CN109452970B - Initial angle adjustable three-dimensional accuse bent mechanical arm - Google Patents
Initial angle adjustable three-dimensional accuse bent mechanical arm Download PDFInfo
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- CN109452970B CN109452970B CN201811630321.4A CN201811630321A CN109452970B CN 109452970 B CN109452970 B CN 109452970B CN 201811630321 A CN201811630321 A CN 201811630321A CN 109452970 B CN109452970 B CN 109452970B
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- 238000001574 biopsy Methods 0.000 description 4
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
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- 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
Abstract
The application relates to an initial angle adjustable three-dimensional accuse bent mechanical arm, include: a distal tool, a proximal controller, and a transmission system between the distal tool and the proximal controller; wherein the three-dimensional motion of the proximal controller is transmitted to the distal tool by a transmission system such that the distal tool reproduces the three-dimensional motion of the proximal controller; the distal tool comprises a rod part with a proximal end and a distal end actuator, wherein the distal end of the rod part is a flexible section capable of three-dimensionally bending; the transmission system comprises at least one group of steel wires, wherein the proximal ends of the steel wires are connected with a proximal end controller, and the distal ends of the group of steel wires are fixed on the opposite sides of the distal end of the rod part in a first direction; the tilting motion of the proximal controller drives the group of steel wires to perform relative motion, so as to drive the distal end of the rod part and the distal end actuator to bend in the direction corresponding to the first direction; the proximal end of the steel wire is provided with a steel wire fastening adjusting piece for adjusting the tension of each steel wire, so that the initial angle of the distal end of the rod part is adjusted. The three-dimensional bending control mechanical arm with the adjustable initial angle has the advantages of strong hand feeling feedback, simple operation, simple and compact structure, no need of power supply and communication network, smooth bending control operation, stable rotation, accurate and quick positioning, large rotation angle, flexible adjustment, adjustable initial angle and prolonged service period.
Description
Technical Field
The present application relates to an initially angularly adjustable three-dimensional bending control mechanical arm, and in particular to a three-dimensional bending control mechanical arm capable of transmitting a proximal three-dimensional motion to a distal tool located at a distal end so that the distal tool performs a three-dimensional motion corresponding to the proximal three-dimensional motion.
Background
With the development of medicine, control and computer technology, minimally invasive surgery is increasingly widely applied, and has small surgical wounds and quick recovery, and is popular with vast doctors and patients. The current minimally invasive surgical instruments mainly comprise a robot-assisted minimally invasive surgical system, such as a da vinci surgical robot, wherein the surgical robot utilizes intelligent technologies such as a computer and big data processing to transmit data of operation of a master robot to a slave robot, and the slave robot receives the data and converts the data into operation corresponding to the operation of the master robot, so that accurate and precise surgical operation imitating a person at a far end of the machine is realized, the far end of the machine is flexibly positioned, and a doctor can remotely perform the operation. However, the surgical robot needs to perform complex processing and transmission on data, the data transmission is performed by the network to a great extent, the cost is high, and doctors do not feel feedback during operation and need to be specially trained.
There are also mechanical minimally invasive surgical instruments in the prior art, which generally comprise a long shaft portion penetrating the skin of a patient, a proximal end of the shaft portion connected to a handle, a distal end connected to a tool end, and a wire rope connected between the handle and the tool end, wherein a doctor controls the bending of the distal tool through the wire rope by manipulating the handle. Compared with a surgical robot, the mechanical minimally invasive surgical instrument, or the mechanical arm, has the advantages of low cost, hand feeling feedback during operation, no special training for operators, and quick operation. However, the mechanical minimally invasive surgical instrument in the prior art has a single adjustment angle to the distal end, can be adjusted in a single direction or in two directions, and cannot be subjected to multi-dimensional continuous adjustment. In order to realize multi-dimensional adjustment of the far end, some mechanical arms are required to be provided with a complex steel wire rope, a pulley, a gear or the like, and when in adjustment, all parts are easy to influence each other, so that the phenomena of clamping and unfit adjustment of a far end tool are caused. In practical use, the angle of the distal end of the mechanical arm needs to be adjusted sometimes, for example, after multiple uses, the distal end of the mechanical arm forms a larger angle with the main shaft of the arm, so that the mechanical arm is difficult to insert into a cavity, the initial angle of the mechanical arm in the prior art cannot be adjusted, and great inconvenience is brought to use.
Disclosure of Invention
The technical problem to be solved by the application is to the defects of the prior art, and the three-dimensional bending control mechanical arm with the unique structural design and adjustable initial angle is provided, so that the angle of a far-end tool can be smoothly adjusted, and 360-degree rotating bending is realized.
According to an aspect of the present application, there is provided a three-dimensional bending control mechanical arm with an adjustable initial angle, including: a distal tool, a proximal controller, and a transmission system between the distal tool and the proximal controller; wherein the three-dimensional motion of the proximal controller is transmitted to the distal tool via a transmission system such that the distal tool reproduces the three-dimensional motion of the proximal controller.
Further, the distal tool includes a shaft having a proximal end and a distal end, the distal end of the shaft being a flexible segment that is bendable in three dimensions, and a distal end effector; the transmission system comprises at least one group of steel wires, wherein the proximal ends of the steel wires are connected with a proximal end controller, and the distal ends of the group of steel wires are fixed on the opposite sides of the distal end of the rod part in a first direction; the tilting motion of the proximal controller drives the group of steel wires to perform relative motion, so as to drive the distal end of the rod part and the distal end actuator to bend in the direction corresponding to the first direction; the proximal end of the steel wire is provided with a steel wire fastening adjusting piece for adjusting the tension of each steel wire, so that the initial angle of the distal end of the rod part is adjusted.
Further, the transmission system includes two sets of wires, the proximal ends of each set of wires being connected to the proximal controller by a pivotal connection, the distal ends of one set of wires extending and being secured to opposite sides of the distal end of the shaft in the first direction, the other set of wires being oppositely disposed on opposite sides of the distal end of the shaft in a second direction perpendicular to the first direction; the tilting motion of the proximal controller drives the pivoting connector to rotate, so as to drive the relative motion of a group of steel wires connected with the pivoting connector, and the distal end of the group of steel wire control rod parts is bent in a first direction or a second direction; when both pivotal connections are in tilting movement, both sets of wires are in relative movement, and eventually the distal end of the shaft is bent in a direction between the first and second directions by the combined action of the two bending forces.
