CN109846552B - Endoscopic surgical robotic system - Google Patents
Endoscopic surgical robotic system Download PDFInfo
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- CN109846552B CN109846552B CN201910150775.XA CN201910150775A CN109846552B CN 109846552 B CN109846552 B CN 109846552B CN 201910150775 A CN201910150775 A CN 201910150775A CN 109846552 B CN109846552 B CN 109846552B
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- brake
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- 238000009434 installation Methods 0.000 claims abstract description 21
- 230000008878 coupling Effects 0.000 claims description 20
- 238000010168 coupling process Methods 0.000 claims description 20
- 238000005859 coupling reaction Methods 0.000 claims description 20
- 230000033001 locomotion Effects 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 9
- 238000002674 endoscopic surgery Methods 0.000 claims description 4
- 230000001360 synchronised effect Effects 0.000 claims description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 6
- 235000004443 Ricinus communis Nutrition 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 201000009182 Chikungunya Diseases 0.000 description 2
- 238000012084 abdominal surgery Methods 0.000 description 1
- 230000001954 sterilising effect Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
Abstract
An endoscopic surgical robotic system, comprising: the endoscope operation mechanical arm (1) is used for clamping an endoscope and can accurately and flexibly adjust the space position of the endoscope, so that a person is not required to hold the endoscope for a long time; an endoscope installation control platform (2), wherein an electric lifting upright post (3), a mechanical arm control handle (4), a computer host (5) and a display (6) are arranged on the endoscope installation control platform (2); and the moving platform (8) is used for bearing the endoscope installation control platform (2) and can drive the endoscope installation control platform to move to the operation position so as to realize braking. The invention realizes the organic combination of the medical vehicle and the mechanical arm, and is beneficial to improving the flexibility and the renting range of the mechanical arm.
Description
Technical Field
The invention relates to medical equipment, in particular to a robot treatment vehicle, and specifically relates to an endoscopic surgery robot system.
Background
As is well known, the endoscope operation is a very efficient minimally invasive abdominal surgery, at least two people are usually required to carry out the endoscope operation in the operation process, one person needs to hold the endoscope for a long time, the other person carries out the operation through the endoscope operation channel, the labor load of the endoscope holding person is high, the accuracy of the endoscope holding angle is directly related to whether the operation can be carried out smoothly, and along with the development of the robot technology, the corresponding endoscope robot is developed by the Nanchang university at present, but the robot has the problem of inconvenient movement, can only be fixed in one place to use, can not carry out efficient movement between an operating room and a ward to adapt to the operation requirement, so that the application range of the endoscope holding robot is improved by combining the robot technology with the operation cart commonly used by the current medical institution, and the flexibility is urgent.
Disclosure of Invention
The invention aims at solving the problem that the existing endoscope holding robot is inconvenient to move, and designs an endoscope operation robot system combining an endoscope robot with a medical vehicle.
The technical scheme of the invention is as follows:
an endoscopic surgical robotic system, comprising:
an endoscope operation mechanical arm 1, wherein the endoscope operation mechanical arm 1 is used for clamping an endoscope and accurately and flexibly adjusting the space position of the endoscope, so that a person is not required to hold the endoscope for a long time;
an endoscope installation control platform 2, wherein an electric lifting upright post 3, a mechanical arm control handle 4, a computer host 5 and a display 6 are arranged on the endoscope installation control platform 2, the endoscope operation mechanical arm 1 is arranged on the electric lifting upright post 3 and can be lifted or lowered under the control of an electric lifting upright post control button 7 so as to adjust the height of the endoscope operation mechanical arm 1; the computer host 5 receives the instruction of the mechanical arm control handle 4 to control the motion of each degree of freedom of the endoscope operation mechanical arm 1 and displays the motion on the display 6;
a moving platform 8, the moving platform 8 is used for bearing the endoscope installation control platform 2 and can drive the endoscope installation control platform to move to the operation position to realize braking.
The endoscope installation control platform 2 is of a box type structure, the computer host 5 is arranged at the front part of the box body, the electric lifting upright post 3 is arranged at the rear part of the box body, and the display 6 is arranged at the top of the outer side of the box body; the keyboard and mouse components matched with the computer host 5 are arranged on a keyboard drawer 9, the front part of the keyboard drawer 9 is a keyboard area 18, the rear part is a mouse accommodating area 19, and a mouse sliding table 17 capable of being pulled out is arranged on the side surface.
