CN109009450A - Reliability is higher from operation equipment, bindiny mechanism, power mechanism and motion arm - Google Patents
Reliability is higher from operation equipment, bindiny mechanism, power mechanism and motion arm Download PDFInfo
- Publication number
- CN109009450A CN109009450A CN201810651863.3A CN201810651863A CN109009450A CN 109009450 A CN109009450 A CN 109009450A CN 201810651863 A CN201810651863 A CN 201810651863A CN 109009450 A CN109009450 A CN 109009450A
- Authority
- CN
- China
- Prior art keywords
- clamping
- clamping portion
- link slot
- clamping unit
- bindiny mechanism
- 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
- 230000007246 mechanism Effects 0.000 title claims abstract description 214
- 230000033001 locomotion Effects 0.000 title claims abstract description 116
- 238000010586 diagram Methods 0.000 description 31
- 238000001356 surgical procedure Methods 0.000 description 5
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 230000001154 acute effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000007599 discharging Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000001360 synchronised effect Effects 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
-
- 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
-
- 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
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
It is higher from operation equipment, motion arm, power mechanism, bindiny mechanism that the present invention relates to a kind of reliabilities, it include: bindiny mechanism, power mechanism from operation equipment, and/or motion arm, bindiny mechanism offers link slot, container is offered on the side wall of the link slot, the bindiny mechanism further includes clamping unit, is flexibly set in the container；Power mechanism is equipped with clamping portion, and the clamping portion is contained in the link slot, and the clamping unit is removable along the container, so that the clamping unit is supported or separated with the clamping portion；And/or motion arm is equipped with the clamping portion, the clamping portion is contained in the link slot, and the clamping unit is removable along the container, so that the clamping unit is supported or separated with the clamping portion.
Description
Technical field
The present invention relates to Minimally Invasive Surgery fields, more particularly to a kind of higher bindiny mechanism of reliability, power mechanism, behaviour
Make arm and from operation equipment.
Background technique
Minimally Invasive Surgery refers to be applied inside body cavity using the modern medical equipments such as laparoscope, thoracoscope and relevant device
A kind of modus operandi of row operation.There are the advantages such as wound is small, pain is light, recovery is fast compared to traditional operation mode Minimally Invasive Surgery.
With the development of science and technology micro-wound operation robot technology graduallys mature, and it is widely used.Micro-wound operation robot
It generally includes master operating station and from operation equipment, master operating station is used to send control life to from operation equipment according to the operation of doctor
It enables, with control from operation equipment, is used to respond the control command that master operating station is sent from operation equipment, and performed the operation accordingly
Operation.
Sequentially connected power mechanism, bindiny mechanism and motion arm are generally included from operation equipment, power mechanism passes through company
Connection mechanism drives motion arm, and motion arm executes surgical procedure for protruding into vivo.Current driving force mechanism is driven by bindiny mechanism
When dynamic motion arm, driving error is larger, enables the control of motion arm and operating accuracy poor.
Summary of the invention
Based on this, it is necessary to provide a kind of manipulator control for enabling connection and the preferable bindiny mechanism of operating accuracy, dynamic
Force mechanisms, motion arm and from operation equipment.
A kind of reliability is higher from operation equipment, comprising:
Bindiny mechanism offers link slot, container is offered on the side wall of the link slot, the bindiny mechanism also wraps
Clamping unit is included, is flexibly set in the container；
Power mechanism is equipped with clamping portion, and the clamping portion is contained in the link slot, and the clamping unit is along the receipts
Tank is removable, so that the clamping unit is supported or separated with the clamping portion；
And/or motion arm, it is equipped with the clamping portion, the clamping portion is contained in the link slot, the clamping unit
It is removable along the container, so that the clamping unit is supported or is separated with the clamping portion.
One kind from operation equipment, comprising:
Bindiny mechanism is equipped with clamping portion；
Power mechanism offers link slot, and for accommodating the clamping portion, receiving is offered on the side wall of the link slot
Slot, the bindiny mechanism further include clamping unit, are flexibly set in the container, and removable along the container, with
The clamping unit is set to support or separate with the clamping portion；
And/or motion arm, link slot is offered, for accommodating the clamping portion, is offered on the side wall of the link slot
Container, the bindiny mechanism further include clamping unit, are flexibly set in the container, and removable along the container
It is dynamic, so that the clamping unit is supported or is separated with the clamping portion.
One kind from operation equipment, comprising:
Bindiny mechanism, with clamping portion and the clamping unit being flexibly set on the clamping portion；
Power mechanism offers link slot, and the clamping portion is contained in the link slot, the clamping unit with it is described
Link slot supports, so that the power mechanism is connect with the bindiny mechanism；
And/or motion arm, offer link slot, the clamping portion is contained in the link slot, the clamping unit with
The link slot supports, so that the motion arm is connect with the bindiny mechanism.
One kind from operation equipment, comprising:
Bindiny mechanism offers link slot；
Power mechanism, with clamping portion and the clamping unit being flexibly set on the clamping portion, the clamping portion receiving
In in the link slot, the clamping unit is supported with the link slot, so that the power mechanism and the bindiny mechanism connect
It connects；
And/or motion arm, with clamping portion and the clamping unit being flexibly set on the clamping portion, the clamping portion is received
It is dissolved in the link slot, and the clamping unit is supported with the link slot, so that the motion arm and the bindiny mechanism
Connection.
A kind of motion arm, for any of the above-described motion arm.
A kind of power mechanism, for any of the above-described power mechanism.