Further, the delivery system includes a stationary frame, wherein a proximal controller is coupled to a proximal end of the stationary frame, and the distal tool is coupled to a distal end of the stationary frame; the pivoting connecting piece comprises a turntable connected with the proximal end controller and rotationally fixed on the fixed frame, and a steel wire fixing arm pivotally connected with the turntable, and the steel wire fixing arm is connected with the rotating piece through a pivoting shaft on the rotating piece; the proximal end of the steel wire is fixedly connected to the proximal end of the steel wire fixing arm; the three-dimensional motion of the near-end controller drives the turntable to rotate, the rotation of the turntable drives the two steel wire fixing arms connected with the turntable to rotate, the near ends of the pair of steel wires fixed at the near ends of the pair of steel wire fixing arms move relatively, and the far ends of the rod parts are driven to bend.
Further, the steel wire fastening adjusting piece comprises an adjusting nut and a fastening screw, wherein the adjusting nut and the fastening screw are arranged at the proximal end of the steel wire fixing arm, when the fastening screw is loosened, the tensioning degree of the steel wire can be adjusted through rotating the adjusting nut, and after adjustment, the fastening screw is locked again to lock the steel wire.
Further, a sliding groove along the longitudinal axis of the steel wire fixing arm is formed in the steel wire fixing arm, a fixing threading block penetrates through the sliding groove to be fixedly connected with the fixing frame, and a groove for the steel wire to slide through is formed in the fixing threading block; the rotating piece comprises a connecting piece which is pivotally connected with the fixed frame; the steel wire passes through a groove in the fixed threading block.
Further, the stationary frame is connected to the proximal controller by at least two hinge strips, wherein a first end of the hinge strip is fixedly connected to the front end of the proximal controller and a second end of the hinge strip is connected to the pivot connection.
Further, the number of the hinge strips is two, and first ends of the two hinge strips are fixed at the front end of the proximal controller orthogonally to each other.
Further, the hinge strip is strip-shaped and has an upper surface, a lower surface and a longitudinal axis, wherein the longitudinal axis and a plane determined by a direction perpendicular to the upper surface and the lower surface of the hinge strip are curl planes, the hinge strip is bendable in any direction in the curl planes, and is rigid in the direction in the non-curl planes, so that any tilting motion of a first end of the hinge strip connected with the front end of the proximal end controller in the direction in the non-curl planes can be transferred to a second end to enable the second end to perform corresponding tilting motion, the tilting motion of the second end of the hinge strip drives the pivot connecting piece connected with the hinge strip to pivot, and the pivot of the pivot connecting piece drives two steel wires connected with the pivot connecting piece to perform relative motion, so that the distal end tool is correspondingly bent.
Further, the rotation angle of the proximal end of the initial angle-adjustable three-dimensional bending control mechanical arm is proportional to the rotation angle of the distal end thereof, and the ratio is between 0.1 and 10.
Preferably, the ratio is 1, 2, 3, more preferably 3, i.e. the proximal end of the initially angularly adjustable three-dimensional bending control manipulator is rotated 10 ° and the distal end is rotated 30 ° in the corresponding direction.
According to another aspect of the present application, there is provided a three-dimensional bending control mechanical arm with an adjustable initial angle, including: a distal tool, a proximal controller, and a transmission system between the distal tool and the proximal controller; wherein the three-dimensional motion of the proximal controller is transmitted to the distal tool via a transmission system such that the distal tool reproduces the three-dimensional motion of the proximal controller.
Further, the delivery system includes a stationary frame, wherein a proximal controller is coupled to a proximal end of the stationary frame, and the distal tool is coupled to a distal end of the stationary frame; the fixed frame is connected with the proximal end controller through at least two hinge belts, wherein a first end of each hinge belt is fixedly connected with the front end of the proximal end controller, and a second end of each hinge belt is pivotally connected to the fixed frame.
Further, the distal tool includes a shaft having a proximal end and a distal end, the proximal end of the shaft being secured to a stationary frame, the distal end of the shaft being connected to the distal actuator, the distal end of the shaft being a flexible segment that is bendable in three dimensions.
Further, the number of the hinge strips is two, and three, four or more may be provided.
Preferably, the number of hinge strips is two, the first ends of the two hinge strips being fixed to the front end of the proximal controller orthogonally to each other, for example, one hinge strip is mounted on the distal upper side of the proximal controller, and the other hinge strip is arranged on the left or right side of the distal end of the proximal controller.
Further, the second end of each hinge strap is connected to a pivot connection that is pivotally mounted to the stationary frame such that the second end of the hinge strap is pivotable relative to the stationary frame.
In one embodiment, each of the pivotal connections is connected to proximal ends of two wires, the two wires connected to one hinge strap with one pivotal connection being a set of wires, the distal ends of one set of wires extending and being secured to opposite sides of the distal end of the stem in a first direction, the other set of wires being oppositely disposed to opposite sides of the distal end of the stem in a second direction perpendicular to the first direction; the tilting movement of the second end of one of the hinge belts drives the pivoting connecting piece connected with the hinge to rotate, so that the relative movement of a group of steel wires connected with the pivoting connecting piece is driven, and the distal end of a group of steel wire control rod parts are bent in a first direction or a second direction; when the two hinge belts are in tilting motion and the two groups of steel wires are in relative motion, the distal end of the final rod part is bent in a direction between the first direction and the second direction under the combined action of two bending forces.
Specifically, the hinge strap is strip-shaped and has an upper surface, a lower surface and a longitudinal axis, the longitudinal axis and a plane determined by a direction perpendicular to the upper surface and the lower surface of the hinge strap are curling planes, the hinge strap is bendable in any direction in the curling planes, and is rigid in the direction in the non-curling planes, so that any tilting motion of a first end, connected with the front end of the proximal end controller, of the hinge strap in the direction in the non-curling planes can be transferred to a second end to enable the second end to perform corresponding tilting motion, the tilting motion of the second end of the hinge strap drives the pivoting connecting piece connected with the hinge strap to pivot, and the pivoting of the pivoting connecting piece drives two steel wires connected with the hinge strap to perform relative motion, so that the distal end of the rod portion is correspondingly bent.
