CN109171963A - A kind of automatic eyelid-slicing operation robot - Google Patents
A kind of automatic eyelid-slicing operation robot Download PDFInfo
- Publication number
- CN109171963A CN109171963A CN201810828323.8A CN201810828323A CN109171963A CN 109171963 A CN109171963 A CN 109171963A CN 201810828323 A CN201810828323 A CN 201810828323A CN 109171963 A CN109171963 A CN 109171963A
- Authority
- CN
- China
- Prior art keywords
- stepper motor
- telescopic
- gear
- cutter head
- seat
- 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.)
- Pending
Links
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
- A61B34/32—Surgical robots operating autonomously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00747—Dermatology
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00792—Plastic surgery
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of automatic eyelid-slicing operation robot, including operating table, telescopic platform, folder eyelid part, extraction part, suture needle part, cut-away portions, anesthesia part etc.；Telescopic platform is connected on operating table, Mobile base is installed on telescopic platform, folder eyelid part is installed on Mobile base, extracts part, suture needle part, cut-away portions, the anesthesia manipulator of part five, the invention has the following advantages that five mechanical arms can be carried out relative to telescopic platform up and down, move left and right, enable each mechanical arm to be preferably directed at eyelid part；Five mechanical arms are all made of multiple step motor controls, it can be achieved that the movements such as flexible, rotation substantially increase the freedom degree of each mechanical arm, enable each operation end more accurately on earth needed for position；Contain parallel manipulator arm mechanism in five mechanical arms, improves the mobile sensitivity of mechanical arm；The method that suture needle portion tip uses the suture of five needles, sutures wound back and forth.
Description
Technical field
The present invention relates to medical and beauty treatment technical field, in particular to a kind of automatic eyelid-slicing operation robot.
Background technique
With the substantial increase in the whole world and China human mortality, eyelid-slicing operation has become the huge kind of beauty of demand
Appearance project, the operation of eyelid-slicing operation at present mainly pass through doctor and carry out manually, and doctor carries out operation, and time-consuming, artificial demand
Greatly, the method for double-edged eyelid cutting at present mainly has Suture methods, full cutting method etc., is now badly in need of designing a kind of automatic eyelid-slicing operation machine
People.At present about a kind of automatic everybody design of eyelid-slicing operation machine, such as number of patent application CN201410817634.6
A kind of double-edged eyelid cutter device, the equipment which devises a kind of auxiliary double-edged eyelid cutting are disclosed, but the device can not be real
The function of now independently cutting；Such as patent No. CN201620223845.1 discloses a kind of eyelid-slicing operation auxiliary device, it should
Equipment can assist the progress of eyelid-slicing operation, but the equipment cannot achieve automatic cutting, it is still necessary to artificial to carry out.
Summary of the invention
In view of the above-mentioned problems, the present invention provides a kind of automatic eyelid-slicing operation robot, main body is by operating table, flexible
Platform, elastic screw rod, folder eyelid part, extracts part, suture needle part, cut-away portions, anesthesia part, is promoted stepper motor
Screw rod composition, operating table are placed on the ground, and telescopic platform is connected on operating table, are equipped with Mobile base on telescopic platform, on Mobile base
Folder eyelid part is installed, extracts part, suture needle part, cut-away portions, the anesthesia manipulator of part five, five manipulator difference
Seat can be moved along to move up and down, people lies low on operating table, folder eyelid part eyelid is picked up, when anesthesia part to eye
Skin carries out local anaesthesia, and subsequent cut-away portions will be cut on eyelid, extracts part and takes out the subcutaneous superabundant fats of eye, then stitches
Needle part sutures wound.
Technical solution used in the present invention is: a kind of automatic eyelid-slicing operation robot, including operating table, telescopic platform,
The one the first stepper motors, folder eyelid part, extract part, suture needle part, cut-away portions, anaesthetize part elastic screw rod；
Folder eyelid part includes: eyelid clamping plate, eyelid gear, plywood sleeve, clamping plate reversing frame, telescopic screw rod, telescopic screw rod seat, the first electricity
Cylinder telescopic rod, the first telescopic seat, the first electric cylinders, the second electric cylinders telescopic rod, the second telescopic seat, the second electric cylinders, second stepper motor,
Third stepper motor；Extraction unit point includes: the first tweezer block, the first tweezer gear, the second tweezer gear, third tweezer gear, the 4th tweezer tooth
Wheel, the 5th tweezer gear, the second tweezer block, tweezers block, tweezer spinner handle, spill spin block, connecting rod attachment base, first pass bar, the second biography bar, pass bar
Seat, electric rotating base, the 4th stepper motor, the 5th stepper motor, axis；Suture needle part include: pin fixture block, needle holder, needle rack gear,
Free gear, gear pedestal, the first fixed gear, the second fixed gear, pin gear seat, ball electric cylinders, bulb connection, bulb connection
Frame, rotary electric machine seat, flexible pole socket, flexible rod guide, the first boom, the second boom, telescopic rail set, telescopic rod pedestal, the
Six stepper motors, the 7th stepper motor, the 8th stepper motor, rotation seat；Cut-away portions include: cutter head, cutter head electric cylinders, cutter head rotation
Swivel base, flexible tool tip, cutter head screw rod, cutter head guide rail, cutter head expansion bracket, cutter head link block, cutter head connecting rod base, the first knife connect
Bar, knife guide rail, the second knife connecting rod, third knife connecting rod, knife guide rail sleeve, knife attachment base, the 9th stepper motor；Anesthesia part includes:
Syringe, advance seat, syringe needle electric cylinders, needle holder, syringe needle connecting rod, terminal pad, motor cabinet, the first telescopic block, the second telescopic block,
Three telescopic blocks are telescopically connected to block, the tenth stepper motor；It is characterized by: operating table is placed on the ground, telescopic platform is stretched with front and back
Contracting screw rod is using threaded connection；Elastic screw rod one end passes through the motor axis connection of shaft coupling and the first stepper motor, another
End is rotatablely connected with operating table by bearing；First stepper motor is connected in operating table front end；The eye of the folder eyelid part
Leather wallet plate is connected on third stepper motor, and eyelid gear is connect with third stepper motor, and third stepper motor is connected in clamping plate
It puts on, two eyelid gear intermeshings on plywood sleeve；Second stepper motor pedestal is fixedly connected with plate reversing frame, the second stepping
Motor axis is fixedly connected by shaft coupling with plywood sleeve；Telescopic screw rod seat is used with telescopic screw rod and is threadedly coupled；Flexible silk