A kind of bindiny mechanism, for any of the above-described bindiny mechanism.
It is above-mentioned from operation equipment, power mechanism connect with motion arm pass through clamping portion, be clamped unit is connected with bindiny mechanism
It connects, so that power mechanism is connected with motion arm, enables power mechanism driving motion arm operation.Since clamping portion is contained in link slot
Interior, clamping unit and card slot are clamped, and it is stronger, stable can to enable connection, and then enable driving better effect, and motion arm operates more
It is good accurate.In addition, can quickly connect with above structure from operation equipment, attended operation arm or replacement operation are reduced
Time used in arm.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one embodiment of operating robot of the present invention；
Fig. 2 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 3 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 4 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 5 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 6 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 7 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 8 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Fig. 9 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 10 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 11 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 12 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 13 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 14 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 15 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 16 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 17 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 18 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 19 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 20 is partial schematic diagram of the present invention from operation one embodiment of equipment
Figure 21 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 22 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 23 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 24 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 25 is partial schematic diagram of the present invention from operation one embodiment of equipment；
Figure 26 is partial schematic diagram of the present invention from operation one embodiment of equipment.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being set to " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.When an element is considered as " coupling " another element, it can
To be to be directly coupled to another element or may be simultaneously present centering elements.Term as used herein " vertically ", " water
It is flat ", "left", "right" and similar statement for illustrative purposes only, be not meant to be the only embodiment.Herein
Used term " distal end ", " proximal end " are used as the noun of locality, which is interventional medical device field common terminology, wherein
" distal end " indicates that one end in surgical procedure far from operator, " proximal end " indicate one end that proximal operator is depended in surgical procedure.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more
Any and all combinations of relevant listed item.
It as shown in Figure 1 to Figure 3, is respectively the structural schematic diagram of one embodiment of operating robot of the present invention, and from operation
The partial schematic diagram of equipment difference embodiment.
Operating robot include master operating station 1 and from operation equipment 2.Wherein, master operating station 1 is used for the operation according to doctor
Control command is sent to from operation equipment 2, with control from operation equipment 2, is also used to show the image obtained from equipment 2.From
Operation equipment 2 is used to respond the control command of the transmission of master operating station 1, and carries out corresponding operation, and also uses from operation equipment 2
In the intracorporal image of acquisition.
Specifically, from operation equipment 2 include mechanical arm 21, be set on mechanical arm 21 power mechanism 22, be set to it is dynamic
Motion arm 23 on force mechanisms 22, and it is arranged the casing 24 of motion arm 23.Mechanical arm 21 is used to adjust the position of motion arm 23；
Power mechanism 22 is for driving motion arm 23 to execute corresponding operating；Motion arm 23 is located at distal end for protruding into vivo, and by it
End instrument 20 execute surgical procedure, and/or obtain internal image.Specifically, as shown in Figure 2 and Figure 3, motion arm 23 is worn
Casing 24, end instrument stretch out outside casing 24, and drive it to execute operation by power mechanism 22.In Fig. 2, motion arm 23
In the region in casing 24 be rigid region；In Fig. 3, motion arm 23 be located at the region in casing 24 be flexible region, casing with
Flexible region bends.In other embodiments, casing 24 also can be omitted, at this point, being not necessarily to casing.
In one embodiment, motion arm 23 be it is multiple, be all set on the same power mechanism 22, multiple motion arms 23 it is remote
End is protruded into vivo by a notch on human body, so that its end instrument 20 is moved to lesion 3 and is nearby operated.Tool
Body, power mechanism has multiple power parts, and each power part is correspondingly connected with a motion arm.In other embodiments, engine
Structure is multiple, one motion arm 23 of setting on each power mechanism 22, and multiple motion arms protrude into vivo, at this time from a notch
Multiple power mechanisms 22 both can be set on a mechanical arm 21, also can be set on multiple mechanical arms 21.It needs to illustrate
, multiple motion arms 23 can also protrude into vivo from multiple notch, for example, two motion arms are protruded into each notch, for another example,
A motion arm is protruded into each notch.
It further include stamp card from operation equipment 2 in one embodiment, stamp card is fixedly installed for wearing the notch on human body
In incision tract, motion arm is extend into vivo by stabbing card.
It is the structural schematic diagram from operation equipment difference embodiment as shown in Fig. 4 to Fig. 9.
It further include bindiny mechanism 10 from operation equipment 2, for motion arm 23 to be connected with power mechanism 22, so that power
Mechanism 22 drives motion arm 23 to operate.Specifically, including: bindiny mechanism 10, power mechanism 22 and motion arm 23 from equipment is operated.
Wherein, bindiny mechanism 10 offers link slot 110, the side wall of link slot 110 offer for power mechanism 22 and motion arm
The card slot 120 of 23 connections；The clamping unit 150 that power mechanism 22 has clamping portion 140 and is set on clamping portion 140, clamping
Portion 140 is contained in link slot 110, and clamping unit 150 and card slot 120 are clamped, so that power mechanism 22 and 10 phase of bindiny mechanism
Connection；The clamping unit 150 that motion arm 23 has clamping portion 140 and is set on clamping portion 140,140 company of being contained in of clamping portion
In access slot 110, clamping unit 150 and card slot 120 are clamped, so that motion arm 23 is connected with bindiny mechanism 10.
In other embodiments, can also only power mechanism 22 or motion arm 23 by card slot 120 in link slot 110 with
Bindiny mechanism 10 connects, and corresponding link slot 110 and card slot 120 is accordingly arranged.