Further, the pivoting connecting piece comprises a turntable which is rotationally fixed on the fixed frame, a connecting end which is fixedly connected with the turntable, a rotating piece which is fixedly connected with the turntable, and a steel wire fixing arm which is pivotally connected with the rotating piece, wherein the steel wire fixing arm is connected with the rotating piece through a pivoting shaft on the rotating piece; the second end of the hinge belt is fixedly connected with the connecting end of the pivot connecting piece; the steel wire fixing arm is provided with a sliding groove along the longitudinal axis of the steel wire fixing arm, the fixed threading block penetrates through the sliding groove to be fixedly connected with the fixed frame, and the fixed threading block is provided with a groove for the steel wire to slide through; the rotating piece comprises a connecting piece which is pivotally connected with the fixed frame; the steel wire passes through a groove in the fixed threading block, and the proximal end of the steel wire is fixedly connected with the proximal end of the steel wire fixing arm; the connecting end of the rotary table is fixedly connected with the second end of the hinge belt, the tilting motion of the second end of the hinge belt drives the rotary table to rotate, the rotary table rotates to drive the rotating member to pivot, the rotating member pivots to drive the two steel wire fixing arms connected with the rotating member to rotate, the proximal ends of the pair of steel wires fixed at the proximal ends of the pair of steel wire fixing arms move relatively, the pair of steel wires slide in opposite directions in grooves of the fixed threading blocks of each other, and the distal ends of the rod parts are driven to bend.
The bending maximum angle of the steel wire fixing arms is limited due to the limitation of the fixing threading blocks and the sliding grooves, and when one group of steel wire fixing arms are bent to the maximum angle, the proximal end of the sliding groove of one fixing arm is contacted with the fixing threading blocks, and the distal end of the sliding groove of the other fixing arm is contacted with the fixing threading blocks.
In a specific embodiment, the rotating member is an isosceles triangle, wherein the pivot shaft pivotally connected to the wire fixing arm is disposed at two base corners of the isosceles triangle, and the connecting member pivotally connected to the fixing frame is disposed at a vertex corner of the isosceles triangle.
In one embodiment, the distal end of the shaft is a serpentine joint segment comprising a plurality of end-to-end gimbal segments. The snake-shaped joint section can be bent or rotated in three dimensions, the two groups of steel wires are connected with the snake-shaped joint section in a sliding mode, the distal ends of the steel wires are fixedly connected with the distal ends of the snake-shaped joint section, and therefore the relative movement of each group of steel wires drives the snake-shaped joint section to bend.
In one embodiment, the serpentine joint segment of the robotic arm has two universal segments, the proximal and distal rotational angles of the robotic arm being 1:3; the ratio of the relative distance of a pair of wires at the distal end to the relative distance of the pair of wires at the proximal wire retaining arm is 1:2; the ratio of the axial distance between the two universal pieces to the distance between the pivot shaft of the steel wire fixing arm and the center of the sliding groove is 1:2.
In one embodiment, the serpentine joint segment of the robotic arm has two universal segments, the proximal and distal rotational angles of the robotic arm being 1:3; the ratio of the relative distance of a pair of wires at the distal end to the relative distance of the pair of wires at the proximal wire retaining arm is 1:2; the ratio of the axial distance between the two universal pieces to the distance between the pivot shaft of the steel wire fixing arm and the center of the sliding groove is 1:2.
in another embodiment, the serpentine joint segment of the robotic arm has three universal tabs, the proximal and distal rotational angles of the robotic arm being 1:3; the ratio of the relative distance of a pair of wires at the distal end to the relative distance of the pair of wires at the proximal wire retaining arm is 1:3; the ratio of the axial distance between the two universal pieces to the distance between the pivot shaft of the steel wire fixing arm and the center of the sliding groove is 1:3.
further, the maximum rotation angle of the proximal end of the mechanical arm is set by setting the length of the sliding groove on the steel wire fixing arm, and then the maximum rotation angle of the distal end of the mechanical arm is set.
Further, the proximal controller is a rod-shaped handheld operation member, and is suitable for being held by one hand.
Alternatively, the proximal controller is a rod-shaped hand-held operating member adapted for two-handed operation.
Alternatively, the proximal controller is ring-shaped or finger-sleeve-shaped to fit over a finger.
In one embodiment, the proximal end of the stationary frame is provided with a wrist connection for an operator's hand to pass through to hold the proximal controller.
In one embodiment, the fixed frame is generally U-shaped or semi-circular.
In a specific embodiment, the steel wire fixing arm is provided with a steel wire fastening adjusting piece for adjusting the tension of each steel wire, so that the initial angle of the distal end of the rod part is adjusted.
Further, the steel wire fastening adjusting piece comprises an adjusting nut and a fastening screw, wherein the adjusting nut and the fastening screw are arranged at the proximal end of the steel wire fixing arm, the tensioning degree of the steel wire can be adjusted through rotating the adjusting nut when the fastening screw is loosened, and the fastening screw is locked again after adjustment is completed to lock the steel wire.
In particular, the three-dimensional bending control mechanical arm can be used in the medical field, for example, in minimally invasive surgery, the distal tool is placed into a patient body, for example, the abdominal cavity through a perforation of the body surface, the proximal controller is located outside the patient body and operated by an operator, and the three-dimensional motion of the hand of the operator is transmitted to the distal tool located inside the patient body, so that the distal tool performs the three-dimensional motion corresponding to the hand of the operator, that is, the distal tool reproduces the hand motion of the operator in the body. The proximal controller controls the distal tool to cut or clamp the suture needle through the tissue, and knotting and the like.
Further, the shaft is rigid except at the distal end of the shaft for penetrating through the body surface of the patient and into the patient to position the distal end effector to the target tissue region. The distal end effector is specifically a jaw, needle holder, scissors, biopsy device, retractor, drill bit, or the like. For securing/clamping and manipulating objects located in the body, such as needles, sutures, tissues, tissue clips, etc., surgical procedures such as suturing, cutting, cauterizing, ligating, etc., are typically performed visually in conjunction with a laparoscope/endoscope.