Bar one end is turned round by second stepper motor motor axis connection in shaft coupling and telescopic screw rod seat, the other end by bearing and clamping plate
Frame rotation connection；First electric cylinders telescopic rod and telescopic screw rod seat are hinged, and second stepper motor controls the rotation of telescopic screw rod seat；The
It is connected at the top of one electric cylinders with the first electric cylinders telescopic rod, the first electric cylinders bottom and the first telescopic seat are connected；First telescopic seat and second
Electric cylinders telescopic rod is hinged, and the rotation of the first telescopic seat is controlled by second stepper motor；It is stretched at the top of second electric cylinders with the second electric cylinders
Contracting bar is connected, and the second electric cylinders bottom and the second telescopic seat are connected；The first tweezer block, the 5th tweezer gear and the axis of the extraction part
It is fixedly connected, axis and tweezers block are rotatablely connected；Second tweezer gear, the 4th tweezer gear are fixedly connected with axis, and axis and tweezers block rotate
Connection；Third tweezer gear is fixedly connected with axis, and axis is fixedly connected by shaft coupling with the motor shaft of the 4th stepper motor, the 4th step
It is connected on tweezers block into motor；First tweezer gear, the second tweezer block are fixedly connected with axis, and axis and tweezers block are rotatablely connected；First
Tweezer gear is engaged with third tweezer gear, the second tweezer gear with third tweezer gear, the 4th tweezer gear with the 5th tweezer gear；Tweezer spinner handle with
The rotation connection of tweezers block, the rotation of the 5th step motor control tweezers block；Spill spin block and tweezer spinner handle are rotatablely connected, the 5th stepper motor
Control the rotation of tweezer spinner handle；Connecting rod attachment base is connect with spill spin block；Connecting rod attachment base and first passes bar rotation connection；First pass bar with
Second passes bar rotation connection, and the 5th step motor control first passes bar rotation；It passes pole socket and second and passes bar rotation connection, the 5th step
Bar rotation is passed into motor control second；It passes pole socket and motor cabinet is rotatablely connected, the 5th stepper motor bottom in motor cabinet is connected
On electric rotating base, the 5th stepper motor motor shaft is fixedly connected with pole socket is passed；The pin fixture block and needle of the suture needle part
Holder is connected by screw rod, and screw rod is connect with the 7th stepper motor, and the 7th stepper motor is connected on needle holder side, needle holder
It is connected with the 8th stepper motor, gear pedestal is fixedly connected with the 8th stepper motor motor shaft；Free gear and gear pedestal are solid
Fixed connection；Needle rack gear, the first fixed gear, the second fixed gear and pin gear seat are connected, free gear and needle rack gear, movable teeth
Wheel is engaged with the first fixed gear, free gear with the second fixed gear；Pin gear seat is connect with ball electric cylinders bottom by bulb
It is attached, bulb connection is connected on bulb connection frame and pin gear seat, and connection is connect with bulb at the top of ball electric cylinders；Bulb connects
It connects frame and rotation seat is rotatablely connected, pass through the rotation of the 6th step motor control bulb connection frame；The 6th stepping in motor cabinet
It is connected at the top of motor with rotation seat, bottom and rotary electric machine seat are connected；Rotation seat and rotary electric machine seat are rotatablely connected；Rotary electric machine
Seat is rotatablely connected with flexible pole socket, is rotated by the 6th step motor control rotary electric machine seat；Flexible pole socket and the first boom turn
Dynamic connection；First boom and the second boom are rotatablely connected, and are rotated by the 6th the first boom of step motor control；Flexible rod guide
It is connected with flexible pole socket；Telescopic rod pedestal and the second boom are rotatablely connected, and are rotated by the 6th the second boom of step motor control；
Telescopic rail set is connected on telescopic rod pedestal；It is connected at the top of the cutter head and cutter head electric cylinders of the cut-away portions, cutter head electric cylinders
The 9th stepper motor motor shaft is connected in bottom and cutter head rotating seat, and the 9th stepper motor bottom and cutter head revolve in cutter head rotating seat
Swivel base is connected；Cutter head rotating seat and flexible tool tip are rotatablely connected, and are rotated by the 9th step motor control cutter head rotating seat；Knife
Captacula bar one end is rotatablely connected by bearing and cutter head expansion bracket, and the cutter head screw rod other end passes through on shaft coupling and cutter head expansion bracket
The 9th stepper motor motor shaft be connected；The 9th stepper motor on cutter head expansion bracket is connected on cutter head expansion bracket；Cutter head is led
Rail both ends are connected on cutter head expansion bracket；Cutter head link block and cutter head expansion bracket are connected, and cutter head connecting rod base and cutter head link block turn
Dynamic connection；First knife connecting rod and cutter head connecting rod base are rotatablely connected；Second knife connecting rod is connect with the first knife link rotatable, passes through the 9th
Step motor control the first knife link rotatable；Third knife connecting rod is connect with the second knife link rotatable, passes through the 9th stepper motor control
Make the second knife link rotatable；Knife attachment base is connect with third knife link rotatable, passes through the 9th step motor control third knife connecting rod
Rotation；Knife guide rail is connected on cutter head connecting rod base, and knife guide rail sleeve is connected on knife attachment base；The syringe of the anesthesia part is solid
It is connected in needle holder, is connected at the top of advance seat and syringe needle electric cylinders, syringe needle electric cylinders bottom and needle holder are connected；Needle holder and syringe needle connect
Extension bar rotation connection, is rotated by the tenth step motor control needle holder；Syringe needle connecting rod and terminal pad are rotatablely connected, by the
The rotation of ten step motor control syringe needle connecting rods；The tenth stepper motor motor shaft and terminal pad in motor cabinet are connected, terminal pad
It is rotatablely connected with motor cabinet；Motor cabinet and the first telescopic block are rotatablely connected, and are rotated by the tenth step motor control motor cabinet；The
One telescopic block is connect with the second telescopic block by screw rod, and screw rod one end is connect with the first telescopic block, the other end and the second telescopic block
In the tenth stepper motor be connected；Second telescopic block is connect with third telescopic block by screw rod, screw rod one end and the second telescopic block
Connection, the other end are fixedly connected with the tenth stepper motor in third telescopic block；Third telescopic block is connected with block is telescopically connected to；
First stepper motor, second stepper motor, third stepper motor, the 4th stepper motor, the 5th stepper motor,
Six stepper motors, the 7th stepper motor, the 8th stepper motor, the 9th stepper motor, the tenth stepper motor, the first electric cylinders, second
Electric cylinders, ball electric cylinders, syringe needle electric cylinders, cutter head electric cylinders pass through control cabinet control.