It is above-mentioned from operation equipment, power mechanism 22 connect with motion arm 23 by clamping portion 140, clamping unit 150 and connect
Connection mechanism 10 is connected, so that power mechanism 22 is connected with motion arm 23, enables power mechanism 22 that motion arm 23 is driven to operate.By
It is contained in link slot 110 in clamping portion 140, clamping unit 150 and card slot 120 are clamped, and connection can be enabled stronger, steady
It is fixed, and then driving better effect is enabled, the operation of motion arm 23 is more preferably accurate.In addition, with above structure from operation equipment, it can
Quickly connection reduces the time used in attended operation arm 23 or replacement operation arm 23.
As shown in Figure 4, Figure 5, in the present embodiment, link slot 110 is located at the central region of bindiny mechanism 10.For example, connection
Slot 110 is one, and center is overlapped with the center of bindiny mechanism 10.For another example, link slot 110 is multiple, is located at bindiny mechanism 10
Middle part, and around bindiny mechanism 10 central symmetry be distributed.In other embodiments, link slot 110 can also be located at other areas
Domain, for example, link slot 110 be it is multiple, along bindiny mechanism 10 periphery be distributed.It should be noted that when link slot 110 is multiple
When, clamping portion 140 is correspondingly arranged with clamping unit 150.I.e. each link slot 110 is connected with an at least clamping portion 140.
As shown in fig. 6, the clamping unit 150 of power mechanism 22 and the clamping unit 150 of motion arm 23 block in an embodiment
It is connected in the same card slot 120.For example, link slot 110 is through slot, power mechanism 22 is stretched from the two sides of through slot respectively with linking arm
Enter into link slot 110, and is clamped with the card slot 120 in link slot 110.In other embodiments, the clamping of power mechanism 22
Unit 150 can also be connected in different card slots 120 from the clamping of the clamping unit 150 of motion arm 23, at this point, different card slots
120 both can be the card slot 120 in a link slot 110, or the card slot 120 in different link slots 110.For example, such as
The clamping portion 140 of power mechanism 22 or motion arm 23 is only accommodated shown in Fig. 7, in link slot 110, and card slot 120 thereon with
Corresponding clamping unit 150 is clamped.For another example, as shown in figure 8, accommodating power mechanism 22 and motion arm 23 in link slot 110 simultaneously
Clamping portion 140, at this point, have multiple card slots 120 in link slot 110, each card slot 120 and power mechanism 22 or motion arm
23 clamping unit 150 is clamped, wherein multiple card slots 120 can be distributed along the periphery of link slot 110, and multiple card slots 120 can
It is arranged in a row along the extending direction of link slot 110 or multiple rows of.
In one embodiment, clamping unit 150 is movable with respect to clamping portion 140, so that clamping unit 150 and card slot 120 block
It connects or separates.For example, clamping 150 rotary setting of unit is on clamping portion 140, so that clamping unit 150 can block with card slot 120
It connects or separates.Specifically, when link slot 110 is protruded into clamping portion 140, the free end of clamping unit 150 is closed on clamping portion 140 and is set
It sets, extend into link slot 110 together with clamping portion 140, rotary clamping unit 150 later, so that itself and card slot 120 block
It connects；When discharging the card slot 120 of clamping, rotary clamping unit 150 enables its free end close on the setting of clamping portion 140, so that clamping is single
Member 150 is separated with card slot 120.Wherein, the free end for being clamped unit 150 refers to the end not connecting with the clamping portion 140.Again
Such as, clamping unit 150 is flexible is set on clamping portion 140, so that clamping unit 150 is clamped or separates with card slot 120, works as clamping
When, clamping unit 150 is stretched out, when disengaged, retracts clamping unit 150.
Specifically, clamping unit 150 can be connected to motor, and be moved with controlling it with respect to clamping portion 140, enable clamping unit
150 are clamped or separate with card slot 120.Alternatively, clamping unit 150 can also be connected with elastic mechanism, for example, when clamping unit
When 150 state in clamping card (as shown in Figure 6 to 8), i.e. the free end of clamping unit 150 moves to separate clamping portion
When 140 position, clamping unit 150 is clamped by the elastic force and card slot 120 of elastic mechanism, at this point, power part or operation
Arm 23 has relieving mechanism, for enabling clamping unit 150 separate with card slot 120, for example, relieving mechanism is switch, for enabling card
Order member 150 is in housed state, i.e. clamping unit 150 moves to the position (as shown in Figure 5) for closing on clamping portion 140, to stretch
Enter to link slot 110.
Further, clamping portion 140 is equipped with container 160, for accommodating clamping unit 150, when clamping portion 140 need to stretch
When entering link slot 110 or taking out from link slot 110, clamping unit 150 is enabled to be contained in container 160.In one embodiment, card
Order member 150 is contained in completely in container 160, to enable motion arm 23 more stably connect with power mechanism 22 with connection unit
It connects.In other embodiments, clamping unit 150 can also be partially housed in container 160.
In one embodiment, clamping portion 140 is equipped with multiple clamping units 150, and multiple clamping units 150 are along clamping portion 140
Periphery distribution.In this way, further improving connective stability.For example, clamping unit 150 is four, the week along clamping portion 140
Edge is symmetrical.
In one embodiment, as shown in figure 9, clamping unit 150 and the extending direction of clamping portion 140 form acute angle, it can also be with
It is interpreted as, clamping unit 150 and clamping portion 140 form umbrella, at this point, the corresponding clamping unit 150 of card slot 120 is arranged.
