CN109646113A - Match the end effector mechanism of joint replacement surgery robot - Google Patents
Match the end effector mechanism of joint replacement surgery robot Download PDFInfo
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- CN109646113A CN109646113A CN201910090927.1A CN201910090927A CN109646113A CN 109646113 A CN109646113 A CN 109646113A CN 201910090927 A CN201910090927 A CN 201910090927A CN 109646113 A CN109646113 A CN 109646113A
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- sleeve
- connecting rod
- end effector
- handle
- positive stop
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1659—Surgical rasps, files, planes, or scrapers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1662—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans for particular parts of the body
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B2017/1602—Mills
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Prostheses (AREA)
Abstract
The invention proposes a kind of end effector mechanisms of matching joint replacement surgery robot easy to use.The end effector mechanism of matching joint replacement surgery robot of the invention is made of sleeve, handle and connecting rod, and one end of handle is fixedly connected with sleeve outer wall, and the other end of handle is equipped with the pedestal connecting for the mechanical arm with operating robot；It is installed in sleeve to link detachable, the both ends of connecting rod are exposed to the both ends of sleeve respectively；One end of the connecting rod is equipped with the driver connection structure of driver connection, and the other end is equipped with the executive item connection structure for installing executive item.Operator applies external force, movable mechanical arm and executing agency by handle；Torque or impact force are applied on executive item by driver by connecting rod, driving executive item work；Sleeve is used to locking and replacing surgical instrument, such as is applicable in the connecting rod of different operations, passes through end effector mechanism, it will be able to which the attachment for installing and uninstalling different function quickly and readily shortens operating time.
Description
Technical field
The invention belongs to the field of medical instrument technology, and in particular to a kind of modular construction of operating robot.
Background technique
In traditional hip replacement surgery, the polishing of doctor's hand electric, which is bored, polishes to patient's lesions position, so
The prosthese of corresponding model is installed afterwards, this mode of operation not only needs to expend a large amount of manpowers, but also precision of performing the operation cannot be guaranteed.
In recent years, surgeon more and more tends to implement to perform the operation by joint replacement surgery robot, this, which is greatly improved, beats
The precision and efficiency of mill and installation, significantly reduce the revision rate of operation.The end effector mechanism of operating robot is to simplified hand
The cumbersome degree of art shortens operating time, guarantees that operation precision plays a significant role.
Summary of the invention
The purpose of the present invention is to propose to a kind of end effector mechanisms of matching joint replacement surgery robot easy to use.
The end effector mechanism of matching joint replacement surgery robot of the invention is made of sleeve, handle and connecting rod, institute
The one end for stating handle is fixedly connected with sleeve outer wall, and the other end of handle is equipped with to be connect for the mechanical arm with operating robot
Pedestal；It is installed in sleeve to the link detachable, the both ends of connecting rod are exposed to the both ends of sleeve respectively；The one of the connecting rod
End is equipped with the driver connection structure of driver connection, and the other end is equipped with the executive item connection structure for installing executive item.
The mechanical arm of operating robot is collaborative mechanical arm, and handle is fixedly connected by pedestal with the end of mechanical arm,
Operator applies external force, movable mechanical arm and executing agency by handle；Driver passes through connecting rod for torque or impact force
It is applied on executive item, driving executive item work；Sleeve is used to locking and replacing surgical instrument, such as is applicable in the company of different operations
Bar.During hip replacement surgery, pass through end effector mechanism, it will be able to quickly and readily install and uninstall different function
Attachment, shorten operating time.
Further, to guarantee being reliably connected for sleeve and connecting rod, connecting rod is avoided to deviate from sleeve during the work time, it is described
Sleeve and connecting rod are equipped with the axial limit structure in the sleeve axial displacement of working in coordination with limiting rod.