Since present invention employs above-mentioned technical proposals, the invention has the following advantages that
1. five mechanical arms can be carried out relative to telescopic platform up and down, move left and right, each mechanical arm is preferably aligned
Eyelid part.
2. five mechanical arms are all made of multiple step motor controls, it can be achieved that the movements such as flexible, rotation substantially increase respectively
The freedom degree of mechanical arm, enable each operation end more accurately on earth needed for position.
3. containing parallel manipulator arm mechanism in five mechanical arms, the mobile sensitivity of mechanical arm is improved.
4. the method that suture needle portion tip uses the suture of five needles, sutures wound back and forth.
Detailed description of the invention
Fig. 1 is overall schematic of the invention.
Fig. 2 is folder eyelid partial structure diagram of the invention.
Fig. 3 is extraction partial structure diagram of the invention.
Fig. 4 is extraction part end structure schematic diagram of the invention.
Fig. 5 is suture needle partial structure diagram of the invention.
Fig. 6 is that suture needle part of the invention sutures end structure schematic diagram.
Fig. 7 is cut-away portions structural schematic diagram of the invention.
Fig. 8 is anesthesia partial structure diagram of the invention.
Drawing reference numeral:
1- operating table；2- telescopic platform；The first stepper motor of 3-；The elastic screw rod of 4-；5- presss from both sides eyelid part；6- extracts part；
7- suture needle part；8- cut-away portions；9- anaesthetizes part；10- enhancing screw；501- eyelid clamping plate；502- eyelid gear；503- folder
Sleeve-board；504- clamping plate reversing frame；505- telescopic screw rod；506- telescopic screw rod seat；507- the first electric cylinders telescopic rod；508- first stretches
Contracting seat；The first electric cylinders of 509-；510- the second electric cylinders telescopic rod；The second telescopic seat of 511-；The second electric cylinders of 512-；The second stepping of 513-
Motor；514- third stepper motor；601- the first tweezer block；602- the first tweezer gear；603- the second tweezer gear；604- third tweezer tooth
Wheel；The 4th tweezer gear of 605-；The 5th tweezer gear of 606-；607- the second tweezer block；608- tweezers block；609- tweezer spinner handle；610- rotation
Block；611- connecting rod attachment base；612- first passes bar；613- second passes bar；614- passes pole socket；615- electric rotating base；616-
Four stepper motors；The 5th stepper motor of 617-；618- axis；701- pin fixture block；702- needle holder；704- needle rack gear；705- activity
Gear；706- gear pedestal；707- first fixes gear；708- second fixes gear；709- pin gear seat；710- ball electric cylinders；
The connection of 711- bulb；712- bulb connection frame；713- rotary electric machine seat；714- stretches pole socket；715- stretches rod guide；716-
One boom；The second boom of 717-；718- telescopic rail set；719- telescopic rod pedestal；The 6th stepper motor of 720-；The 7th step of 721-
Into motor；The 8th stepper motor of 722-；723- rotation seat；801- cutter head；802- cutter head electric cylinders；803- cutter head rotating seat；804-
Flexible tool tip；805- cutter head screw rod；806- cutter head guide rail；807- cutter head expansion bracket；808- cutter head link block；809- cutter head connects
Pole socket；810- the first knife connecting rod；811- knife guide rail；812- the second knife connecting rod；813- third knife connecting rod；814- knife guide rail sleeve；
815- knife attachment base；The 9th stepper motor of 816-；901- syringe；902- advance seat；903- syringe needle electric cylinders；904- needle holder；
905- syringe needle connecting rod；906- terminal pad；907- motor cabinet；The first telescopic block of 908-；The second telescopic block of 909-；910- third is stretched
Contracting block；911- is telescopically connected to block；The tenth stepper motor of 912-.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, a kind of automatic eyelid-slicing operation robot, including hand
Art platform 1, the one the first stepper motors 3, elastic screw rod 4, folder eyelid part 5, extracts part 6, suture needle part at telescopic platform 2
7, cut-away portions 8, anesthesia part 9；Pressing from both sides eyelid part 5 includes: eyelid clamping plate 501, eyelid gear 502, plywood sleeve 503, clamping plate
Reversing frame 504, telescopic screw rod 505, telescopic screw rod seat 506, the first electric cylinders telescopic rod 507, the first telescopic seat 508, the first electric cylinders
509, the second electric cylinders telescopic rod 510, the second telescopic seat 511, the second electric cylinders 512, second stepper motor 513, third stepper motor
514；Extracting part 6 includes: the first tweezer block 601, the first tweezer gear 602, the second tweezer gear 603, third tweezer gear the 604, the 4th
Tweezer gear 605, the 5th tweezer gear 606, the second tweezer block 607, tweezers block 608, tweezer spinner handle 609, spill spin block 610, connecting rod attachment base
611, it first passes the biography of bar 612, second bar 613, pass pole socket 614, electric rotating base 615, the 4th stepper motor 616, the 5th stepping
Motor 617, axis 618；Suture needle part 7 includes: pin fixture block 701, needle holder 702, needle rack gear 704, free gear 705, gear bottom
The fixed gear 708 of the fixed gear 707, second of seat 706, first, pin gear seat 709, ball electric cylinders 710, bulb connect 711, bulb
Connection frame 712, flexible pole socket 714, flexible rod guide 715, the first boom 716, the second boom 717, is stretched rotary electric machine seat 713
Contracting guide rail sleeve 718, the 6th stepper motor 720, the 7th stepper motor 721, the 8th stepper motor 722, turns telescopic rod pedestal 719
Dynamic seat 723；Cut-away portions 8 include: cutter head 801, cutter head electric cylinders 802, cutter head rotating seat 803, flexible tool tip 804, cutter head silk
Bar 805, cutter head guide rail 806, cutter head expansion bracket 807, cutter head link block 808, cutter head connecting rod base 809, the first knife connecting rod 810, knife
Guide rail 811, the second knife connecting rod 812, third knife connecting rod 813, knife guide rail sleeve 814, knife attachment base 815, the 9th stepper motor 816；
Anaesthetizing part 9 includes: syringe 901, advance seat 902, syringe needle electric cylinders 903, needle holder 904, syringe needle connecting rod 905, terminal pad