Further, the distal tool is a jaw, and a control member for controlling the jaw to open and close is further arranged in the proximal controller.
In addition, the three-dimensional bending control mechanical arm can be used in environments where operators are not easy to expose, such as space and space released by toxic gas. For example, in space, an astronaut can operate an object outside the space capsule, such as space sampling, marking and the like, through a three-dimensional bending control mechanical arm.
The utility model provides an initial angle adjustable three-dimensional accuse bent mechanical arm adopts mechanical accuse to bend, and the three-dimensional motion of mechanical arm near-end directly maps to the three-dimensional motion of distal end, only needs single hand operation, and the feedback of feeling is strong, easy operation, simple structure, compactness need not power and communication network, accuse bent operation smooth and easy, the rotation is stable, the location is accurate quick, but rotation angle is big, can adjust the distal end in a flexible way and carry out three-dimensional rotatory bending, with low costs. In addition, the initial angle of the distal end of the three-dimensional bending control mechanical arm with the adjustable initial angle is adjustable, so that the service cycle can be prolonged.
Drawings
In order to more clearly illustrate the technical solutions of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a three-dimensional bending control mechanical arm with an adjustable initial angle according to the present application;
FIG. 2a is a schematic diagram of a connection structure between a proximal controller of a three-dimensional bending control mechanical arm with an adjustable initial angle and a transmission system according to the present application;
FIG. 2b is a schematic view of FIG. 2a rotated 90;
FIG. 2c is an enlarged view of a portion of a proximal controller of a robotic arm according to the present application;
FIG. 3a is a partial cross-sectional view of a robotic arm according to the present application, showing a wire fastening adjustment provided on a pivot connection;
FIG. 3b is a schematic view of the attachment of the fastener to the wire in the wire fastening adjuster of FIG. 3 a;
FIG. 4a is a partial schematic view of a robotic arm of the present application, wherein a pair of wires are shown in an unbent state, to the right of the figure, and showing a partial schematic view in the D-D direction;
FIG. 4b is a partial schematic view of the robotic arm of FIG. 4a, wherein a pair of wires are shown in a bent state, to the right and showing a partial schematic view in the D-D direction;
FIG. 5a is a schematic view of the distal end structure of the mechanical arm of the present application, wherein a pair of wires are shown in a bent state;
FIG. 5b is a distal cross-sectional view of the robotic arm of FIG. 5 a;
FIG. 5c is a cross-sectional view as indicated by the arrow in FIG. 5 b;
FIGS. 6 a-6 c are graphs of the proximal and distal dimensions of a robotic arm according to the present application, wherein the distal end has two universal tabs;
fig. 7a to 7c are graphs showing the correspondence between the proximal and distal dimensions of a manipulator arm according to the present application, wherein the distal end has a three-joint gimbal.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all, of the embodiments of the present application. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.
The term "exemplary" is used herein to mean "serving as an example, instance, or illustration. Any implementation described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other implementations. Also, herein, "proximal", "rear" refers to an end proximal to the operator, and "distal", "front" refers to an end distal to the operator, with the entire device being placed horizontally.
For simplicity, the three-dimensional bending control mechanical arm with adjustable initial angle of the present application is described by taking a distal end clamp as an example, and those skilled in the art can understand that the three-dimensional bending control mechanical arm with adjustable initial angle of the present application is not limited to controlling the distal end clamp, and is also applicable to other apparatuses.
Referring to fig. 1, an initial angle-adjustable three-dimensional bending control mechanical arm according to the present application includes a distal tool a, a proximal controller C, and a transmission system B between the distal tool a and the proximal controller C; wherein the three-dimensional motion of the proximal controller a is transmitted to the distal tool a by a transmission system B such that the distal tool a reproduces the three-dimensional motion of the proximal controller C.
Referring to fig. 2a to 2C, there is shown a schematic illustration of the connection of the proximal controller C, which is a rod-like hand-held operating member 6, suitable for single-hand holding, and other suitable manipulators, such as a two-hand-operated instrument, or a ring or finger-sleeve shape, over the finger, depending on the actual control.
Specifically, according to the initial angle adjustable three-dimensional bending control mechanical arm of the present application, the transmission system B comprises a fixed frame 1, wherein a proximal controller C is connected to a proximal end of the fixed frame 1, and a distal tool a is connected to a distal end of the fixed frame 1.
With continued reference to fig. 2a to 2c, the stationary frame 1 is connected to a hand-held operating member 6 by at least two hinge straps 5, wherein a first end of the hinge straps 5 is fixedly connected to a front end of the hand-held operating member 6 and a second end of the hinge straps is pivotally connected to the stationary frame 1.
In one embodiment, the hinge strap of the present application is a wristwatch strap structure comprising a plurality of rigid rectangular blocks connected end to end with each other, the rectangular blocks being pivotally connected.
Referring to fig. 3a-5a, the distal tool a comprises a shaft 2 having a proximal end and a distal end, the proximal end of the shaft 2 being fixed to the fixed frame 1, and a distal end of the shaft 2, i.e. a shaft distal end 4, being connected to the distal actuator, the shaft distal end 4 being a flexible section which is bendable in three dimensions (see fig. 4b, 5 a).
Since the distal end of the fixed frame 1 is connected with the rod part 2, the rod part 2 can be driven to move and rotate by moving the frame 1, and since the hand-held operation member 6 is connected with the frame by the soft hinge belt 5, the movement of the frame 1 can not affect the hand-held operation member 6. In operation, one hand controls the hand-held operation member 6, and the other hand operates the moving frame 1, and after the moving frame 1 drives the rod portion to reach the target area, the hand-held operation member 6 is operated to further perform operations on the target object, such as clamping, stitching, sampling, and the like.
In one embodiment, the proximal end of the stationary frame 1 is connected to a wrist connection through which the operator's hand passes to hold the hand-held operating member 6.
In a specific embodiment, the fixing frame 1 is U-shaped overall, and may be semicircular or other shapes without affecting the operation of the hand-held operation member 6 by the operator.