The movable platform 8 adopts a fork-shaped chassis to increase the stability of the car body, the center of the whole device is positioned in the fork-shaped chassis, the fork-shaped chassis is arranged on four central control casters 11, and the movement and parking of the central control casters 11 are controlled by a central control brake release pedal 12 and a central control brake pedal 13.
The left side and the right side of the fork-shaped chassis are respectively provided with a storage cabinet 10, a gravity center position adjusting balancing weight is placed in the storage cabinet 10, a cabinet door of the storage cabinet 10 adopts a hidden design, and an opening operation adopts a pushing and bouncing mode.
The central control brake pedal 13 is arranged on a front brake pedal shaft 1301, the central control brake release pedal 12 is arranged on a release brake pedal shaft 1201, a brake connecting plate 1302 which rotates synchronously is arranged on the front brake pedal shaft 1301, a release brake connecting plate 1202 which rotates synchronously is arranged on the release brake pedal shaft 1201, and the brake connecting plate 1302 and the release brake connecting plate 1202 are connected in a pivoted mode through a brake sliding poking pin 1303; two ends of the brake release pedal shaft 1201 are respectively connected with a front universal coupler 1101, and the two front universal couplers 1101 are connected with the parking control piece of the corresponding hollow castor 11 through respective front castor central control brake shafts 1102 to realize braking or brake release; a front connecting piece 1203 which rotates synchronously is arranged in the middle of the brake release pedal shaft 1201, the front connecting piece 1203 is connected with a rear connecting piece 1205 fixedly arranged on the rear brake pedal shaft 1304 through a connecting rod 1204, two ends of the rear brake pedal shaft 1304 are respectively connected with a rear universal coupler 1103, and each rear universal coupler 1103 is connected with parking control pieces of two rear casters 11 through respective rear caster central control brake shafts 1104 to realize synchronous brake or brake release; the central control brake pedal 13 is stepped on, the central control brake pedal 13 drives a front brake pedal shaft 1301 and a brake connecting plate 1302 to synchronously rotate, the brake connecting plate 1302 drives a brake release connecting plate 1202 to rotate through a brake sliding poking pin 1303, the brake release connecting plate 1202 drives the brake release pedal shaft 1201 to rotate, the brake release pedal shaft 1201 drives a front universal coupler 1101 and a front connecting piece 1203 to rotate, the front universal coupler 1101 drives a front trundle central control brake shaft 1102 to rotate, and accordingly parking brake of two front central control trundles is achieved, meanwhile, the front connecting piece 1203 pushes a rear connecting piece 1205 to rotate through a connecting rod 1204, the rear connecting piece 1205 pushes a rear brake pedal shaft 1304 to rotate, the rear brake pedal shaft 1304 drives a rear universal coupler 1103 to rotate, the rear universal coupler 1103 drives respective rear trundle central control brake shafts 1104 to rotate, and therefore braking of the two rear central control trundles is achieved, and when braking is finished, the central control brake pedal 13 is in a low position, and the hollow brake release pedal 12 is in a high position; when the whole device needs to be moved, the hollow brake release pedal 12 is used for moving downwards, the hollow brake release pedal 12 drives the front trundle central control brake shaft 1102 to reversely rotate, so that the front universal couplings 1101 at two ends are driven to reversely rotate, the front universal couplings 1101 drive the front trundle central control brake shaft 1102 to reversely rotate, the brake release is realized, meanwhile, the release connection plates 1202 arranged on the front trundle central control brake shaft 1102 drive the brake connection plates 1302 to reversely rotate through the brake sliding poking pins 1303, the brake connection plates 1302 drive the front brake pedal shaft 1301 to reversely rotate, so that the central control brake pedal 13 is driven to be lifted to be in a high position, meanwhile, the front connection pieces 1203 arranged on the release brake pedal shaft 1201 drive the rear connection pieces 1205 to reversely rotate through the connection rods 1204, the rear connection pieces 1205 drive the rear brake pedal shafts 1304 to reversely rotate, the rear universal couplings 1103 drive the respective rear trundle central control brake shafts 1104 to reversely rotate, and the brake release the two rear trundles.
The invention has the beneficial effects that:
the invention is mainly used for operating rooms, the mechanical arm on the mechanical arm can accurately clamp the endoscope and accurately and flexibly adjust the space position of the endoscope, so that people are not required to hold the endoscope for a long time, and the burden of medical staff is reduced.