906, motor cabinet 907, the first telescopic block 908, the second telescopic block 909, third telescopic block 910, be telescopically connected to block 911, the tenth step
Into motor 912；It is characterized by: operating table 1 is placed on the ground, telescopic platform 2 is used with elastic screw rod 4 and is threadedly coupled；
Elastic 4 one end of screw rod passes through the motor axis connection of shaft coupling and the first stepper motor 3, and the other end and operating table 1 pass through axis
Hold rotation connection；First stepper motor 3 is connected in 1 front end of operating table；The eyelid clamping plate 501 of the folder eyelid part 5 is connected
On third stepper motor 514, eyelid gear 502 is connect with third stepper motor 514, and third stepper motor 514 is connected in folder
On sleeve-board 503, two eyelid gears 502 are intermeshed on plywood sleeve 503；513 pedestal of second stepper motor and plate reversing frame 504
It is fixedly connected, 513 motor shaft of second stepper motor is fixedly connected by shaft coupling with plywood sleeve 503；Telescopic screw rod seat 506 with stretch
Contracting screw rod 505 is using threaded connection；505 one end of telescopic screw rod passes through second stepper motor in shaft coupling and telescopic screw rod seat 506
513 motor axis connections, the other end are rotatablely connected by bearing and clamping plate reversing frame 504；First electric cylinders telescopic rod 507 and flexible silk
Pole socket 506 is hinged, and second stepper motor 513 controls the rotation of telescopic screw rod seat 506；First electric cylinders, 509 top and the first electric cylinders
Telescopic rod 507 is connected, and 509 bottom of the first electric cylinders and the first telescopic seat 508 are connected；First telescopic seat 508 and the second electric cylinders are flexible
Bar 510 is hinged, and the rotation of the first telescopic seat 508 is controlled by second stepper motor 513；Second electric cylinders, 512 top and the second electricity
Cylinder telescopic rod 510 is connected, and 512 bottom of the second electric cylinders and the second telescopic seat 511 are connected；First tweezer block of the extraction part 6
601, the 5th tweezer gear 606 is fixedly connected with axis 618, and axis 618 and tweezers block 608 are rotatablely connected；Second tweezer gear the 603, the 4th
Tweezer gear 605 is fixedly connected with axis 618, and axis 618 and tweezers block 608 are rotatablely connected；Third tweezer gear 604 and the fixed company of axis 618
It connects, axis 618 is fixedly connected by shaft coupling with the motor shaft of the 4th stepper motor 616, and the 4th stepper motor 616 is connected in tweezers
On block 608；First tweezer gear 602, the second tweezer block 607 are fixedly connected with axis 618, and axis 618 and tweezers block 608 are rotatablely connected；The
One tweezer gear 602 and third tweezer gear 604, the second tweezer gear 603 and third tweezer gear 604, the 4th tweezer gear 605 and the 5th tweezer
Gear 606 engages；Tweezer spinner handle 609 and tweezers block 608 are rotatablely connected, and the 5th stepper motor 617 controls tweezers block 608 and rotates；Rotation
Switch block 610 and tweezer spinner handle 609 are rotatablely connected, and the 5th stepper motor 617 controls tweezer spinner handle 609 and rotates；Connecting rod attachment base 611 and rotation
Switch block 610 connects；Connecting rod attachment base 611 and first passes the rotation connection of bar 612；First, which passes bar 612 and second, passes the rotation of bar 613 company
It connects, the 5th stepper motor 617 control first passes bar 612 and rotates；It passes pole socket 614 and second and passes the rotation connection of bar 613, the 5th stepping
The control of motor 617 second passes bar 613 and rotates；It passes pole socket 614 and motor cabinet 615 is rotatablely connected, the 5th stepping in motor cabinet 615
617 bottom of motor is connected on electric rotating base 615, and 617 motor shaft of the 5th stepper motor is fixedly connected with pole socket 614 is passed；Institute
The pin fixture block 701 for the suture needle part 7 stated is connect with needle holder 702 by screw rod, and screw rod is connect with the 7th stepper motor 721, the
Seven stepper motors 721 are connected on 702 side of needle holder, and needle holder 702 and the 8th stepper motor 722 are connected, gear pedestal 706
It is fixedly connected with 722 motor shaft of the 8th stepper motor；Free gear 705 is fixedly connected with gear pedestal 706；Needle rack gear 704,
The one fixed fixed gear 708 of gear 707, second is connected with pin gear seat 709, free gear 705 and needle rack gear 704, movable teeth
Wheel 705 is engaged with the first fixed gear 707, free gear 705 with the second fixed gear 708；Pin gear seat 709 and ball electric cylinders
710 bottoms are attached by bulb connection 711, and bulb connection 711 is connected on bulb connection frame 712 and pin gear seat 709,
710 top of ball electric cylinders connect 711 connections with bulb；Bulb connection frame 712 and rotation seat 723 are rotatablely connected, and pass through the 6th stepping
The rotation of the control bulb connection frame 712 of motor 720；720 top of the 6th stepper motor and rotation seat 723 in motor cabinet 713 is solid
Even, bottom and rotary electric machine seat 713 are connected；Rotation seat 723 and rotary electric machine seat 713 are rotatablely connected；Rotary electric machine seat 713 with stretch
Contracting pole socket 714 is rotatablely connected, and is controlled rotary electric machine seat 713 by the 6th stepper motor 720 and is rotated；Flexible pole socket 714 and first
Boom 716 is rotatablely connected；First boom 716 and the second boom 717 are rotatablely connected, and pass through the 6th stepper motor 720 control first
Boom 716 rotates；Flexible rod guide 715 is connected with flexible pole socket 714；Telescopic rod pedestal 719 and the rotation of the second boom 717 connect
It connects, the rotation of the second boom 717 is controlled by the 6th stepper motor 720；Telescopic rail set 718 is connected on telescopic rod pedestal 719；
It is connected at the top of the cutter head 801 and cutter head electric cylinders 802 of the cut-away portions 8,802 bottom of cutter head electric cylinders and cutter head rotating seat 803
