CN110236678A - A kind of intervention operation robot propulsion device disinfection box - Google Patents
A kind of intervention operation robot propulsion device disinfection box Download PDFInfo
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- CN110236678A CN110236678A CN201910620479.1A CN201910620479A CN110236678A CN 110236678 A CN110236678 A CN 110236678A CN 201910620479 A CN201910620479 A CN 201910620479A CN 110236678 A CN110236678 A CN 110236678A
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- seal wire
- disinfection box
- conduit
- intervention operation
- operation robot
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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
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2/00—Methods or apparatus for disinfecting or sterilising materials or objects other than foodstuffs or contact lenses; Accessories therefor
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61L—METHODS OR APPARATUS FOR STERILISING MATERIALS OR OBJECTS IN GENERAL; DISINFECTION, STERILISATION OR DEODORISATION OF AIR; CHEMICAL ASPECTS OF BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES; MATERIALS FOR BANDAGES, DRESSINGS, ABSORBENT PADS OR SURGICAL ARTICLES
- A61L2202/00—Aspects relating to methods or apparatus for disinfecting or sterilising materials or objects
- A61L2202/20—Targets to be treated
- A61L2202/24—Medical instruments, e.g. endoscopes, catheters, sharps
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Heart & Thoracic Surgery (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Epidemiology (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of intervention operation robot propulsion device disinfection box, comprising: disinfection box body, the disinfection box body limit the seal wire slot and conduit trough communicated；The seal wire is set in the seal wire slot, and the conduit is set in the conduit trough；Seal wire mobile device and displacement device for catheter；Product is used to intervene the mobile control in operation to conduit and seal wire, doctor controls equipment by the intervention operation robot in out operating-room, the electromagnet manipulation disinfection box inner catheter and seal wire that can control robot enter patient's body, to realize the purpose of Surgery, disinfection box is disposable, it is that ensure that the gnotobasis of operation after aseptic process.Have many advantages, such as that structure is simple, it is small in size, light-weight, easy to loading and unloading, cheap.
Description
Technical field
The invention belongs to interventional surgery apparatus fields, are related to a kind of intervention operation robot propulsion device disinfection
Box and its structure.
Background technique
The minimally invasive interventional therapy of cardiovascular and cerebrovascular is the essential therapeutic arsenals for cardiovascular and cerebrovascular disease.With traditional surgery phase
Than there is the clear superiorities such as notch is small, post-operative recovery time is short.Cardiovascular and cerebrovascular intervention operation be by doctor manually by conduit, lead
The instruments such as silk and bracket are sent into patient the process for completing treatment.
Intervention, which is performed the operation, has at following 2 points, first, in the course of surgery, since DSA can issue X-ray, doctor's physical strength
Decline is very fast, and attention and stability can also decline, and will lead to operation precision decline, and Yi Fashengyin pushes the improper caused blood of power
The accidents such as pipe inner film injury, vascular puncture rupture, cause patients ' lives dangerous.Secondly, the accumulation of long-term ionising radiation injures meeting
Significantly increase the probability of doctor's cases with leukemia, cancer and acute cataract.Doctor constantly accumulates because intervention operation is done
The phenomenon that ray, has become damage Doctors ' Occupational life, restricts the very important problem of intervention operation development.
By carrying out conduit by robot technology, the operation method of seal wire remote operating can successfully manage this problem,
The precision and stability of surgical procedure can also be greatly improved, while can be effectively reduced injury of the radioactive ray to intervention doctor,
Reduce the occurrence probability of accident in art.Therefore, cardiovascular and cerebrovascular intervention operation auxiliary robot is more and more of interest by people,
It is increasingly becoming emphasis of the current each science and technology power in medical robot field and researches and develops object.