Specifically, the axial limit structure is made of sleeve position limiting structure and connecting rod position limiting structure, the sleeve limit
Bit architecture includes the chamber for being set to sleeve lateral wall, and control piece is movably installed in the chamber, and one end of the control piece is stretched
Out to exterior thereto；The control piece passes through spring and sleeve connection；Positive stop bead, the positive stop bead are also placed in the chamber
Between chamber inside side walls and control piece, the chamber inside side walls are equipped with diameter in the position of corresponding positive stop bead and are less than limit
The through-hole of position pearl diameter, the control piece are equipped with limited step in the position of corresponding positive stop bead；The connecting rod position limiting structure is to set
It is placed in the limiting groove of connecting rod side, the section of limiting groove is arc.
The working principle of above-mentioned axial limit structure is as follows:
In normal operating condition, control piece is pulled to the chamber of sleeve by the elastic force of spring, so that the limited step of control piece
Positive stop bead is pressed to, positive stop bead is mobile to chamber inside side walls direction under the pressure effect of limited step, and is partially protrude through logical
Hole and be embedded into the limiting groove of connecting rod side, so that the movement on connecting rod axial direction be locked, cover connecting rod can only
It is freely rotated and cannot move axially in cylinder, realize the function of axial limiting.
When needing to change connecting rod, it is only necessary to catch control piece to be exposed to the end of exterior thereto, overcome the elastic force of spring
Control piece is pulled to exterior thereto, after control piece moves a certain distance, the limited step of control piece will be detached from and positive stop bead
Contact, after positive stop bead loses the limit of limited step, activity space increase, can be moved along the radial direction of sleeve,
Connecting rod is pulled at this time, and the section of connecting rod is that the limiting groove of arc will be applied to the active force of positive stop bead radial direction, makes positive stop bead
It returns in chamber and is no longer embedded into limiting groove, connecting rod does not have the limit power of positive stop bead at this time, can be along the axis of sleeve
To movement, split out out of sleeve.
Further, it is circular tubular structure that the control piece, which is section,；The limiting groove is annular groove, the limit
Position pearl has multiple, and is uniformly distributed on the same section of sleeve, such positive stop bead can apply ratio to connecting rod in multiple directions
More balanced axial limiting active force, while realizing axial limiting, it may also be ensured that connecting rod keep during rotation with
Sleeve axis it is parallel, and then improve operation precision.
Further, the angle between the axial direction of the handle and the axial direction of sleeve is acute angle, is exerted a force to facilitate operation person,
More preferable compared to generic product gripping sense, operability is stronger, can alleviate surgical operation fatigue.
Further, the handle is equipped with the positioning tracker mounting hole for installing positioning tracker, is performing the operation
The positioning accuracy of end effector mechanism can be improved by positioning tracker, and then improve the precision of operation by Cheng Zhong.Above-mentioned positioning
Tracker can be magnetic position sensor or optical positioning sensors etc., and details are not described herein again.
End effector mechanism of the invention is mounted on mechanical arm tail end, can guarantee between end effector mechanism and mechanical arm
Accurate and repeatable relative positional relationship, guarantee system accuracy；The axial limiting mechanism of the end effector mechanism can limit
Movement of the connecting rod processed in sleeve, guarantees the accurate axial direction of connecting rod opposing end portions executing agency, while can also make surgical procedure
In tool changing more convenient and quicker, simplify the cumbersome degree of operation, shorten operating time, and by being installed on end effector mechanism
Localization tracker can capture the posture information of executive item in real time, improve operation precision.
Detailed description of the invention
Fig. 1 is the overall structure diagram of end effector mechanism.
Fig. 2 is the use state diagram of end effector mechanism.
Fig. 3 is the cross-sectional view of sleeve.
Fig. 4 is the cooperation schematic diagram of sleeve and connecting rod (connecting rod is axial locking state).
Fig. 5 is the cooperation schematic diagram of sleeve and connecting rod (connecting rod is to axially release state).
Fig. 6 is the structural schematic diagram of acetabular bone polishing connecting rod.
Fig. 7 is the structural schematic diagram of acetabular cup installing connecting rods.