In 816 motor shaft of the 9th stepper motor be connected, 816 bottom of the 9th stepper motor and cutter head rotating seat 803 in cutter head rotating seat 803
It is connected；Cutter head rotating seat 803 and flexible tool tip 804 are rotatablely connected, and control cutter head rotating seat by the 9th stepper motor 816
803 rotations；805 one end of cutter head screw rod is rotatablely connected by bearing and cutter head expansion bracket 807, and 805 other end of cutter head screw rod passes through
816 motor shaft of the 9th stepper motor on shaft coupling and cutter head expansion bracket 807 is connected；The 9th stepping on cutter head expansion bracket 807
Motor 816 is connected on cutter head expansion bracket 807；806 both ends of cutter head guide rail are connected on cutter head expansion bracket 807；Cutter head link block
808 are connected with cutter head expansion bracket 807, and cutter head connecting rod base 809 and cutter head link block 808 are rotatablely connected；First knife connecting rod 810 and knife
Head connecting rod base 809 is rotatablely connected；Second knife connecting rod 812 and the first knife connecting rod 810 are rotatablely connected, and pass through the 9th stepper motor 816
Control the rotation of the first knife connecting rod 810；Third knife connecting rod 813 and the second knife connecting rod 812 are rotatablely connected, and pass through the 9th stepper motor
816 control the second knife connecting rod 812 rotations；Knife attachment base 815 and third knife connecting rod 813 are rotatablely connected, and pass through the 9th stepper motor
816 control third knife connecting rods 813 rotate；Knife guide rail 811 is connected on cutter head connecting rod base 809, and knife guide rail sleeve 814 is connected in knife company
On joint chair 815；The syringe 901 of the anesthesia part 9 is connected in needle holder 904, and advance seat 902 and syringe needle electric cylinders 903 are pushed up
Portion is connected, and 903 bottom of syringe needle electric cylinders and needle holder 904 are connected；Needle holder 904 and syringe needle connecting rod 905 are rotatablely connected, by the
Ten stepper motors 912 control needle holder 904 and rotate；Syringe needle connecting rod 905 and terminal pad 906 are rotatablely connected, and pass through the tenth stepping
Motor 912 controls syringe needle connecting rod 905 and rotates；912 motor shaft of the tenth stepper motor and terminal pad 906 in motor cabinet 907 is solid
Even, terminal pad 906 and motor cabinet 907 are rotatablely connected；Motor cabinet 907 and the first telescopic block 908 are rotatablely connected, and pass through the tenth stepping
Motor 912 controls motor cabinet 907 and rotates；First telescopic block 908 is connect with the second telescopic block 909 by screw rod, screw rod one end with
First telescopic block 908 connects, and the tenth stepper motor 912 in the other end and the second telescopic block 909 is connected；Second telescopic block 909
It is connect with third telescopic block 910 by screw rod, screw rod one end is connect with the second telescopic block 909, the other end and third telescopic block 910
In the tenth stepper motor 912 be fixedly connected；Third telescopic block 910 is connected with block 911 is telescopically connected to；
First stepper motor 3, second stepper motor 513, third stepper motor 514, the 4th stepper motor the 616, the 5th
Stepper motor 617, the 6th stepper motor 720, the 7th stepper motor 721, the 8th stepper motor 722, the 9th stepper motor 816,
Tenth stepper motor 912, the first electric cylinders 509, the second electric cylinders 512, ball electric cylinders 710, syringe needle electric cylinders 903, cutter head electric cylinders 802 are logical
Cross control cabinet control.
Working principle of the present invention: in the use of the present invention, people lies on operating table 1, the first stepper motor on operating table 1
3 drive elastic lead screw 4 to rotate, and elastic lead screw 4 drives telescopic platform 2 to be moved forward and backward to control folder 5 He of eyelid part
It anaesthetizes part 9 and is moved forward and backward arrival designated position, then press from both sides eyelid part 5 and anesthesia part 9 moves left and right under motor control
To designated position, the second stepper motor 513 and the first electric cylinders 509, the second electric cylinders 512 for pressing from both sides eyelid part 5 control eyelid clamp
Plate 501 reaches above eyelid, and the third stepper motor 514 on subsequent plywood sleeve 503 controls eyelid clamping plate 501 and picks up eyelid,
Then the tenth stepper motor 912 of anesthesia part 9, the control of syringe needle electric cylinders 903 insert the needle into eyelid, carry out fiber crops to eyelid
Liquor-saturated, then the first stepper motor 3 on operating table 1 drives elastic lead screw 4 to rotate, and elastic lead screw 4 drives telescopic platform 2
It is moved forward and backward to control cut-away portions 8 and extract the back-and-forth motion of part 6 to reach designated position, then presss from both sides cut-away portions 8 and mention
Part 6 is taken to move left and right under motor control to designated position, the 9th stepper motor 816 and cutter head in subsequent cut-away portions 8
Electric cylinders 802 control cutter head 801 and cut eyelid, and the 5th stepper motor 617 control taking-up part 6 then taken out in part 6 is arrived
Up to incision, the 4th stepper motor 616 on subsequent tweezers block 608 controls the first tweezer block 601 and the second tweezer block 607 for notch
In superabundant fats take out, then the first stepper motor 3 on operating table 1 drives elastic lead screw 4 to rotate, elastic silk
Thick stick 4 drives telescopic platform 2 to be moved forward and backward to control the back-and-forth motion arrival of sutured portion 7 designated position, then presss from both sides sutured portion 7 and exists
It is moved left and right under motor control to designated position, the 6th stepper motor 720 control arrival eye of pin gear seat 709 of sutured portion 7
Near skin, the 7th stepper motor 721 control pin fixture block 701 on subsequent needle holder 702 clips sewing needle, connects with needle holder 702
The 8th stepper motor 722 control needle holder 702 connect is along the fixed gear 707 of free gear 705 and needle rack gear 704, first, the
The engagement path of two fixed gears 708 is mobile, sutures to wound.
