrees of freedom Minimally Invasive Surgery instrument according to claim 1, it is characterised in that: set on the chela (1-3)
Have chela fixed pin holes (1-9), chela (1-3) is made of left chela (1-3-1) and right chela (1-3-2), left chela (1-3-1)
It is equipped with cabling channel (1-3-1-3), is equipped with terminal groove (1-3-1-1) in the middle part of the left chela (1-3-1), terminal groove (1-3-1-
1) side is equipped with cable hole (1-3-1-2), the root wheel side of left chela (1-3-1) be equipped with arc groove (1-3-1-5) and
Boss (1-3-1-6) is assembled with boss symmetrical on right chela (1-3-2) and arc groove respectively, and limitation chela (1-3) is most
Big folding angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860199.3A CN108969034A (en) | 2018-08-01 | 2018-08-01 | A kind of multiple degrees of freedom Minimally Invasive Surgery instrument |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810860199.3A CN108969034A (en) | 2018-08-01 | 2018-08-01 | A kind of multiple degrees of freedom Minimally Invasive Surgery instrument |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108969034A true CN108969034A (en) | 2018-12-11 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810860199.3A Pending CN108969034A (en) | 2018-08-01 | 2018-08-01 | A kind of multiple degrees of freedom Minimally Invasive Surgery instrument |
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| CN (1) | CN108969034A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109498096A (en) * | 2018-12-15 | 2019-03-22 | 苏州康多机器人有限公司 | A kind of multiple degrees of freedom increases the ligature forceps of chucking power |
| CN117883152A (en) * | 2024-03-13 | 2024-04-16 | 苏州康多机器人有限公司 | End effector and ultrasonic cutting hemostasis system |
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| US20030100892A1 (en) * | 2000-07-27 | 2003-05-29 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
| US20030208186A1 (en) * | 2002-05-01 | 2003-11-06 | Moreyra Manuel Ricardo | Wrist with decoupled motion transmission |
| US20070255109A1 (en) * | 2006-04-28 | 2007-11-01 | Hubert Stein | Robotic endoscopic retractor for use in minimally invasive surgery |
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| CN103251458A (en) * | 2013-05-09 | 2013-08-21 | 天津工业大学 | Wire transmission four-freedom-degree surgical instrument for minimally invasive surgery robot |
| WO2017098269A1 (en) * | 2015-12-10 | 2017-06-15 | Cambridge Medical Robotics Limited | Supporting body of a surgical instrument articulation |
| CN108214477A (en) * | 2018-01-05 | 2018-06-29 | 北京工业大学 | A kind of paw mechanism of Steel rope drive |
| CN209548019U (en) * | 2018-08-01 | 2019-10-29 | 锐志微创医疗科技（常州）有限公司 | Multiple degrees of freedom Minimally Invasive Surgery instrument |
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| CN117883152A (en) * | 2024-03-13 | 2024-04-16 | 苏州康多机器人有限公司 | End effector and ultrasonic cutting hemostasis system |
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