Because of the characteristics of the endoscope, the carried vehicle body is required to have stable gravity center, firm brake and flexibility when moving is required. The chassis of the vehicle body adopts a fork-shaped structure, the wheel track span is large, the wheels adopt central control brake casters, the brake operation is simple, and the brake release is convenient; the brake operation has two brake pedals: a brake pedal and a brake pedal; the brake pedal is stamped, and the front brake pedal shaft drives the front left and right front truckle center control brake shaft to rotate by a certain angle through the left and right three-section universal couplings, so that front wheel braking is realized; the front brake pedal shaft is driven to the rear brake pedal shaft through a transmission connecting rod while the front wheel brakes, and the rear brake pedal shaft drives the rear left and right rear caster central control brake shafts to rotate by a certain angle through the two-three-section universal couplings respectively, so that the rear wheel brakes are realized.
The loaded computer component (comprising a computer host, a display, a mouse, a keyboard and the like) is arranged on the front side of the automobile, and embedded installation is adopted; the keyboard drawer adopts a push-and-spring opening mode, wherein the keyboard drawer guide rail adopts a rear-mounted mounting mode to leave a front space for mounting the mouse sliding table, and the mouse sliding table drawing guiding mode adopts a horizontally mounted three-section guide rail.
The invention is provided with the electric lifting upright post, and the lifting can be realized by slightly pressing the lifting button at the front side of the car body table surface during operation. The endoscope mechanical arm is arranged on the electric lifting stand column, so that the mechanical arm can be vertically adjusted.
In order to increase the stability of the vehicle body, a storage cabinet is respectively designed on the left side and the right side of a chassis of the vehicle body, a balancing weight with the gravity center position adjusted can be placed in the storage cabinet, the storage cabinet door is in an invisible design, and the opening operation adopts a pushing and bouncing mode.
The appearance of the mobile car body with the chikungunya is designed in a streamline shape, a fork-shaped chassis and a central control brake, and the mobile car body with the chikungunya has the advantages of attractive appearance, stable gravity center and simplicity in operation.
The invention realizes the organic combination of the medical vehicle and the robot technology, is beneficial to improving the application flexibility of the robot technology in the medical industry and expanding the renting range.
Drawings
Fig. 1 is a schematic diagram of the front view structure of the present invention.
FIG. 2 is a schematic view of the cross-sectional structure A-A of FIG. 1.
Fig. 3 is a right side view of fig. 1.
Fig. 4 is a schematic structural view of the keyboard drawer of the present invention.
Fig. 5 is a schematic view of the bottom structure of fig. 1.
Fig. 6 is a schematic diagram of the transmission structure in the braking state of the present invention.
Fig. 7 is a schematic view of the state of the transmission structure when the brake is released.
FIG. 8 is a schematic diagram of the center controlled brake and brake release of the present invention.
In the figure: the movable platform trolley handrail is 14, the hidden handle lock of the cabinet door is 15, and the front cabinet door is 16.
Detailed Description
The invention is further described below with reference to the drawings and examples.
As shown in fig. 1-8.
An endoscopic surgical robotic system, as shown in fig. 1, comprising essentially:
an endoscope operation mechanical arm 1, wherein the endoscope operation mechanical arm 1 is used for clamping an endoscope and accurately and flexibly adjusting the space position of the endoscope, so that a person is not required to hold the endoscope for a long time; the mechanical arm 1 for the endoscopic surgery can directly adopt mature products developed by Nanchang university. The control program can be directly installed in the computer host 5 and the computer host can complete all operation control;
an endoscope installation control platform 2, the endoscope installation control platform 2 is provided with an electric lifting stand column 3, a mechanical arm control handle 4, a computer host 5 and a display 6, the endoscope operation mechanical arm 1 is arranged on the electric lifting stand column 3 and can be lifted or lowered under the control of an electric lifting stand column control button 7 to adjust the height of the endoscope operation mechanical arm 1, and the electric lifting stand column 3 is driven by a motor and screw nut mechanism and can be realized by adopting the prior art; the computer host 5 receives the instruction of the mechanical arm control handle 4 to control the motion of each degree of freedom of the endoscope operation mechanical arm 1 and displays the motion on the display 6; the endoscope installation control platform 2 is of a box type structure, as shown in fig. 1 and 3, a computer host 5 is arranged at the front part of the box body, an electric lifting upright post 3 is arranged at the rear part of the box body, and a display 6 is arranged at the top of the outer side of the box body; the keyboard and mouse components matched with the computer host 5 are arranged on the keyboard drawer 9, the front part of the keyboard drawer 9 is a keyboard area 18, the rear part is a mouse accommodating area 19, and the side surface is provided with a mouse sliding table 17 which can be pulled out, as shown in fig. 4.