Claims (1)
1. a kind of automatic eyelid-slicing operation robot, including it is operating table (1), telescopic platform (2), the one the first stepper motors (3), preceding
Telescopic screw rod (4), folder eyelid part (5), extraction part (6), suture needle part (7), cut-away portions (8), anesthesia part (9) afterwards；
Folder eyelid part (5) includes: eyelid clamping plate (501), eyelid gear (502), plywood sleeve (503), clamping plate reversing frame (504), stretches
Contracting screw rod (505), telescopic screw rod seat (506), the first electric cylinders telescopic rod (507), the first telescopic seat (508), the first electric cylinders
(509), the second electric cylinders telescopic rod (510), the second telescopic seat (511), the second electric cylinders (512), second stepper motor (513),
Three stepper motors (514)；Extracting part (6) includes: the first tweezer block (601), the first tweezer gear (602), the second tweezer gear
(603), third tweezer gear (604), the 4th tweezer gear (605), the 5th tweezer gear (606), the second tweezer block (607), tweezers block
(608), tweezer spinner handle (609), spill spin block (610), connecting rod attachment base (611), first pass bar (612), the second biography bar (613), pass
Pole socket (614), electric rotating base (615), the 4th stepper motor (616), the 5th stepper motor (617), axis (618)；Suture needle portion
Point (7) include: pin fixture block (701), needle holder (702), needle rack gear (704), free gear (705), gear pedestal (706), the
One fixed gear (707), second fixed gear (708), pin gear seat (709), ball electric cylinders (710), bulb connect (711), ball
Head connection frame (712), rotary electric machine seat (713), flexible pole socket (714), flexible rod guide (715), the first boom (716), the
Two booms (717), telescopic rail set (718), telescopic rod pedestal (719), the 6th stepper motor (720), the 7th stepper motor
(721), the 8th stepper motor (722), rotation seat (723)；Cut-away portions (8) include: cutter head (801), cutter head electric cylinders (802),
Cutter head rotating seat (803), flexible tool tip (804), cutter head screw rod (805), cutter head guide rail (806), cutter head expansion bracket (807),
Cutter head link block (808), cutter head connecting rod base (809), the first knife connecting rod (810), knife guide rail (811), the second knife connecting rod (812),
Third knife connecting rod (813), knife guide rail sleeve (814), knife attachment base (815), the 9th stepper motor (816)；Anesthesia part (9) packet
It includes: syringe (901), advance seat (902), syringe needle electric cylinders (903), needle holder (904), syringe needle connecting rod (905), terminal pad
(906), motor cabinet (907), the first telescopic block (908), the second telescopic block (909), third telescopic block (910), be telescopically connected to block
(911), the tenth stepper motor (912)；It is characterized by: operating table (1) place on the ground, telescopic platform (2) with it is elastic
Screw rod (4) is using threaded connection；Elastic screw rod (4) one end is connected by the motor shaft of shaft coupling and the first stepper motor (3)
It connects, the other end and operating table (1) are rotatablely connected by bearing；First stepper motor (3) is connected in operating table (1) front end；It is described
The eyelid clamping plate (501) of folder eyelid part (5) be connected on third stepper motor (514), eyelid gear (502) and third step
It is connected into motor (514), third stepper motor (514) is connected on plywood sleeve (503), the upper two eyelid teeth of plywood sleeve (503)
Take turns (502) intermeshing；Second stepper motor (513) pedestal is fixedly connected with plate reversing frame (504), second stepper motor
(513) motor shaft is fixedly connected by shaft coupling with plywood sleeve (503)；Telescopic screw rod seat (506) and telescopic screw rod (505) use
It is threadedly coupled；Telescopic screw rod (505) one end passes through second stepper motor (513) motor in shaft coupling and telescopic screw rod seat (506)
Axis connection, the other end are rotatablely connected by bearing and clamping plate reversing frame (504)；First electric cylinders telescopic rod (507) and telescopic screw rod
Hingedly, second stepper motor (513) controls the rotation of telescopic screw rod seat (506) to seat (506)；With the at the top of first electric cylinders (509)
One electric cylinders telescopic rod (507) is connected, and the first electric cylinders (509) bottom and the first telescopic seat (508) are connected；First telescopic seat (508)
Hingedly with the second electric cylinders telescopic rod (510), pass through the rotation of second stepper motor (513) control the first telescopic seat (508)；Second
It is connected at the top of electric cylinders (512) with the second electric cylinders telescopic rod (510), the second electric cylinders (512) bottom and the second telescopic seat (511) are solid
Even；The first tweezer block (601), the 5th tweezer gear (606) of the extraction part (6) are fixedly connected with axis (618), axis (618)
It is rotatablely connected with tweezers block (608)；Second tweezer gear (603), the 4th tweezer gear (605) are fixedly connected with axis (618), axis
(618) it is rotatablely connected with tweezers block (608)；Third tweezer gear (604) is fixedly connected with axis (618), and axis (618) passes through shaft coupling
It is fixedly connected with the motor shaft of the 4th stepper motor (616), the 4th stepper motor (616) is connected on tweezers block (608)；First
Tweezer gear (602), the second tweezer block (607) are fixedly connected with axis (618), and axis (618) and tweezers block (608) are rotatablely connected；First
Tweezer gear (602) and third tweezer gear (604), the second tweezer gear (603) and third tweezer gear (604), the 4th tweezer gear (605)
It is engaged with the 5th tweezer gear (606)；Tweezer spinner handle (609) and tweezers block (608) are rotatablely connected, the control of the 5th stepper motor (617)
Tweezers block (608) rotation；Spill spin block (610) and tweezer spinner handle (609) are rotatablely connected, and the 5th stepper motor (617) controls tweezer spinner handle
(609) it rotates；Connecting rod attachment base (611) is connect with spill spin block (610)；Connecting rod attachment base (611) passes bar (612) rotation with first