Attached drawing mark: 1, sleeve；11, chamber；12, control piece；13, spring；14, positive stop bead；15, limited step；2,
Hand；21, pedestal；22, positioning tracker mounting hole；3, connecting rod；31, driver connection structure；32, executive item connection structure；33,
Limiting groove；4, mechanical arm；5, executive item；6, positioning tracker；7, plastic protective sleeve；8, calibration point.
Specific embodiment
It is for example related each to a specific embodiment of the invention by the description to embodiment below against attached drawing
The shape of component, construction, the mutual alignment between each section and connection relationship, the effect of each section and working principle etc. are made into one
The detailed description of step.
Embodiment 1:
The present embodiment proposes a kind of end effector mechanism of matching joint replacement surgery robot easy to use.
As shown in Fig. 1,3,6,7, the end effector mechanism of the matching joint replacement surgery robot of the present embodiment is by sleeve
1, handle 2 and connecting rod 3 are constituted, and one end of the handle 2 is fixedly connected with 1 outer wall of sleeve, the other end of handle 2 equipped with for
The flange form pedestal 21 of the mechanical arm connection of operating robot, handle 2 are equipped with the locating and tracking for installing positioning tracker
Device mounting hole 22；The connecting rod 3 is removably installed in sleeve 1, and the both ends of connecting rod 3 are exposed to the both ends of sleeve 1 respectively；Institute
The one end for stating connecting rod 3 is equipped with the driver connection structure 31 of driver connection, and the other end is equipped with the execution for installing executive item 5
Part connection structure 32.
To guarantee being reliably connected for sleeve 1 and connecting rod 3, connecting rod 3 is avoided to deviate from sleeve 1, the sleeve 1 during the work time
It is equipped with and is worked in coordination with the axial limit structure of the axial displacement in sleeve 1 of limiting rod 3 with connecting rod 3.
Specifically, as shown in Fig. 3,4,5, the axial limit structure is by sleeve position limiting structure and connecting rod position limiting structure group
At the sleeve position limiting structure includes the chamber 11 for being set to 1 side wall of sleeve, is movably installed with control piece in the chamber 11
12, one end of the control piece 12 is extend out to outside chamber 11；The control piece 12 is connect by spring 13 with sleeve 1；It is described
Positive stop bead 14 is also placed in chamber 11, the positive stop bead 14 is located between 11 inside side walls of chamber and control piece 12, the chamber
11 inside side walls of room are equipped with the through-hole that diameter is slightly less than 14 diameter of positive stop bead, the control piece 12 in the position of corresponding positive stop bead 14
Limited step 15 is equipped in the position of corresponding positive stop bead 14；3 position limiting structure of connecting rod be set to 3 side of connecting rod limit it is recessed
Slot 33, the section of limiting groove 33 are arc.Above-mentioned positive stop bead 14 is preferably with the higher steel ball of intensity.
The working principle of above-mentioned axial limit structure is as follows:
As shown in figure 4, control piece 12 is pulled to 11 (the i.e. bullet of chamber of sleeve 1 by the elastic force of spring 13 in normal operating condition
The elastic force direction that spring 13 is applied to control piece 12 is directed towards the right direction in Fig. 4) so that the limited step 15 of control piece 12
Positive stop bead 14 is pressed to, positive stop bead 14 is mobile to 11 inside side walls direction of chamber under the pressure effect of limited step 15, and part
It protrudes from through-hole and is embedded into the limiting groove 33 of 3 side of connecting rod, so that the movement on 3 axial direction of connecting rod be locked, make
Connecting rod 3 can only be freely rotated in sleeve 1 and cannot move axially, and realize the function of axial limiting.
As shown in figure 5, when needing to change connecting rod 3, it is only necessary to catch control piece 12 to be exposed to the end outside chamber 11,
Overcome the elastic force of spring 13 by control piece 12 to pulling outside chamber 11, after control piece 12 moves a certain distance, control piece 12
Limited step 15 will be detached from and the contact of positive stop bead 14, after positive stop bead 14 loses the limit of limited step 15, activity space
It increases, can be moved along the radial direction of sleeve 1, pull connecting rod 3 at this time, the section of connecting rod 3 is the limiting groove 33 of arc
It will be applied to the radial active force of positive stop bead 14, positive stop bead 14 is made to return in chamber 11 and no longer be embedded into limiting groove 33
Interior, connecting rod 3 can be split out out of sleeve 1 without the limit power of positive stop bead 14 along the axial movement of sleeve 1 at this time.