In one embodiment, as shown in Figure 10, clamping unit 150 is foliaceous, and surface and the side wall of card slot 120 offset
It connects.Wherein, the thickness in the foliated clamping each region of unit 150 both can be identical, can also be different.For example, along far from card slot
The thickness in the direction of 120 bottom surfaces, the region that clamping unit 150 is clamped with card slot 120 is gradually increased.
As shown in figure 5, the inner wall of card slot 120 is equipped with position-limiting unit 170 in an embodiment, so that clamping 150 edge of unit
The path of limitation is mobile, specifically, projected side wall of the position-limiting unit with respect to card slot 120, is clamped on unit 150 and offers limiting slot
(figure does not regard), for being arranged position-limiting unit, to be moved along the path that position-limiting unit limits.Wherein, when the clamping rotation of unit 150 is set
When being placed on clamping portion 140, which is arc path, when clamping unit 150 is flexible to be set on clamping portion 140, the road
Diameter is straight line path.It should be noted that position-limiting unit can also be arranged in container 160 in other embodiments.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in Figure 10, embodiment illustrated in fig. 11.
Specifically, the clamping unit 150 that bindiny mechanism 10 has clamping portion 140 and is set on clamping portion 140, wherein clamping portion 140
It is respectively arranged at for two on two surfaces that bindiny mechanism 10 connect with power mechanism 22, motion arm 23；Power mechanism 22 is opened
Equipped with link slot 110, the side wall of link slot 110 offers card slot 120, and corresponding clamping portion 140 is contained in the link slot
In 110, clamping unit 150 and card slot 120 are clamped；Motion arm 23 offers link slot 110, and the side wall of link slot 110 offers
Card slot 120, corresponding clamping portion 140 are contained in the link slot 110, and clamping unit 150 and card slot 120 are clamped.
In other embodiments, can also only power mechanism 22 or motion arm 23 by card slot 120 in link slot 110 with
Bindiny mechanism 10 connects, and clamping portion 140 and clamping unit 150 is accordingly arranged.
It should be noted that, although clamping portion 140 is set in bindiny mechanism 10 in the present embodiment, link slot 110 is arranged
In on power mechanism 22 and/or motion arm 23, but clamping portion 140, clamping unit 150, link slot 110, card slot 120, with its phase
The structure and relative positional relationship of pass are identical as the various embodiments described above, no longer repeat herein.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in Figure 12, embodiment illustrated in fig. 13.
Specifically, bindiny mechanism 10 offers link slot 110, and bindiny mechanism 10 has clamping unit 150, is located in link slot 110；It is dynamic
Force mechanisms 22 have clamping portion 140, offer card slot 120 on clamping portion 140, and clamping portion 140 is contained in link slot 110, card
Order member 150 is clamped with card slot 120；Motion arm 23 has clamping portion 140, offers card slot 120, clamping portion on clamping portion 140
140 are contained in link slot 110, and clamping unit 150 and card slot 120 are clamped.
In other embodiments, can also only power mechanism 22 or motion arm 23 by card slot 120 on clamping portion 140 with
Bindiny mechanism 10 connects, and link slot 110 and clamping unit 150 is accordingly arranged.
It should be noted that being set to connection for accommodating at this point, container 160 is opened on the side wall of link slot 110
Clamping unit 150 in slot 110, clamping unit 150 are removable with respect to link slot 110.Remaining relevant structure and relative position
Relationship is identical as the various embodiments described above, for example, as shown in figure 13, position-limiting unit 170 is set in container 160, clamping is single
Limiting slot 180 is offered in member 150, for being arranged position-limiting unit 170, to move along the path that position-limiting unit 170 limits.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in embodiment illustrated in fig. 14.Specifically
Ground, bindiny mechanism 10 have clamping portion 140, offer card slot 120 on clamping portion 140, wherein clamping portion 140 is two, respectively
It is set on two surfaces that bindiny mechanism 10 connect with power mechanism 22, motion arm 23；Power mechanism 22 offers link slot
110, power mechanism 22 has clamping unit 150, is located in link slot 110, and clamping portion 140 is contained in link slot 110, clamping
Unit 150 and card slot 120 are clamped；Motion arm 23 offers link slot 110, and motion arm 23 has clamping unit 150, is located at connection
In slot 110, clamping portion 140 is contained in link slot 110, and clamping unit 150 and card slot 120 are clamped.
In other embodiments, only power mechanism 22 or motion arm 23 it can also pass through link slot 110 and clamping unit 150
It is connect with bindiny mechanism 10, and clamping portion 140 and card slot 120 is accordingly set.
It should be noted that being set to connection for accommodating at this point, container 160 is opened on the side wall of link slot 110
Clamping unit 150 in slot 110, clamping unit 150 are removable with respect to link slot 110.Remaining relevant structure with it is above-mentioned each
Embodiment is identical, no longer repeats herein.
It is respectively the structural schematic diagram of different embodiments of the invention as shown in Figure 15 to Figure 22.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in Figure 15, embodiment illustrated in fig. 16.
Specifically, the clamping portion 140 that bindiny mechanism 10 includes Flexible element 130, connected by Flexible element 130, and it is set to card
Clamping unit 150 in socket part 140, wherein clamping unit 150 includes two groups, is located in bindiny mechanism 10 and engine
The two sides that structure 22, motion arm 23 connect；Link slot 110, and and link slot are offered on power mechanism 22 and motion arm 23
110 card slot 120 of link slot of 110 connections, clamping portion 140 are contained in link slot 110, the card connected by Flexible element 130
Socket part 140 is relatively removable, so that clamping unit 150 is clamped or separates with card slot 120 with the movement of clamping portion 140.