The structure of the three-dimensional controlled bending of the present application is described in detail below.
Referring to fig. 2a to 2c, the number of hinge strips 5 is two, three, four or more may be provided, as an illustrative example, two in the embodiment shown in the drawings. Referring to fig. 2c, the first ends of the two hinge straps 5 are fixed to the front end of the hand-held operation member 6 orthogonally to each other, for example, one of the hinge straps is installed on the upper side of the distal end of the hand-held operation member 6 and the other hinge strap is arranged on the left or right side of the distal end of the hand-held operation member 6.
Referring to fig. 2b, 2c, the second end of each hinge strip 5 is connected to a pivot connection 7, said pivot connection 7 being pivotally mounted on the stationary frame 1 such that the second end of the hinge strip 5 is pivotable relative to the stationary frame 1.
Referring to fig. 2c-4b, each pivot connection 7 is connected to the proximal ends of two wires 8, the two wires connected to one hinge strap 5 by one pivot connection 7 being a set of wires, the distal ends of one set of wires 8 extending and being fixed in a first direction on opposite sides of the distal end 4 of the stem, the other set of wires being oppositely arranged on opposite sides of the distal end of the stem in a second direction perpendicular to said first direction. The tilting movement of the second end of one of the hinge strips brings about a rotation of the pivot connection 7 connected to the hinge and thus a relative movement of the set of wires 8 connected to the pivot connection 7, whereby the distal end 4 of the rod is a flexible section which is bendable in three dimensions, such that the distal end 4 of the set of wires controls the rod to bend in a first direction, or in a second direction. When both hinge strips 5 are in tilting movement and both sets of wires 8 are in relative movement, the distal end of the final shank is bent in a direction between the first and second directions by the combined action of the two bending forces. Referring to fig. 5b and 5c, one set of wires 8 is provided at both upper and lower sides of the distal end of the shaft portion, and the other set of wires is provided at both left and right sides of the distal end of the shaft portion, whereby one set of wires 8 controls the distal end 4 of the shaft portion to perform bending movement in the up and down direction, and the other set of wires 8 controls the distal end 4 of the shaft portion to perform bending movement in the left and right direction.
Referring to fig. 2a to 2c, the hinge strap 5 is in the form of an elongate sheet having an upper surface, a lower surface and a longitudinal axis, the longitudinal axis and a plane defined perpendicular to the upper and lower surfaces thereof being a curl plane, the hinge strap 5 being bendable in any direction in the curl plane and being rigid in the direction in the non-curl plane such that any tilting movement of a first end of the hinge strap connected to the front end of the hand-held operating member 6 in the direction in the non-curl plane is transferred to a second end such that the second end performs a corresponding tilting movement, tilting movement of the second end of the hinge strap 5 causing the pivot connection connected thereto to pivot which causes relative movement of the two wires connected thereto such that the distal end 4 of the stem portion is correspondingly bent.
With further reference to fig. 2a, the hand-held operation member 6 is in a bar-like structure having a longitudinal axis, and during operation, the bar-like hand-held operation member 6 is held by one hand of the operator with the front end of the hand-held operation member 6 being located in front of the finger, i.e. the first end of the hinge strip being located in front of the finger of the operator. In one embodiment, the first ends of the two hinge straps 5 are arranged at the front end of the hand-held operating member 6 perpendicular to the longitudinal axis of the hand-held operating member, and as described above the two first ends are perpendicular to each other.
When the hand-held operating member 6 is moved on its longitudinal axis, the two hinge strips are bent or straightened in a direction perpendicular to the upper and lower surfaces thereof, while the first ends of the two hinge strips 5 are both maintained perpendicular to the longitudinal axis of the hand-held operating member 6, so that no tilting movement of the first end of any one of the hinge strips, and correspondingly of the second ends of the hinge strips, takes place, the pivoting connection 7 does not pivot, the set of wires 8 connected to one of the pivoting connection 7 do not move relative to each other, and the distal rod portion 4 does not undergo bending movement.
When any movement of the front end of the hand-held operating member 6 at an angle to its longitudinal axis, it is split into a movement along its longitudinal axis and a tilting movement in a plane perpendicular to its longitudinal axis, which tilting movement causes a tilting movement of the first end of at least one hinge strip, which in turn causes a corresponding bending of the distal end of the lever portion, see fig. 4b, 5a. Specifically, the tilting motion of the front end of the hand-held operating member 6 in any direction can be decomposed into tilting motions of the first ends of two mutually perpendicular hinge belts, and the tilting motion of each hinge belt 5 drives the relative motion of a group of steel wires 8 connected with the hinge belts, so that the distal ends 4 of the rod parts are bent in the direction in which the group of steel wires are placed, and the relative motion of the two groups of steel wires drives the distal ends of the rod parts to be bent in the two mutually perpendicular directions, so that the final bending direction is formed.
Thus, when the operator manipulates the hand-held operation member 6, any tilting movement of the front end of the hand-held operation member 6 is mapped to the lever distal end 4, and the tilting movement is repeated by the lever distal end 4, and the rotation of the front end of the hand-held operation member 6 can be transmitted to the lever distal end 4 to be rotated accordingly. The distal actuator connected to the distal end 4 of the stem reproduces the tilting movement of the front end of the hand-held operating member 6, thus effecting a simulated operator wrist action, with a corresponding bending and rotation, see fig. 4b. Therefore, an operator can intuitively and naturally control the remote tool to flexibly perform actions such as steering, swinging, rotating and the like. The remote object can be directly operated, and the driving mode is visual, has strong feedback sense and accords with human engineering.
The ratio of the bending angle of the distal end 4 of the lever portion to the inclination angle of the hand-held operation member 6 may be specifically set as needed. I.e. the magnitude proportional relation of the rotation angle of the pivotal connection 7 to the bending angle of the distal end 4 of the shaft may be specifically set. This ratio is for example 0.1 to 10, preferably 1, 2, 3, more preferably 3, i.e. the pivoting connection 7 is rotated 10 ° in a certain direction, bringing the distal tool to rotate 30 ° in the corresponding direction.