A moving platform 8, the moving platform 8 is used for bearing the endoscope installation control platform 2 and can drive the endoscope installation control platform to move to the operation position to realize braking. The key point of the mobile platform 8 is to ensure that the center of the mechanical arm is located in the platform 8 after the mechanical arm is installed, so that besides the common counterweight design, a fork-shaped chassis (as shown in fig. 5) is adopted to increase the stability of the vehicle body, the gravity center of the whole device is calculated in the design stage, the gravity center calculation and the counterweight addition are both conventional technologies, the conventional technology can be adopted to realize the center of the whole device, the fork-shaped chassis is located in the fork-shaped chassis, and the fork-shaped chassis is installed on four center-controlled casters 11 (which can be purchased directly from the market and can be 125 center-controlled casters), and the movement and parking of the center-controlled casters 11 are controlled by a center-controlled brake release pedal 12 and a center-controlled brake pedal 13. The left side and the right side of the fork-shaped chassis are respectively provided with a storage cabinet 10 (figure 3), a gravity center position adjusting balancing weight is placed in the storage cabinet 10, a cabinet door of the storage cabinet 10 adopts a hidden design, and an opening operation adopts a pushing and bouncing mode.
The key point of the mobile unit is that the mobile unit can move and parking brake can be realized, therefore, the invention installs the central control brake pedal 13 on the front brake pedal shaft 1301, as shown in fig. 6 and 7, the central control brake release pedal 12 is installed on the release pedal shaft 1201, the front brake pedal shaft 1301 is provided with a synchronously rotating brake connecting plate 1302, the release pedal shaft 1201 is provided with a synchronously rotating release connecting plate 1202, and the brake connecting plate 1302 and the release connecting plate 1202 are connected in a pivoted manner through a brake sliding poking pin 1303; the two ends of the brake release pedal shaft 1201 are respectively connected with a front universal coupling 1101, the two front universal couplings 1101 are connected with the parking control piece of the corresponding hollow castor 11 through respective front castor central control braking shafts 1102 to realize braking or brake release, the working principle of braking and brake release is shown in fig. 8, and the specific braking and brake release process is as follows: a front connecting piece 1203 which rotates synchronously is arranged in the middle of the brake release pedal shaft 1201, the front connecting piece 1203 is connected with a rear connecting piece 1205 fixedly arranged on the rear brake pedal shaft 1304 through a connecting rod 1204, two ends of the rear brake pedal shaft 1304 are respectively connected with a rear universal coupler 1103, and each rear universal coupler 1103 is connected with parking control pieces of two rear casters 11 through respective rear caster central control brake shafts 1104 to realize synchronous brake or brake release; the central control brake pedal 13 is stepped on, the central control brake pedal 13 drives a front brake pedal shaft 1301 and a brake connecting plate 1302 to synchronously rotate, the brake connecting plate 1302 drives a brake release connecting plate 1202 to rotate through a brake sliding poking pin 1303, the brake release connecting plate 1202 drives the brake release pedal shaft 1201 to rotate, the brake release pedal shaft 1201 drives a front universal coupler 1101 and a front connecting piece 1203 to rotate, the front universal coupler 1101 drives a front trundle central control brake shaft 1102 to rotate, and accordingly parking brake of two front central control trundles is achieved, meanwhile, the front connecting piece 1203 pushes a rear connecting piece 1205 to rotate through a connecting rod 1204, the rear connecting piece 1205 pushes a rear brake pedal shaft 1304 to rotate, the rear brake pedal shaft 1304 drives a rear universal coupler 1103 to rotate, the rear universal coupler 1103 drives respective rear trundle central control brake shafts 1104 to rotate, and therefore braking of the two rear central control trundles is achieved, and when braking is finished, the central control brake pedal 13 is in a low position, and the hollow brake release pedal 12 is in a high position; when the whole device needs to be moved, the hollow brake release pedal 12 is used for moving downwards, the hollow brake release pedal 12 drives the front trundle central control brake shaft 1102 to reversely rotate, so that the front universal couplings 1101 at two ends are driven to reversely rotate, the front universal couplings 1101 drive the front trundle central control brake shaft 1102 to reversely rotate, the brake release is realized, meanwhile, the release connection plates 1202 arranged on the front trundle central control brake shaft 1102 drive the brake connection plates 1302 to reversely rotate through the brake sliding poking pins 1303, the brake connection plates 1302 drive the front brake pedal shaft 1301 to reversely rotate, so that the central control brake pedal 13 is driven to be lifted to be in a high position, meanwhile, the front connection pieces 1203 arranged on the release brake pedal shaft 1201 drive the rear connection pieces 1205 to reversely rotate through the connection rods 1204, the rear connection pieces 1205 drive the rear brake pedal shafts 1304 to reversely rotate, the rear universal couplings 1103 drive the respective rear trundle central control brake shafts 1104 to reversely rotate, and the brake release the two rear trundles.