In other embodiments, can also only power mechanism 22 or motion arm 23 it be connected by card slot 120 and bindiny mechanism 10
Connect, and accordingly be arranged bindiny mechanism 10 on clamping portion 140 and clamping unit 150, for example, at this point, only with power mechanism 22 or
The side that person's motion arm 23 connects has clamping unit 150.
In Figure 15, embodiment illustrated in fig. 16, the multiple groups of 10 two sides of bindiny mechanism are clamped 150 self-movement of unit, i.e., wherein
The movement of side clamping unit 150 will not influence the movement of other side clamping unit 150.For example, bindiny mechanism 10 includes two groups
It is clamped unit 150 and clamping portion 140, two groups of two sides for being located at bindiny mechanism 10, two groups of 140 self-movements of clamping portion, with
Make 150 self-movement of clamping unit being arranged on, specifically, 140 one end of clamping portion is set in bindiny mechanism 10, another
Hold connection card order member 150.In Figure 17, embodiment illustrated in fig. 18, the multiple groups clamping unit 150 of two sides can also correspond to synchronous fortune
It is dynamic.For example, bindiny mechanism 10 includes two clamping portions 140 connected by Flexible element 130, the both ends difference of clamping portion 140
Positioned at the two sides of bindiny mechanism 10, the both ends of clamping portion 140 are equipped with Flexible element 130, so that the clamping unit 150 at both ends divides
Not Ka Jie card slot 120 on power mechanism 22 and surgical procedure arm 23 be arranged on point when 140 relative motion of clamping portion
Not Wei Yu 10 two sides of bindiny mechanism clamping unit 150 with moving with it, i.e., two groups of clamping units 150 move synchronously.One is real
It applies in example, when the every side of bindiny mechanism 10 has multiple groups clamping unit 150, side multiple groups clamping unit 150 is moved synchronously.Other
In embodiment, when the every side of bindiny mechanism 10 has multiple groups clamping unit 150, which is clamped in unit 150 at least partly
It is clamped 150 self-movement of unit.
In one embodiment, the card slot 120 in every group of clamping unit 150 and a link slot 110 is clamped, wherein every group of card
There is multiple clamping units 150, and all fates of link slot 110 of multiple clamping units 150 along its clamping in order member 150
Cloth.For example, every group of tool of clamping unit 150 is there are four unit 150 is clamped, the center along link slot 110 is evenly distributed.For another example, often
There are two unit 150 is clamped, the central symmetry along link slot 110 is distributed group clamping unit 150 tool.
Further, every group of clamping unit 150 can be located in the same plane, and can also be located in Different Plane, and
The card slot 120 being clamped with it is correspondingly set.For example, every group of clamping unit 150 includes multiple clamping units 150, it is located at
In two different planes, the clamping unit 150 in each plane is evenly distributed along 110 center of link slot.
In the present embodiment, it is equipped with a clamping unit 150 on each clamping portion 140, in other embodiments, such as Figure 19 institute
Show, the connection unit of other quantity can also be set on a clamping portion 140.For example, interval is laminated on each clamping portion 140
Two connection units are set, and two connection units are located in different planes.For another example, it is not provided with being clamped on part clamping portion 140
Unit 150.
In one embodiment, clamping unit 150 and clamping portion 140 form angle, which is the non-straight angle, i.e. clamping unit
150 with clamping portion 140 not in a plane.For example, angle is right angle, for another example, angle is 100 degree~120 degree.
It should be noted that clamping unit 150, card slot 120, the dependency structures such as link slot 110 and relative positional relationship with
It is identical in above-described embodiment, it no longer repeats herein.
As shown in figure 20, in an embodiment, by 130 elastic connection of Flexible element between two neighboring clamping portion 140, i.e.,
The both ends of Flexible element 130 are connected with two neighboring clamping portion 140 respectively.In other embodiments, multiple clamping portions 140 can also
To be connected by radial connection unit, i.e., one end of multiple connection units is connected to each other, and the other end is right in clamping portion 140
It should connect.
In one embodiment, multiple clamping portions 140 are rotatablely connected by shaft.In other embodiments, multiple clamping portions 140 are logical
It crosses interconnecting piece to be connected, passes through the elastic deformation relative motion of interconnecting piece between multiple clamping portions 140.It should be noted that
Multiple clamping portions 140 both can also enable its movement by its relative motion of motor driven manually by control switch.Example
Such as, switch is with link mechanism, and when pressing lower switch, connecting rod pushes clamping portion 140, moves it.
In one embodiment, link slot 110 is located at the central region of power mechanism 22 or motion arm 23.Wherein, link slot 110
It can be one or more, and be correspondingly arranged matched clamping portion 140 and clamping unit 150.In other embodiments, link slot
110 can also be located at other regions.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in Figure 21, embodiment illustrated in fig. 22.
Specifically, bindiny mechanism 10 offers link slot 110, and the side wall of link slot 110 offers card slot 120；Power mechanism 22 and behaviour
Making arm 23 includes two clamping portions 140 connected by Flexible element 130, and the clamping list being set on clamping portion 140
Member 150, clamping portion 140 is contained in link slot 110, and multiple clamping portions 140 connected by Flexible element 130 are relatively removable
It is dynamic, so that clamping unit 150 is clamped or separates with card slot 120 with the movement of clamping portion 140.