Connection；First, which passes bar (612), passes bar (613) rotation connection with second, and the 5th stepper motor (617) control first passes bar (612)
Rotation；It passes pole socket (614) and passes bar (613) rotation connection with second, the 5th stepper motor (617) control second passes bar (613) and turns
It is dynamic；It passes pole socket (614) and motor cabinet (615) to be rotatablely connected, the 5th stepper motor (617) bottom in motor cabinet (615) is connected
On electric rotating base (615), the 5th stepper motor (617) motor shaft is fixedly connected with pole socket (614) are passed；The suture needle portion
The pin fixture block (701) of (7) is divided to connect with needle holder (702) by screw rod, screw rod is connect with the 7th stepper motor (721), and the 7th
Stepper motor (721) is connected on needle holder (702) side, and needle holder (702) and the 8th stepper motor (722) are connected, gear
Pedestal (706) is fixedly connected with the 8th stepper motor (722) motor shaft；Free gear (705) and gear pedestal (706) fixed company
It connects；Needle rack gear (704), first fixed gear (707), second fixed gear (708) and pin gear seat (709) are connected, movable teeth
It is fixed to take turns (705) and needle rack gear (704), free gear (705) and first fixed gear (707), free gear (705) and second
Gear (708) engagement；Pin gear seat (709) connect (711) by bulb with ball electric cylinders (710) bottom and is attached, and bulb connects
It connects (711) to be connected on bulb connection frame (712) and pin gear seat (709), connect (711) with bulb at the top of ball electric cylinders (710)
Connection；Bulb connection frame (712) and rotation seat (723) are rotatablely connected, and control bulb connection frame by the 6th stepper motor (720)
(712) rotation；It is connected at the top of the 6th stepper motor (720) in motor cabinet (713) with rotation seat (723), bottom and rotation
Motor cabinet (713) is connected；Rotation seat (723) and rotary electric machine seat (713) are rotatablely connected；Rotary electric machine seat (713) and telescopic rod
Seat (714) rotation connection passes through the 6th stepper motor (720) control rotary electric machine seat (713) rotation；Flexible pole socket (714) with
First boom (716) rotation connection；First boom (716) and the second boom (717) are rotatablely connected, and pass through the 6th stepper motor
(720) control the first boom (716) rotation；Flexible rod guide (715) and flexible pole socket (714) are connected；Telescopic rod pedestal (719)
It is rotatablely connected with the second boom (717), passes through the 6th stepper motor (720) control the second boom (717) rotation；Telescopic rail set
(718) it is connected on telescopic rod pedestal (719)；At the top of the cutter head (801) of the cut-away portions (8) and cutter head electric cylinders (802)
It is connected, the 9th stepper motor (816) motor shaft is connected in cutter head electric cylinders (802) bottom and cutter head rotating seat (803), cutter head rotation
The 9th stepper motor (816) bottom and cutter head rotating seat (803) are connected in seat (803)；Cutter head rotating seat (803) and flexible cutter head
Seat (804) rotation connection passes through the 9th stepper motor (816) control cutter head rotating seat (803) rotation；Cutter head screw rod (805) one
End is rotatablely connected by bearing and cutter head expansion bracket (807), and cutter head screw rod (805) other end passes through shaft coupling and cutter head expansion bracket
(807) the 9th stepper motor (816) motor shaft on is connected；The 9th stepper motor (816) on cutter head expansion bracket (807) is connected
On cutter head expansion bracket (807)；Cutter head guide rail (806) both ends are connected on cutter head expansion bracket (807)；Cutter head link block (808)
It is connected with cutter head expansion bracket (807), cutter head connecting rod base (809) and cutter head link block (808) are rotatablely connected；First knife connecting rod
(810) it is rotatablely connected with cutter head connecting rod base (809)；Second knife connecting rod (812) and the first knife connecting rod (810) are rotatablely connected, and are passed through
9th stepper motor (816) controls the rotation of the first knife connecting rod (810)；Third knife connecting rod (813) and the second knife connecting rod (812) rotate
Connection controls the rotation of the second knife connecting rod (812) by the 9th stepper motor (816)；Knife attachment base (815) and third knife connecting rod
(813) it is rotatablely connected, passes through the 9th stepper motor (816) control third knife connecting rod (813) rotation；Knife guide rail (811) is connected in
On cutter head connecting rod base (809), knife guide rail sleeve (814) is connected on knife attachment base (815)；The syringe of the anesthesia part (9)
(901) it is connected on needle holder (904), is connected at the top of advance seat (902) and syringe needle electric cylinders (903), syringe needle electric cylinders (903) bottom
It is connected with needle holder (904)；Needle holder (904) and syringe needle connecting rod (905) are rotatablely connected, and pass through the tenth stepper motor (912)
Control needle holder (904) rotation；Syringe needle connecting rod (905) and terminal pad (906) are rotatablely connected, and pass through the tenth stepper motor
(912) control syringe needle connecting rod (905) rotation；The tenth stepper motor (912) motor shaft and terminal pad in motor cabinet (907)
(906) it is connected, terminal pad (906) and motor cabinet (907) are rotatablely connected；Motor cabinet (907) and the first telescopic block (908) rotation connect
It connects, passes through the tenth stepper motor (912) control motor cabinet (907) rotation；First telescopic block (908) and the second telescopic block (909)
It is connected by screw rod, screw rod one end is connect with the first telescopic block (908), the tenth step in the other end and the second telescopic block (909)
It is connected into motor (912)；Second telescopic block (909) is connect with third telescopic block (910) by screw rod, and screw rod one end is stretched with second