The application method of the invention is as follows:
the middle control brake release springboard 12 is stepped on, the moving platform trolley handrail 14 on the endoscope installation control platform 2 can be grasped to move the whole trolley body to the operation position, then the middle control brake pedal 13 is stepped on to realize parking braking, at the moment, a computer host can be opened, an electric lifting stand column is adjusted to adjust the whole endoscope holding mechanical arm to a proper height, then an endoscope is clamped on the clamping end of the mechanical arm and is moved to a proper position, and then the endoscope operation can be performed under the control of a program in the computer host. The operation is combined, the mechanical arm is retracted, the brake is released, the mechanical arm is moved to a storehouse for sterilization, and the next operation is waited.
The invention is not related in part to the same as or can be practiced with the prior art.
Claims (3)
1. An endoscopic surgical robotic system, comprising:
the endoscope operation mechanical arm (1) is used for clamping an endoscope and can accurately and flexibly adjust the space position of the endoscope, so that a person is not required to hold the endoscope for a long time;
an endoscope installation control platform (2), wherein an electric lifting stand column (3), a mechanical arm control handle (4), a computer host (5) and a display (6) are arranged on the endoscope installation control platform (2), and the endoscope operation mechanical arm (1) is arranged on the electric lifting stand column (3) and can be lifted or lowered under the control of an electric lifting stand column control button (7) so as to adjust the height of the endoscope operation mechanical arm (1); the computer host (5) receives the instruction of the mechanical arm control handle (4) to control the motion of each degree of freedom of the endoscope operation mechanical arm (1) and displays the motion on the display (6);
the moving platform (8) is used for bearing the endoscope installation control platform (2) and can drive the endoscope installation control platform to move to an operation position to realize braking;
the movable platform (8) adopts a fork-shaped chassis to increase the stability of the vehicle body, the gravity center of the whole device is positioned in the fork-shaped chassis, the fork-shaped chassis is arranged on four central control casters (11), and the movement and parking of the central control casters (11) are controlled by a central control brake release pedal (12) and a central control brake pedal (13); the central control brake pedal (13) is arranged on a front brake pedal shaft (1301), the central control brake release brake pedal (12) is arranged on a release brake pedal shaft (1201), a brake connecting plate (1302) which synchronously rotates is arranged on the front brake pedal shaft (1301), a release brake connecting plate (1202) which synchronously rotates is arranged on the release brake pedal shaft (1201), and the brake connecting plate (1302) and the release brake connecting plate (1202) are connected in a pivoted mode through a brake sliding poking pin (1303); two ends of the brake release pedal shaft (1201) are respectively connected with a front universal coupling (1101), and the two front universal couplings (1101) are connected with parking control pieces of corresponding central control casters (11) through respective front caster central control brake shafts (1102) to realize braking or brake release; a front connecting piece (1203) which rotates synchronously is further arranged in the middle of the brake release pedal shaft (1201), the front connecting piece (1203) is connected with a rear connecting piece (1205) fixedly arranged on the rear brake pedal shaft (1304) through a connecting rod (1204), two ends of the rear brake pedal shaft (1304) are respectively connected with a rear universal coupler (1103), and each rear universal coupler (1103) is connected with parking control pieces of two rear central control casters (11) through respective rear caster central control brake shafts (1104) to realize synchronous braking or brake release; the central control brake pedal (13) is stepped down, the central control brake pedal (13) drives a front brake pedal shaft (1301) and a brake connecting plate (1302) to synchronously rotate, the brake connecting plate (1302) drives a brake release connecting plate (1202) to rotate through a brake sliding poking pin (1303), the brake release connecting plate (1202) drives a brake release pedal shaft (1201) to rotate, the brake release pedal shaft (1201) drives a front universal