In other embodiments, only power mechanism 22 or motion arm 23 it can also pass through clamping portion 140 and bindiny mechanism 10
Connection, and the link slot 110 and card slot 120 being accordingly arranged in bindiny mechanism 10.
It should be noted that clamping portion 140, clamping unit 150, link slot 110, card slot 120 and relative structure
And positional relationship etc., it can be identical as foregoing embodiments, it no longer repeats herein.
It is respectively the structural schematic diagram of different embodiments of the invention as shown in Figure 23 to Figure 26.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in embodiment illustrated in fig. 23.Specifically
Ground, bindiny mechanism 10 offer link slot 110, container 160 are offered on the side wall of link slot 110, bindiny mechanism 10 also wraps
Clamping unit 150 is included, is flexibly set in container 160；Power mechanism 22 and motion arm 23 are equipped with clamping portion 140, clamping
Portion 140 is contained in link slot 110, and clamping unit 150 is removable along container 160, so that the clamping portion 140 and clamping are single
Member 150 is supported or is separated.
In other embodiments, only power mechanism 22 or motion arm 23 it can also pass through clamping portion 140 and bindiny mechanism 10
Connection, and the link slot 110 being accordingly arranged in bindiny mechanism 10.
In one embodiment, container 160 be it is multiple, be distributed around link slot 110, be equipped with card in each container 160
Order member 150, it is stronger to enable bindiny mechanism 10 connect with motion arm 23 and power mechanism 22.Wherein, multiple containers 160
The side to correspond to each other can be both located in the same plane, and can also be located in Different Plane, i.e. clamping unit 150 can be located at
In approximately the same plane or Different Plane.In the present embodiment, clamping unit 150 is vertically arranged with clamping portion 140, other embodiments
In, clamping unit 150 can also form acute angle or obtuse angle with clamping portion 140.It should be noted that when container 160 and card
When order member 150 is multiple, above structure is can be used in any container 160 and/or clamping unit 150.
In the present embodiment, clamping unit 150 is set in container 160 by Flexible element 130.With previous embodiment phase
Together, in an embodiment, bindiny mechanism 10 is additionally provided with relieving mechanism, for enabling clamping unit 150 separate with clamping portion 140.Specifically
Ground, clamping unit 150 both can by motor driven its movement, can also manually drive its movement, with clamping
The separation of unit 150 abuts.For example, push switch makes when bindiny mechanism 10 connect with power mechanism 22 or motion arm 23
Clamping unit 150 be maintained in container 160, release switch enable clamping unit 150 under the action of Flexible element 130 with clamping
Portion 140 is clamped.For another example, when clamping portion 140 is connect with clamping unit 150, clamping portion 140 is enabled by supporting clamping unit 150
Clamping unit 150 moved along container 160 so that clamping portion 140 protrude into link slot 110 and with clamping unit 150 support, when point
From when, push switch, enable both separation.
In the present embodiment, card slot 120 is offered on clamping portion 140, clamping unit 150 is at least partially housed in card slot 120
It is interior, and supported with card slot 120, to enable clamping stronger.Specifically, card slot 120 is U-lag, and clamping unit 150 is abutted with it
End match with card slot 120.In other embodiments, card slot 120 or other shapes, for example, being V-shaped groove.In addition,
Also it can be omitted card slot 120, be clamped unit 150 at this time and be directly clamped with clamping portion 140.
In one embodiment, periphery of the card slot 120 along clamping portion 140 is distributed.For example, card slot 120 is one around clamping portion
140 settings.For another example, card slot 120 is multiple, the setting of multiple intervals of card slot 120, and is distributed around the periphery of clamping portion 140.
It should be noted that clamping portion 140, clamping unit 150, link slot 110, card slot 120 and relative structure
And positional relationship etc., it can be identical as foregoing embodiments, it no longer repeats herein.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in embodiment illustrated in fig. 24.Specifically
Ground, bindiny mechanism 10 are equipped with clamping portion 140；Power mechanism 22 and motion arm 23 offer link slot 110, and clamping portion 140 is received
It is dissolved in link slot 110, container 160 is offered on the side wall of link slot 110, power mechanism and motion arm further include that clamping is single
Member 150, is flexibly set in container 160, and clamping unit 150 is removable along container 160, to support with the clamping portion 140
It holds or separates.
In other embodiments, only power mechanism 22 or motion arm 23 it can also pass through clamping unit 150 and bindiny mechanism
10 connections, and the clamping portion 140 being accordingly arranged in bindiny mechanism 10.
It should be noted that clamping portion 140, clamping unit 150, link slot 110, card slot 120 and relative structure
And relative positional relationship etc., it can be identical as foregoing embodiments, it no longer repeats herein.Although it is understood that the present embodiment
In, clamping portion 140 is set in bindiny mechanism 10, and link slot 110 is set on power mechanism 22 and/or motion arm 23, but its
Dependency structure and relative positional relationship can be set on power mechanism 22 and/or motion arm 23 with clamping portion 140, link slot 110,
It is identical that clamping unit 150 is set to each embodiment in bindiny mechanism 10.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in embodiment illustrated in fig. 25.Specifically
Ground, the clamping unit 150 that bindiny mechanism 10 has clamping portion 140 and is flexibly set on clamping portion 140；Power mechanism 22 and behaviour
Make arm 23 and offer link slot 110, wherein clamping portion 140 is contained in link slot 110, is clamped unit 150 and link slot
110 support, so that power mechanism 22 is connect with bindiny mechanism 10.