In the present embodiment, control piece 12 is section is circular tubular structure, and control piece 12 is exposed to chamber 11
End is bent to form flanging, in order to pull control piece 12；The limiting groove 33 of 3 side of connecting rod is annular groove, the limit
Pearl 14 has multiple, and is uniformly distributed on the same section of sleeve 1, such positive stop bead 14 can apply connecting rod 3 in multiple directions
Add the axial limiting active force that comparison is balanced, while realizing axial limiting, it may also be ensured that connecting rod 3 is protected during rotation
Hold it is parallel with 1 axis of sleeve, and then improve operation precision.
Angle between the axial direction of handle 2 and the axial direction of sleeve 1 is acute angle, specifically, the lower end of handle 2 and sleeve 1
Angle between (i.e. sleeve 1 close to one end of executive item 5) is acute angle, to facilitate operation person's force, compared to generic production
Product gripping sense is more preferable, and operability is stronger, can alleviate surgical operation fatigue.
As shown in Fig. 2, at the time of surgery, the mechanical arm of operating robot be collaborative mechanical arm, handle 2 by pedestal 21 with
The end of mechanical arm 4 is fixedly connected, and operator applies external force, movable mechanical arm 4 and executing agency by handle 2；Driver
Torque or impact force are applied on executive item 5 by connecting rod 3, driving executive item 5 works；Sleeve 1 is for locking and replacing
Surgical instrument, such as it is applicable in the connecting rod 3 of different operations.During hip replacement surgery, pass through end effector mechanism, it will be able to
The attachment for installing and uninstalling different function quickly and readily shortens operating time.
The pedestal 21 of above-mentioned end executing agency is fixedly mounted on 4 end of mechanical arm, can guarantee end effector mechanism with
Accurate and repeatable relative positional relationship between mechanical arm 4 guarantees system accuracy；Positioning tracker 6 be installed on positioning with
It at track device mounting hole 22, is used together with matched locator auxiliary equipment, captures the posture information of executive item 5 in real time, improved
Operation precision.In the present embodiment, positioning tracker 6 uses optical positioning sensors.
In the present embodiment, there are two types of connecting rods 3, one kind is acetabular bone polishing connecting rod 3, and another kind is acetabular cup installing connecting rods 3,
The structure of both connecting rods 3 is described in detail with reference to the accompanying drawing.
As shown in fig. 6, acetabular bone polishing connecting rod 3 is made of following four parts: 1, positioned at the driver connection knot of 3 head end of connecting rod
Structure 31, the main function of driver connection structure 31 are that connection polishing is bored, and end is bored in the groove structure of head connector and polishing
Interface agrees with, and plays a locking effect；2, positioned at the limiting groove 33 of 3 medium position of connecting rod, the diameter of limiting groove 33 is omited
Greater than the diameter of positive stop bead 14 in sleeve 1, the main function of limiting groove 33 is to match with the positive stop bead 14 inside sleeve 1 with reality
Existing axial limiting effect；3, positioned at the executive item connection structure 32 of 3 tail end of connecting rod, the main function of executive item connection structure 32 is
It connects reamer for hip arthroplasty,acetabulum (i.e. executive item 5)；4,3 shaft of connecting rod, in the present embodiment, 3 shaft of connecting rod are entirely that aluminum alloy material is made
, aluminium alloy has the advantages that hardness is high, wear-resistant, resistant to high temperature, is widely used material in medical instrument, certainly, connecting rod 3
Shaft can also be made of the harder plastics of quality.