coupling (1101) and a front connecting plate (1203) to rotate, the front universal coupling (1101) drives a front trundle central control brake shaft (1102) to rotate, and accordingly parking braking of the two front central control trundles is achieved, meanwhile, the front connecting plate (1203) drives a rear connecting plate (1205) to rotate through a connecting rod (1204), the rear connecting plate (1205) drives the rear brake pedal shaft (1304) to rotate, the rear universal coupling (1103) drives the respective rear trundle central control brake shaft (1104) to rotate, and therefore braking of the two rear central control trundles is achieved, and at the end of braking, the central control brake pedal (13) is in a low position, and the central control brake pedal (12) is in a high position; when the whole device needs to be moved, the central control brake release pedal (12) is further pressed down to move to a low position, the central control brake release pedal (12) drives the front trundles to rotate reversely, so that the front universal couplings (1101) at two ends are driven to rotate reversely, the front universal couplings (1101) drive the front trundles to rotate reversely, brake release is achieved, meanwhile, a brake release connecting plate (1202) arranged on the front trundles to rotate reversely is driven by a brake sliding poking pin (1303), the brake connecting plate (1302) drives the front brake pedal shaft (1301) to rotate reversely, and accordingly the central control brake pedal (13) is driven to be lifted to a high position, meanwhile, the front connecting plates (1203) arranged on the brake release pedal shaft (1201) drive the rear connecting plates (1205) to rotate reversely through connecting rods (1204), the rear connecting plates (1205) drive the rear brake pedal shafts (1304) to rotate reversely, the rear universal couplings (1103) drive the rear universal couplings (1103) to rotate reversely, and the rear universal couplings (1103) drive the respective rear brake pedal shafts to rotate reversely, so that the two trundles are released from the two trundles to rotate reversely.
2. The endoscopic surgery robot system according to claim 1, wherein the endoscope installation control platform (2) is of a box type structure, the computer host (5) is arranged at the front part of the box body, the electric lifting upright post (3) is arranged at the rear part of the box body, and the display (6) is arranged at the top of the outer side of the box body; the keyboard and mouse component matched with the computer host (5) is arranged on a keyboard drawer (9), the front part of the keyboard drawer (9) is a keyboard area, the rear part is a mouse storage area, and a mouse sliding table capable of being pulled out is arranged on the side surface.
3. The endoscopic surgery robot system according to claim 1, wherein a storage cabinet (10) is respectively arranged on the left side and the right side of the fork-shaped chassis, a balancing weight for adjusting the gravity center position is placed in the storage cabinet (10), a cabinet door of the storage cabinet (10) adopts a hidden design, and an opening operation adopts a pushing and bouncing mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910150775.XA CN109846552B (en) | 2019-02-28 | 2019-02-28 | Endoscopic surgical robotic system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910150775.XA CN109846552B (en) | 2019-02-28 | 2019-02-28 | Endoscopic surgical robotic system |
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| Publication Number | Publication Date |
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| CN109846552A CN109846552A (en) | 2019-06-07 |
| CN109846552B true CN109846552B (en) | 2023-12-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910150775.XA Active CN109846552B (en) | 2019-02-28 | 2019-02-28 | Endoscopic surgical robotic system |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104970944A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Upper limb rehabilitation robot position movement realizing method |
| CN108338840A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN209826973U (en) * | 2019-02-28 | 2019-12-24 | 南京天奥医疗仪器制造有限公司 | Endoscopic surgery robot system |
-
2019
- 2019-02-28 CN CN201910150775.XA patent/CN109846552B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104970944A (en) * | 2014-04-02 | 2015-10-14 | 北京蝶禾谊安信息技术有限公司 | Upper limb rehabilitation robot position movement realizing method |
| CN108338840A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN209826973U (en) * | 2019-02-28 | 2019-12-24 | 南京天奥医疗仪器制造有限公司 | Endoscopic surgery robot system |
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