In one embodiment, card slot 120 can also be opened up on the side wall of link slot 110, enable clamping unit 150 and card slot
120 clampings.It can also only power mechanism 22 or motion arm 23 be connect by link slot 110 with bindiny mechanism 10, and accordingly set
Set the clamping portion 140 in bindiny mechanism 10.In one embodiment, container 160 is offered on clamping portion 140, for accommodating clamping
Unit 150.
It should be noted that clamping portion 140, clamping unit 150, link slot 110, card slot 120 and relative structure
And relative positional relationship etc., it can be identical as foregoing embodiments, it no longer repeats herein.Although it is understood that the present embodiment
In, clamping portion 140 is set in bindiny mechanism 10, and link slot 110 is set on power mechanism 22 and/or motion arm 23, but its
Dependency structure and relative positional relationship can be set on power mechanism 22 and/or motion arm 23 with clamping portion 140, link slot 110,
It is identical that clamping unit 150 is set to each embodiment in bindiny mechanism 10.
It include: bindiny mechanism 10, power mechanism 22 and motion arm 23 from operation equipment in embodiment illustrated in fig. 26.Specifically
Ground, bindiny mechanism 10 offer link slot 110；Power mechanism 22 and motion arm 23 all have clamping portion 140 and are flexibly set in
Clamping unit 150 on clamping portion 140, clamping portion 140 are contained in link slot 110, and clamping unit 150 is supported with link slot 110
It holds, so that power mechanism 22 is connect with bindiny mechanism 10.
In other embodiments, card slot 120 can also be opened up on the side wall of link slot 110, enable clamping unit 150 and card slot
120 clampings.It can also only power mechanism 22 or motion arm 23 be connect by being clamped unit 150 with bindiny mechanism 10, and corresponding
Link slot 110 in bindiny mechanism 10 is set.In one embodiment, container 160 is offered on clamping portion 140, for accommodating card
Order member 150.
It should be noted that clamping portion 140, clamping unit 150, link slot 110, card slot 120 and relative structure
And positional relationship etc., it can be identical as foregoing embodiments, it no longer repeats herein.Although it is understood that blocking in the present embodiment
Socket part 140, clamping unit 150 are set on power mechanism 22 and/or motion arm 23, and link slot 110 is set to bindiny mechanism 10
On, but its dependency structure and relative positional relationship can be set on power mechanism 22 and/or motion arm 23 with clamping portion 140, even
Access slot 110, to be set to each embodiment in bindiny mechanism 10 identical for clamping unit 150.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of reliability is higher from operation equipment characterized by comprising
Bindiny mechanism offers link slot, and container is offered on the side wall of the link slot, and the bindiny mechanism further includes card
Order member, is flexibly set in the container；
Power mechanism is equipped with clamping portion, and the clamping portion is contained in the link slot, and the clamping unit is along the container
It is removable, so that the clamping unit is supported or is separated with the clamping portion；
And/or motion arm, it is equipped with the clamping portion, the clamping portion is contained in the link slot, and the clamping unit is along institute
It is removable to state container, so that the clamping unit is supported or separated with the clamping portion.
2. according to claim 1 from operation equipment, which is characterized in that offer card slot, the card on the clamping portion
Order member is supported with the card slot.
3. a kind of from operation equipment characterized by comprising
Bindiny mechanism is equipped with clamping portion；
Power mechanism offers link slot, for accommodating the clamping portion, offers container on the side wall of the link slot,
The bindiny mechanism further includes clamping unit, is flexibly set in the container, and removable along the container, so that institute
Clamping unit is stated to support or separate with the clamping portion；
And/or motion arm, link slot is offered, for accommodating the clamping portion, receiving is offered on the side wall of the link slot
Slot, the bindiny mechanism further include clamping unit, are flexibly set in the container, and removable along the container, with
The clamping unit is set to support or separate with the clamping portion.
4. a kind of from operation equipment characterized by comprising
Bindiny mechanism, with clamping portion and the clamping unit being flexibly set on the clamping portion；
Power mechanism offers link slot, and the clamping portion is contained in the link slot, the clamping unit and the connection
Slot supports, so that the power mechanism is connect with the bindiny mechanism；
And/or motion arm, offer link slot, the clamping portion is contained in the link slot, the clamping unit with it is described
Link slot supports, so that the motion arm is connect with the bindiny mechanism.
5. according to claim 4 from operation equipment, which is characterized in that card slot is offered on the side wall of the link slot,
The clamping unit is supported with the card slot.
6. a kind of from operation equipment characterized by comprising
Bindiny mechanism offers link slot；
Power mechanism, with clamping portion and the clamping unit being flexibly set on the clamping portion, the clamping portion is contained in institute
It states in link slot, the clamping unit is supported with the link slot, so that the power mechanism is connect with the bindiny mechanism；
And/or motion arm, with clamping portion and the clamping unit being flexibly set on the clamping portion, the clamping portion is contained in
In the link slot, and the clamping unit is supported with the link slot, so that the motion arm is connect with the bindiny mechanism.
7. according to claim 6 from operation equipment, which is characterized in that card slot is offered on the side wall of the link slot,
The clamping unit is supported with the card slot.
8. a kind of motion arm, which is characterized in that for motion arm described in any one of claims 1 to 7.
9. a kind of power mechanism, which is characterized in that for power mechanism described in any one of claims 1 to 7.