Due to the limitation of the anatomical structure of the wrist of the human body, in order to realize 360-degree three-dimensional bending of the distal tool, the proportional relation between the bending angle of the proximal controller and the bending angle of the distal tool is set to be 1:3, and through actual operation, the motion of the proximal controller can be smoothly transmitted to the distal tool under the proportional relation, so that the phenomena of jamming, wire derailment and the like can not occur.
Specifically, referring to fig. 2c-3b, the pivot connection member 7 includes a turntable 71 rotatably fixed to the fixed frame 1, a connection end 72 fixedly connected to the turntable 71, a rotation member 73 fixedly connected to the turntable 71, and a wire fixing arm 78 pivotally connected to the rotation member 73. Referring to fig. 3b, 4a, 4b, the second end of the hinge strap 5 is fixedly connected to the connecting end 72 of the pivot connection 7. The steel wire fixing arm 78 is provided with a sliding groove 77 along the longitudinal axis thereof, the fixed threading block 74 passes through the sliding groove 77 to be fixedly connected with the fixed frame 1, and the fixed threading block 74 is provided with a groove for the steel wire 8 to pass through in a sliding way; the rotation member 73 includes a connection member 731 pivotally connected to the fixed frame 1. The wire 8 passes through a slot in the fixed threading block 74 and the proximal end of the wire is fixedly attached to the proximal end of the wire retaining arm 78.
In this embodiment, the rotating member 73 is substantially isosceles triangle, the steel wire fixing arms 78 are pivotally connected at two bottom corners of the rotating member 73, the connecting end 72 of the turntable 71 is fixedly connected with the second end of the hinge strap 5, and the tilting movement of the second end of the hinge strap 5 drives the turntable 71 to rotate, so that the rotation of the turntable 71 drives the rotating member 73 to pivot. Referring to fig. 4b, the rotation member 73 is pivoted to rotate the two wire fixing arms 4 connected thereto, the proximal ends of the pair of wires 8 fixed to the proximal ends of the pair of wire fixing arms 4 are relatively moved, and the pair of wires 8 slide in opposite directions in the grooves of the fixed threading block 74 to each other, thereby bending the distal ends of the rod portions. Through the combined and matched design of the rotary table 71, the rotary piece 73, the steel wire fixing arm 4, the sliding groove 77 and the fixing threading block 74, the steel wire can be controlled to move relatively only in the direction of extending to the far end of the rod part, so that the angle adjustment is smooth, and no clamping and stopping can occur.
The maximum angle of bending of the wire fixing arms is defined due to the restriction of the fixing threading block 74 and the sliding groove 77, when the proximal end of the sliding groove of one fixing arm 78 of the pair of wire fixing arms 78 is in contact with the fixing threading block 74 and the distal end of the sliding groove 77 of the other fixing arm 78 is in contact with the fixing threading block 74. At this time, the bending of the distal end of the robot arm in the corresponding direction also reaches the maximum value.
In one embodiment, the wire fixing arm 78 is provided with a wire tightening adjustment member, and by providing the wire tightening adjustment member, the tension of each wire can be adjusted, thereby adjusting the initial angle of the distal end of the shaft. That is, the initial angle of the distal tool is bent in a certain direction by adjusting the wire-fastening adjusting member before the hand-held operating member 6 is operated, thereby reducing the operation in the operation. The wire may also be tensioned back when the arm is loosened, for example after multiple uses.
In the embodiment shown in fig. 2c-3b, the wire tightening adjustment member comprises an adjustment nut 76 and a tightening screw 75 at the proximal end of the wire fixing arm 78, wherein the tightening screw 75 can be used for adjusting the tightness of the wire 8 by rotating the adjustment nut 76 when the tightening screw 75 is loosened, and the tightening screw 75 is locked again after the adjustment is completed.
Referring to fig. 4a-7c, the distal stem portion 4 is a serpentine joint segment comprising a plurality of end-to-end gimbal segments 41. The serpentine joint segment can bend or rotate in three dimensions and can remain at an angle to some extent after bending. The serpentine joint segment is an existing structure and will not be described further herein. Referring to fig. 5a-5c, the two sets of wires 8 are slidably connected to the serpentine joint segment, and the distal ends of the wires are fixedly connected to the distal ends of the serpentine joint segment, such that relative movement of each set of wires, i.e., tension and relaxation, causes the serpentine joint segment to bend.
Fig. 6a to 6c show a graph of the proximal and distal dimensions of a mechanical arm having two gimbal segments, the proximal dimension of the mechanical arm being twice the distal dimension, and the proximal and distal rotation angles being 1:3, according to one embodiment of the present application. Those skilled in the art will readily appreciate that the dimensions shown in the figures are illustrative only and not limiting. As shown in fig. 6a, 6b, the axial distance between the two universal tabs is 2.2mm and the relative distance between the pair of wires 8 at the distal end is 4.6mm. The right side of fig. 6b shows the proximal and distal dimensions of the arm, the relative distance of the pair of wires 8 at the distal end being 4.6mm, the relative distance of the pair of wires 8 at the proximal wire retaining arm being 9.2mm, the distance of the pivot axis at the distal end of the wire retaining arm from the centre of the sliding channel 77 being 4.4mm. It can be seen that the proximal end of the arm is twice the geometry of the distal dimension, i.e. the proximal dimension is twice the distal dimension. When a pair of wire fixing arms 78 at the proximal end of the mechanical arm move relatively, a pair of wires are driven to move relatively, one wire fixing arm moves distally, the wire fixing arm is guided to slide distally by a fixing threading block 74 passing through a sliding groove 77 on the wire fixing arm, the other wire fixing arm moves proximally, the wire fixing arm is guided to slide proximally by a fixing threading block 74 passing through the sliding groove 77 on the wire fixing arm, and further, two universal sheets at the distal end are driven to rotate, and at the moment, the rotation angle of the proximal end and the rotation angle of the distal end are 1:3.
The maximum rotation angle of the proximal end of the mechanical arm can be set by setting the length of the sliding groove on the steel wire fixing arm, and then the maximum rotation angle of the distal end of the mechanical arm is set.