As shown in fig. 7, acetabular cup installing connecting rods 3 are made of following six parts: 1, being connected positioned at the driver of 3 head end of connecting rod
Structure 31, the main function of driver connection structure 31 are that connection taps platform, and the groove structure of head connector and percussion are flat
Platform inner couplings structure is agreed with, and a locking effect is played；2, positioned at the limiting groove 33 of 3 medium position of connecting rod, limiting groove
33 length is greater than the diameter of positive stop bead 14 in sleeve 1, and the main function of limiting groove 33 is and the positive stop bead 14 inside sleeve 1
Matching, when acetabular cup installing connecting rods 3 are in the state of axial limiting, positive stop bead 14 is located in limiting groove 33, at this time connecting rod 3
Motion range in 1 axial direction of sleeve is limited in finite length (i.e. the width of limiting groove 33), and connecting rod 3 is in sleeve 1
Interior rotation is unrestricted；3, positioned at the middle part of connecting rod 3 and close to the plastic protective sleeve 7 at 3 tail end of connecting rod, plastic protective sleeve 7
Main function be after acetabular cup is installed, give surgeon provide a grip point, facilitate surgeon unload connecting rod
3；4, the calibration point 8 at 3 tail end of connecting rod, the main function of calibration point 8 is to provide a position mark point, for calculating hip
The fitting depth of mortar cup；5, positioned at the executive item connection structure 32 of 3 tail end of connecting rod, the main function of executive item connection structure 32 is
One interface for installing and uninstalling acetabular cup is provided；6,3 shaft of connecting rod, in the present embodiment, 3 shaft of connecting rod is entirely aluminium alloy
Made of material.
First acetabular bone polishing connecting rod is installed on sleeve 1 at the time of surgery, acetabular bone sanding operation is implemented, has polished to acetabular bone
Cheng Hou, then acetabular bone polishing connecting rod is removed from sleeve 1, and load onto acetabular cup installing connecting rods, acetabular cup installation operation is implemented,
In two different surgical procedures, by the different connecting rod 3 of quick-replaceable, it can simplify the cumbersome degree of operation, shorten operating time.
The present invention is exemplarily described above in conjunction with attached drawing, it is clear that the present invention specifically designs not by aforesaid way
Limitation, if use the improvement for the various unsubstantialities that conception and technical scheme of the invention carry out, or it is not improved will
Conception and technical scheme of the invention directly apply to other occasions, within the scope of the present invention.
Claims (6)
1. a kind of end effector mechanism for matching joint replacement surgery robot, it is characterised in that by sleeve, handle and connecting rod structure
At one end of the handle is fixedly connected with sleeve outer wall, and the other end of handle is equipped with for the mechanical arm with operating robot
The pedestal of connection；It is installed in sleeve to the link detachable, the both ends of connecting rod are exposed to the both ends of sleeve respectively；The company
One end of bar is equipped with the driver connection structure of driver connection, and the other end is equipped with the executive item for installing executive item and connects knot
Structure.
2. the end effector mechanism of matching joint replacement surgery robot according to claim 1, it is characterised in that described
Sleeve and connecting rod are equipped with the axial limit structure in the sleeve axial displacement of working in coordination with limiting rod.
3. the end effector mechanism of matching joint replacement surgery robot according to claim 2, it is characterised in that described
Axial limit structure is made of sleeve position limiting structure and connecting rod position limiting structure, and the sleeve position limiting structure includes being set to sleeve side
The chamber of wall is movably installed with control piece in the chamber, and one end of the control piece extend out to exterior thereto；The control piece
Pass through spring and sleeve connection；Positive stop bead is also placed in the chamber, the positive stop bead is located at chamber inside side walls and control
Between part, the chamber inside side walls are equipped with the through-hole that diameter is less than positive stop bead diameter, the control in the position of corresponding positive stop bead
Product is equipped with limited step in the position of corresponding positive stop bead；The connecting rod position limiting structure be set to connecting rod side limit it is recessed
Slot, the section of limiting groove are arc.
4. the end effector mechanism of matching joint replacement surgery robot according to claim 3, it is characterised in that described
Control piece is that section is circular tubular structure；The limiting groove is annular groove, and the positive stop bead has multiple, and is uniformly distributed
In on the same section of sleeve.