10. a kind of bindiny mechanism, which is characterized in that for bindiny mechanism described in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651863.3A CN109009450B (en) | 2018-06-22 | 2018-06-22 | High-reliability slave operation device, connecting mechanism, power mechanism and operation arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810651863.3A CN109009450B (en) | 2018-06-22 | 2018-06-22 | High-reliability slave operation device, connecting mechanism, power mechanism and operation arm |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109009450A true CN109009450A (en) | 2018-12-18 |
| CN109009450B CN109009450B (en) | 2021-03-09 |
Family
ID=64610406
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810651863.3A Active CN109009450B (en) | 2018-06-22 | 2018-06-22 | High-reliability slave operation device, connecting mechanism, power mechanism and operation arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109009450B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101500470A (en) * | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | Minimally invasive surgical system |
| CN101697929A (en) * | 2009-11-03 | 2010-04-28 | 昆山市工业技术研究院有限责任公司 | Rapid switching device for end of arm tool (EOAT) |
| CN103089772A (en) * | 2011-11-08 | 2013-05-08 | 徐小玲 | Connecting device for lengthening handle |
| WO2015142822A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | Manipulator arm having connection interface, and related devices and systems |
| CN106377907A (en) * | 2016-11-16 | 2017-02-08 | 上海未来伙伴机器人有限公司 | Toy brick robot connector |
| CN206925877U (en) * | 2017-07-18 | 2018-01-26 | 冯浩杰 | A kind of fast replacing device of manipulator |
| CN107683120A (en) * | 2015-07-09 | 2018-02-09 | 川崎重工业株式会社 | Operation manipulator |
-
2018
- 2018-06-22 CN CN201810651863.3A patent/CN109009450B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101500470A (en) * | 2006-06-13 | 2009-08-05 | 直观外科手术公司 | Minimally invasive surgical system |
| CN101697929A (en) * | 2009-11-03 | 2010-04-28 | 昆山市工业技术研究院有限责任公司 | Rapid switching device for end of arm tool (EOAT) |
| CN103089772A (en) * | 2011-11-08 | 2013-05-08 | 徐小玲 | Connecting device for lengthening handle |
| WO2015142822A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | Manipulator arm having connection interface, and related devices and systems |
| CN107683120A (en) * | 2015-07-09 | 2018-02-09 | 川崎重工业株式会社 | Operation manipulator |
| CN106377907A (en) * | 2016-11-16 | 2017-02-08 | 上海未来伙伴机器人有限公司 | Toy brick robot connector |
| CN206925877U (en) * | 2017-07-18 | 2018-01-26 | 冯浩杰 | A kind of fast replacing device of manipulator |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109009450B (en) | 2021-03-09 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210077208A1 (en) | Robotic surgical assemblies | |
| US8827988B2 (en) | Apparatus and methods for hybrid endoscopic and laparoscopic surgery | |
| EP2988694A1 (en) | Robot, particularly for mini-invasive surgery through a single parietal incision or natural orifice | |
| JP2014147716A (en) | Laparoscopic instrument, attachable end effector and method relating to the same | |
| CN102281828A (en) | Surgical instrument unit suitable for mini-invasive surgery | |
| CN111012385A (en) | Surgical instrument transmission mechanism | |
| CN108420468A (en) | Micro-wound operation robot | |
| CN109009450A (en) | Reliability is higher from operation equipment, bindiny mechanism, power mechanism and motion arm | |
| CN109009452A (en) | Minimally Invasive Surgery is from operation equipment, bindiny mechanism, power mechanism and motion arm | |
| CN109009451A (en) | From operation equipment, bindiny mechanism, power mechanism and motion arm | |
| CN111012389A (en) | Quick-release structure for connecting instrument transmission seat and isolation seat of minimally invasive surgical instrument | |
| CN108814713A (en) | Minimally Invasive Surgery motion arm, from operation equipment and operating robot | |
| CN209404833U (en) | A kind of surgical instrument transmission mechanism | |
| CN108567488B (en) | Operating arm | |
| CN109222861A (en) | Endoscope, motion arm, from operation equipment and operating robot | |
| CN109222862A (en) | Endoscope, motion arm, from operation equipment and operating robot | |
| CN109009456A (en) | The motion arm of replaceable end instrument | |
| CN109009454A (en) | Detachable end instrument from operation equipment | |
| CN110772324B (en) | Connecting assembly, operating arm, slave operating equipment and surgical robot | |
| CN109009459A (en) | Motion arm with detachable end instrument | |
| CN108784841A (en) | Operating robot | |
| CN110236676A (en) | Operating robot | |
| CN109009455A (en) | Replaceable end instrument from operation equipment | |
| CN109009458A (en) | Motion arm | |
| CN109009457A (en) | From operation equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: 518000 Guangdong Province Longgang District Yuanshan Street Heao Community Longgang Avenue 8288 Dayun Software Town 39 301 Applicant after: Shenzhen Jingfeng Medical Technology Co., Ltd. Address before: 518172 Block 404, Building 2, Tianan Digital Innovation Park, Longgang District, Shenzhen City, Guangdong Province, 441 Huangge Road, Longcheng Street Applicant before: Shenzhen Jingfeng Medical Technology Co., Ltd. |
|
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20210425 Address after: 518000 2b1901, phase II, smart home, 76 Baohe Avenue, Baolong community, Baolong street, Longgang District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Jingfeng Intelligent Manufacturing Co.,Ltd. Address before: 518000 Guangdong Province Longgang District Yuanshan Street Heao Community Longgang Avenue 8288 Dayun Software Town 39 301 Patentee before: SHENZHEN JINGFENG MEDICAL TECHNOLOGY Co.,Ltd. |