Contracting block (909) connection, the other end are fixedly connected with the tenth stepper motor (912) in third telescopic block (910)；Third telescopic block
(910) be telescopically connected to block (911) be connected；
First stepper motor (3), second stepper motor (513), third stepper motor (514), the 4th stepper motor
(616), the 5th stepper motor (617), the 6th stepper motor (720), the 7th stepper motor (721), the 8th stepper motor
(722), the 9th stepper motor (816), the tenth stepper motor (912), the first electric cylinders (509), the second electric cylinders (512), ball electric cylinders
(710), syringe needle electric cylinders (903), cutter head electric cylinders (802) are controlled by control cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810828323.8A CN109171963A (en) | 2018-07-25 | 2018-07-25 | A kind of automatic eyelid-slicing operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810828323.8A CN109171963A (en) | 2018-07-25 | 2018-07-25 | A kind of automatic eyelid-slicing operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109171963A true CN109171963A (en) | 2019-01-11 |
Family
ID=64937324
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810828323.8A Pending CN109171963A (en) | 2018-07-25 | 2018-07-25 | A kind of automatic eyelid-slicing operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109171963A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110833436A (en) * | 2019-12-03 | 2020-02-25 | 郝巧文 | Automatic suturing device for epithelial tissue |
| CN111000635A (en) * | 2019-12-06 | 2020-04-14 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
| CN112244945A (en) * | 2020-10-22 | 2021-01-22 | 杨敏 | Urinary system tumor resection device |
| CN115040282A (en) * | 2021-05-19 | 2022-09-13 | 首都医科大学附属北京天坛医院 | Device for constructing brain metastatic cancer animal model and application of device in medicine |
| CN115137551A (en) * | 2022-06-21 | 2022-10-04 | 灵动翘睫(深圳)科技有限公司 | Real-time cornea injury prevention early warning system and method for eye plastic surgery robot |
| CN115582845A (en) * | 2022-09-29 | 2023-01-10 | 刘天明 | AI (artificial intelligence) endoscope holding robot for laparoscopic surgery |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2645648Y (en) * | 2003-09-25 | 2004-10-06 | 钟牧 | Double-edged eyelid plastic operation equipment |
| CN2887129Y (en) * | 2005-04-29 | 2007-04-11 | 蔡献章 | Cosmetic device for shaping and fixing double-fold eyelid |
| CN202497198U (en) * | 2012-03-27 | 2012-10-24 | 吕建平 | Double-eyelid operation mold |
| CN203220392U (en) * | 2013-04-02 | 2013-10-02 | 刘清海 | Stapling device for double eyelid operation |
| CN104586566A (en) * | 2014-12-23 | 2015-05-06 | 沈阳和平百嘉丽医疗美容医院有限公司 | Double-fold eyelid cutting auxiliary device and manufacturing method thereof |
-
2018
- 2018-07-25 CN CN201810828323.8A patent/CN109171963A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2645648Y (en) * | 2003-09-25 | 2004-10-06 | 钟牧 | Double-edged eyelid plastic operation equipment |
| CN2887129Y (en) * | 2005-04-29 | 2007-04-11 | 蔡献章 | Cosmetic device for shaping and fixing double-fold eyelid |
| CN202497198U (en) * | 2012-03-27 | 2012-10-24 | 吕建平 | Double-eyelid operation mold |
| CN203220392U (en) * | 2013-04-02 | 2013-10-02 | 刘清海 | Stapling device for double eyelid operation |
| CN104586566A (en) * | 2014-12-23 | 2015-05-06 | 沈阳和平百嘉丽医疗美容医院有限公司 | Double-fold eyelid cutting auxiliary device and manufacturing method thereof |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110833436A (en) * | 2019-12-03 | 2020-02-25 | 郝巧文 | Automatic suturing device for epithelial tissue |
| CN111000635A (en) * | 2019-12-06 | 2020-04-14 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
| CN111000635B (en) * | 2019-12-06 | 2020-09-18 | 河南省肿瘤医院 | Mechanical arm mechanism for tumor resection |
| CN112244945A (en) * | 2020-10-22 | 2021-01-22 | 杨敏 | Urinary system tumor resection device |
| CN115040282A (en) * | 2021-05-19 | 2022-09-13 | 首都医科大学附属北京天坛医院 | Device for constructing brain metastatic cancer animal model and application of device in medicine |
| CN115137551A (en) * | 2022-06-21 | 2022-10-04 | 灵动翘睫(深圳)科技有限公司 | Real-time cornea injury prevention early warning system and method for eye plastic surgery robot |
| CN115582845A (en) * | 2022-09-29 | 2023-01-10 | 刘天明 | AI (artificial intelligence) endoscope holding robot for laparoscopic surgery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109171963A (en) | A kind of automatic eyelid-slicing operation robot | |
| CN107184275A (en) | A kind of robot for being used to aid in splanchnocoel Minimally Invasive Surgery | |
| CN208974844U (en) | Injector robot | |
| CN203506780U (en) | Minimally-invasive suture knotter | |
| CN111407368A (en) | Be used for CT to perspect and guide full-electric quick release type puncture needle inserter | |
| CN108714049A (en) | A kind of lipoma excision robot | |
| CN113180758B (en) | Endoscope minimal access surgery sewing machine | |
| CN103070707A (en) | Medical stitching instrument with automatic needle replacing function | |
| CN103431883B (en) | Wicresoft's stitching knotter | |
| CN210879766U (en) | Eyelash scissors for ophthalmologic operation | |
| CN109431563A (en) | Hysteroscope purse-string forceps | |
| CN211583368U (en) | Special clamping and fixing forceps for orthopedic operation | |
| CN202313531U (en) | Needle holder with in-built scissors | |
| CN110448404A (en) | A kind of ophthalmic stitching unstrument | |
| CN107898483B (en) | Endoscopic surgical suture device | |
| CN116458693A (en) | Wig hairline weaves fixing device | |
| CN213525293U (en) | Thoracic surgery operation thorax distraction device | |
| CN2577771Y (en) | Suturing device for front needle hole operation | |
| CN214966097U (en) | Continuous stitching instrument | |
| CN208756049U (en) | A kind of tissue forceps in medical art for tissue suture | |
| CN210962207U (en) | Gallbladder grasping forceps | |
| KR101017954B1 (en) | Endoscopic suturing device | |
| KR101066164B1 (en) | Endoscopic suturing device | |
| CN113171155B (en) | Rigid electrode implantation equipment | |
| CN105395227A (en) | Needle forceps for automatic stitching |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20190111 |
|
| WD01 | Invention patent application deemed withdrawn after publication |