5. the end effector mechanism of matching joint replacement surgery robot according to claim 1 or 2 or 3 or 4, feature
It is that the angle between the axial direction of the handle and the axial direction of sleeve is acute angle.
6. the end effector mechanism of matching joint replacement surgery robot according to claim 1 or 2 or 3 or 4, feature
It is that the handle is equipped with the positioning tracker mounting hole for installing positioning tracker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910090927.1A CN109646113B (en) | 2019-01-30 | 2019-01-30 | End actuating mechanism of matched joint replacement surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910090927.1A CN109646113B (en) | 2019-01-30 | 2019-01-30 | End actuating mechanism of matched joint replacement surgical robot |
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| CN109646113B CN109646113B (en) | 2021-04-30 |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110537954A (en) * | 2019-08-27 | 2019-12-06 | 谢军 | Drill bit for total hip joint replacement minimally invasive surgery |
| CN112057119A (en) * | 2020-09-11 | 2020-12-11 | 杭州键嘉机器人有限公司 | End effector |
| CN113069207A (en) * | 2021-03-24 | 2021-07-06 | 杭州键嘉机器人有限公司 | Robot-assisted hip joint replacement surgery navigation system |
| CN113288326A (en) * | 2020-11-12 | 2021-08-24 | 元化智能科技(深圳)有限公司 | Bone file switching device for hip joint |
| CN113598956A (en) * | 2021-09-30 | 2021-11-05 | 杭州键嘉机器人有限公司 | Orthopedic surgery robot tail end execution device |
| CN113796964A (en) * | 2021-09-27 | 2021-12-17 | 天衍医疗器材有限公司 | Terminal device of orthopedic surgery robot |
| CN116370163A (en) * | 2022-07-19 | 2023-07-04 | 北京和华瑞博医疗科技有限公司 | Surgical system |
| WO2024002262A1 (en) * | 2022-07-01 | 2024-01-04 | 北京和华瑞博医疗科技有限公司 | Hip replacement surgery actuator and surgical system |
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| CN102665591A (en) * | 2009-10-01 | 2012-09-12 | 马科外科公司 | Tool, kit-of-parts for multi-functional tool, and robotic system for same |
| CN108969100A (en) * | 2017-05-31 | 2018-12-11 | 格罗伯斯医疗有限公司 | Surgical operation robot system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110537954A (en) * | 2019-08-27 | 2019-12-06 | 谢军 | Drill bit for total hip joint replacement minimally invasive surgery |
| CN112057119A (en) * | 2020-09-11 | 2020-12-11 | 杭州键嘉机器人有限公司 | End effector |
| CN112057119B (en) * | 2020-09-11 | 2021-05-18 | 杭州键嘉机器人有限公司 | End effector |
| WO2022052237A1 (en) * | 2020-09-11 | 2022-03-17 | 杭州键嘉机器人有限公司 | End effector |
| CN113288326A (en) * | 2020-11-12 | 2021-08-24 | 元化智能科技(深圳)有限公司 | Bone file switching device for hip joint |
| CN113069207A (en) * | 2021-03-24 | 2021-07-06 | 杭州键嘉机器人有限公司 | Robot-assisted hip joint replacement surgery navigation system |
| CN113796964A (en) * | 2021-09-27 | 2021-12-17 | 天衍医疗器材有限公司 | Terminal device of orthopedic surgery robot |
| CN113598956A (en) * | 2021-09-30 | 2021-11-05 | 杭州键嘉机器人有限公司 | Orthopedic surgery robot tail end execution device |
| WO2024002262A1 (en) * | 2022-07-01 | 2024-01-04 | 北京和华瑞博医疗科技有限公司 | Hip replacement surgery actuator and surgical system |
| CN116370163A (en) * | 2022-07-19 | 2023-07-04 | 北京和华瑞博医疗科技有限公司 | Surgical system |
| CN116370163B (en) * | 2022-07-19 | 2024-09-13 | 北京和华瑞博医疗科技有限公司 | Surgical system |
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| CN109646113B (en) | 2021-04-30 |
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