In this embodiment, the distance between the pivot axis of the wire-fixing arm and the distal end of the sliding groove is 2.72mm, the distance between the pivot axis of the wire-fixing arm and the proximal end of the sliding groove is 5.94mm, the maximum rotation angle of the proximal end of the arm is 20 °, corresponding to the maximum rotation of the distal end of the arm by 60 °, wherein each gimbal rotates by 30 °. When the proximal end of the arm is rotated to a maximum angle of 20, a fixed threading block 74 passing through a sliding slot 77 in one of the wire retaining arms of the set of wire retaining arms guides the wire retaining arm to slide distally until it contacts the proximal end of the sliding slot, and a sliding slot 77 in the other wire retaining arm guides the wire retaining arm to slide proximally until it contacts the distal end of the sliding slot.
Fig. 7a to 7c show a plot of the proximal and distal dimensions of a robotic arm according to another embodiment of the present application, wherein the distal end has three universal tabs, the proximal dimension of the robotic arm is three times the distal dimension, and the proximal and distal rotation angles are 1:3. Also, those skilled in the art will readily appreciate that the dimensions shown in the figures are merely illustrative and not limiting. As shown in fig. 7a and 7b, the axial distance between every two universal sheets is 2.2mm, and the axial distance between the three universal sheets is 6.8mm. The right side of fig. 7b shows the proximal and distal dimensions of the arm, the relative distance of the pair of wires 8 at the distal end being 4.6mm, the relative distance of the pair of wires 8 at the proximal wire retaining arm being 13.8mm, the pivot axis at the distal end of the wire retaining arm being 6.6mm from the centre of the sliding channel 77. It can be seen that the proximal end of the arm is in a three-fold geometric relationship with the distal dimension, i.e. the proximal dimension is three times the distal dimension. When a pair of wire fixing arms 78 at the proximal end of the mechanical arm move relatively, a pair of wires are driven to move relatively, one wire fixing arm moves distally, the wire fixing arm is guided to slide distally by a fixing threading block 74 passing through a sliding groove 77 on the wire fixing arm, the other wire fixing arm moves proximally, the wire fixing arm is guided to slide proximally by a fixing threading block 74 passing through the sliding groove 77 on the wire fixing arm, and then three universal sheets at the distal end are driven to rotate, and at the moment, the rotation angle of the proximal end and the rotation angle of the distal end are 1:3.
In this embodiment, the distance between the pivot axis of the wire-fixing arm and the distal end of the sliding groove is 2.8mm, the distance between the pivot axis of the wire-fixing arm and the proximal end of the sliding groove is 9.95mm, the maximum rotation angle of the proximal end of the arm is 30 °, corresponding to the maximum rotation of the distal end of the arm by 90 °, wherein each gimbal is rotated by 30 °. When the proximal end of the arm is rotated to a maximum angle of 30 °, a fixed threading block 74 passing through a sliding groove 77 on one of the wire fixing arms of the set of wire fixing arms guides the wire fixing arm to slide distally until contacting the proximal end of the sliding groove, and a sliding groove 77 on the other wire fixing arm guides the wire fixing arm to slide proximally until contacting the distal end of the sliding groove.
The three-dimensional bending control mechanical arm can be used in the medical field, such as in minimally invasive surgery, the distal tool is placed into a patient body, such as an abdominal cavity, through a perforation of a body surface, the proximal controller C is located outside the patient body and operated by an operator, and three-dimensional motion of the hand of the operator is transmitted to the distal tool A located in the patient body, so that the distal tool A performs three-dimensional motion corresponding to the hand of the operator, namely, the distal tool reproduces the hand motion of the operator in the body. The proximal controller controls the distal tool to cut or clamp the suture needle through the tissue, and knotting and the like.
Further, the shaft 2 is rigid except at the distal end 4 of the shaft for penetration through the body surface of the patient and into the patient to position the distal end effector to the target tissue region. The distal end effector is specifically a jaw, needle holder, scissors, biopsy device, retractor, drill bit, or the like. For securing/clamping and manipulating objects located in the body, such as needles, sutures, tissues, tissue clips, etc., surgical procedures such as suturing, cutting, cauterizing, ligating, etc., are typically performed visually in conjunction with a laparoscope/endoscope.
Further, the distal tool is a jaw, and a control member for controlling the opening and closing of the jaw is further arranged in the proximal controller C. Specifically, the hand-held operation member 6 is provided with a control part 10 for braking the distal end effector, the control part 10 is connected to the distal end effector, for example, by a brake wire, and an operator can operate the control part 10 to control the distal end effector. For example, where the distal tool is a jaw, the control member may control the opening or closing of the movable jaw relative to the fixed jaw for holding a suture needle or for shearing tissue
In one embodiment, the distal end effector is an instrument, such as a radio frequency blade, coupled to an energy source for ablating, coagulating, such as an electric drill, tissue within the body for drilling the tissue.
In one embodiment, the distal end effector is removably coupled to the distal end 4 of the shaft, and a suitable distal tool may be coupled as desired for surgery, such as by coupling scissors or a biopsy device when it is desired to biopsy in vivo tissue, a needle holder when it is desired to suture in vivo tissue, and a drill bit when it is desired to drill in vivo tissue.
In addition, the three-dimensional bending control mechanical arm can be used in environments where operators are not easy to expose, such as space and space released by toxic gas. For example, in space, an astronaut can operate an object outside the space capsule, such as space sampling, marking and the like, through a three-dimensional bending control mechanical arm.
The utility model provides an initial angle adjustable three-dimensional accuse bent mechanical arm adopts mechanical accuse to bend, and the three-dimensional motion of mechanical arm near-end directly maps to the three-dimensional motion of distal end, only needs single hand operation, and the feedback of feeling is strong, easy operation, simple structure, compactness need not power and communication network, accuse bent operation smooth and easy, the rotation is stable, the location is accurate quick, but rotation angle is big, can adjust the distal end in a flexible way and carry out three-dimensional rotatory bending, with low costs. In addition, the initial angle of the distal end of the three-dimensional bending control mechanical arm with the adjustable initial angle is adjustable, so that the service cycle can be prolonged.
While the foregoing is directed to the preferred embodiments of the present application, it will be appreciated by those skilled in the art that various modifications and alternatives to those embodiments could be developed without departing from the spirit of the application, and these modifications and alternatives are also contemplated as falling within the scope of the present application.
Claims (2)
1. An initial angle adjustable three-dimensional bending control mechanical arm, comprising: a distal tool, a proximal controller, and a transmission system between the distal tool and the proximal controller; wherein the three-dimensional motion of the proximal controller is transmitted to the distal tool by a transmission system such that the distal tool reproduces the three-dimensional motion of the proximal controller; wherein the distal tool comprises a shaft having a proximal end and a distal end, and a distal end effector, the distal end of the shaft being a flexible segment that is bendable in three dimensions; the transmission system comprises at least one group of steel wires, wherein the proximal ends of the steel wires are connected with a proximal end controller, and the distal ends of the group of steel wires are fixed on the opposite sides of the distal end of the rod part in a first direction; the tilting motion of the proximal controller drives the group of steel wires to perform relative motion, so as to drive the distal end of the rod part and the distal end actuator to bend in the direction corresponding to the first direction; the proximal end of the steel wire is provided with a steel wire fastening adjusting piece for adjusting the tension of each steel wire, so that the initial angle of the distal end of the rod part is adjusted;
The transmission system comprises two groups of steel wires, wherein the proximal ends of each group of steel wires are connected with the proximal end controller through a pivot connecting piece, the distal ends of one group of steel wires extend and are fixed on the opposite sides of the distal end of the rod part in the first direction, and the other group of steel wires are oppositely arranged on the opposite sides of the distal end of the rod part in the second direction perpendicular to the first direction; the tilting motion of the proximal controller drives the pivoting connector to rotate, so as to drive the relative motion of a group of steel wires connected with the pivoting connector, and the distal end of the group of steel wire control rod parts is bent in a first direction or a second direction; when the two pivoting connectors are in tilting motion, the two groups of steel wires are in relative motion, and finally the distal end of the rod part is bent in the direction between the first direction and the second direction under the combined action of two bending forces;
the delivery system includes a stationary frame, wherein a proximal controller is coupled to a proximal end of the stationary frame, and the distal tool is coupled to a distal end of the stationary frame; the pivoting connecting piece comprises a turntable connected with the proximal end controller and rotationally fixed on the fixed frame, and a steel wire fixing arm pivotally connected with the turntable, and the steel wire fixing arm is connected with the rotating piece through a pivoting shaft on the rotating piece; the proximal end of the steel wire is fixedly connected to the proximal end of the steel wire fixing arm; the three-dimensional movement of the near-end controller drives the turntable to rotate, the rotation of the turntable drives the two steel wire fixing arms connected with the turntable to rotate, the near ends of the pair of steel wires fixed at the near ends of the pair of steel wire fixing arms move relatively, and the far ends of the rod parts are further driven to bend;
The steel wire fastening adjusting piece comprises an adjusting nut and a fastening screw which are positioned at the proximal end of the steel wire fixing arm, the tension of the steel wire can be adjusted by rotating the adjusting nut when the fastening screw is loosened, and the fastening screw is locked again after the adjustment is finished to lock the steel wire;
the steel wire fixing arm is provided with a sliding groove along the longitudinal axis of the steel wire fixing arm, the fixed threading block penetrates through the sliding groove to be fixedly connected with the fixed frame, and the fixed threading block is provided with a groove for the steel wire to slide through; the rotating piece comprises a connecting piece which is pivotally connected with the fixed frame; the steel wire passes through a groove in the fixed threading block;
the fixed frame is connected with the proximal end controller through at least two hinge belts, wherein the first ends of the hinge belts are fixedly connected with the front end of the proximal end controller, and the second ends of the hinge belts are connected with the pivot connecting piece;
the number of the hinge belts is two, and the first ends of the two hinge belts are orthogonally fixed at the front end of the proximal controller;
the hinge belt is strip-shaped and has an upper surface, a lower surface and a longitudinal axis, wherein the longitudinal axis and a plane which is perpendicular to the upper surface and the lower surface are curl planes, the hinge belt can bend in any direction in the curl planes, the hinge belt is rigid in the direction in the non-curl planes, so that any tilting motion of a first end, which is connected with the front end of a proximal end controller, of the hinge belt in the direction in the non-curl planes can be transmitted to a second end to enable the second end to perform corresponding tilting motion, the tilting motion of the second end of the hinge belt drives the pivot connecting piece connected with the hinge belt to pivot, and the pivot of the pivot connecting piece drives two steel wires connected with the hinge belt to perform relative motion, so that the distal end tool is correspondingly bent;
The initial angle-adjustable three-dimensional bending control mechanical arm has a rotation angle of the proximal end of the mechanical arm in proportion to a rotation angle of the distal end of the mechanical arm, and the proportion is between 0.1 and 10.
2. The initially angularly adjustable three-dimensional bending-control manipulator of claim 1, the ratio being 3.
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| CN113876435B (en) * | 2021-06-18 | 2023-06-27 | 上海极睿医疗科技有限公司 | Adjustable fixed point pointing operation mechanism for orthopedic operation |
| CN113729951B (en) * | 2021-10-12 | 2023-08-29 | 中南大学 | Double-parallelogram initial adjustment mechanism of surgical robot |
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| US9211159B2 (en) * | 2011-12-02 | 2015-12-15 | Ethicon Endo-Surgery, Inc. | Surgical devices with intracorporeal elbow joint |
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| CN105163679A (en) * | 2013-03-14 | 2015-12-16 | Sri国际公司 | Compact robotic wrist |
| CN107080588A (en) * | 2017-06-14 | 2017-08-22 | 上海大学 | A kind of new micro-wound operation robot control device driven by line |
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Effective date of registration: 20230526 Address after: Room 101, Unit 2, Building 4, Xingcheng Xingyi Bay, Aochen Dianchi, Chenggong District, Kunming City, Yunnan Province, 650500 Applicant after: Huang Zhenyu Address before: 311100 Building 5, No. 488-1, Donghu North Road, Donghu street, Yuhang District, Hangzhou City, Zhejiang Province Applicant before: ZHEJIANG QUANTUM MEDICAL DEVICES Co.,Ltd. |
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