Currently, blood vessel intervention operation robot mainly uses principal and subordinate end to operate structure, by doctor and radiation sexual isolation, such as
Application No. is 201410206956.7 patent of invention, a kind of principal and subordinate's interventional surgery auxiliary system is disclosed from behaviour
Make device, it includes axial push unit, rotary unit, catching unit, surgical catheters, operating force detection unit and tilt adjustable
Pedestal, working method include signal detection, transmitting, processing, movement.Superiority be can imitate doctor interventional procedure it is dynamic
To make, operation precision is high, effectively improves operation safety, and intervention position can adjust the angle, using aluminum alloy materials, size is small,
Light weight.The invention can be good at completing the push of seal wire, and realize force feedback using magnetorheological fluid.
For another example, application No. is 201210510169.2 patent documents, disclose a kind of master-slave mode remote operating blood vessel intervention
Operating robot, including main side operating-controlling mechanism, from end propulsive mechanism, PMAC controller；Main side operating-controlling mechanism is the operation of doctor
End；Executing agency from end propulsive mechanism as robot, completes the motor function of conduit；PMAC control cabinet is used to realize main side
Operating-controlling mechanism and from end propulsive mechanism between information transmit, use principal and subordinate's remote operating mode assist doctor implement operation, from end
Propulsive mechanism realizes the axial feed of conduit and the movement that rotates in a circumferential direction.
Above scheme is all the domestic research relatively advanced for blood vessel intervention operation robot, but they all exist it is as follows
The problem of several aspects: (1) it is to the disinfection of robot relatively complicated, do not meet the relatively swelling of actual operation demand (2) structure
Swollen complexity, volume is big, and installation is inconvenient, inflexible convenience；(3) during surgery using robot, not to the installation of catheter guide wire
Convenient, being not easy to replacement catheter guide wire (4) in operation can not accomplish to promote and rotate seal wire simultaneously, this operation is in actual operation
In it is very useful.(5) device influences surgical effect to slipping phenomenon is easy to appear in the propulsion of seal wire.(6) consumptive material in operation
It is at high cost, it is unfavorable for popularizing.
Summary of the invention
In view of this, the present invention provides a kind of intervention operation robot propulsion device disinfection box, with intervention surgical machine
People, conduit and seal wire are used cooperatively, comprising:
Box body is sterilized, the disinfection box body limits the seal wire slot and conduit trough communicated；The seal wire is set to institute
It states in seal wire slot, the conduit is set in the conduit trough；
Seal wire mobile device, the seal wire mobile device are set in the seal wire slot, the seal wire mobile device and institute
The electromagnet position for stating intervention operation robot is corresponding；It is mobile that the electromagnet is able to drive the seal wire；
Displacement device for catheter, the displacement device for catheter are set in the conduit trough, and the displacement device for catheter can
Drive the displacement device for catheter mobile.
The beneficial effects of the present invention are: product is used to intervene the mobile control in operation to conduit and seal wire, doctor passes through
Equipment is controlled in the intervention operation robot of out operating-room, can control the electromagnet manipulation disinfection box inner catheter of robot and is led
Silk enters patient's body, to realize the purpose of Surgery, disinfection box be it is disposable, after being aseptic process,
It ensure that the gnotobasis of operation.By using disinfection box of the invention, the operation that simulation doctor's actual operation may be implemented is dynamic
Make, conduit can be promoted to designated position, complete the movements such as installation intravascular stent operation with movable wire guide to designated position,
Conduit and seal wire can also be withdrawn from blood vessel as needed at any time, the disinfection box more renewed of performing the operation every time is easy to use, meets reality
Border surgical environments.The disinfection box uses the installation of plug-in, has structure simple, small in size, light-weight, easy to loading and unloading, cost
The advantages that cheap.
Further, further include box cover, the box cover between the first position and the second position with the disinfection box body
Hingedly, it is closed when the box cover is located at the second position with the disinfection box body magnetic sticker.It can protect disinfection box sheet by box cover
Each structure on body.
It preferably, further include handle, the handle is wholely set with the box cover and prolongs along the direction far from the box cover
It stretches.
Preferably, the lower surface of the box cover is provided with multiple boss, the shape of the boss and position and the seal wire
Slot or the conduit groove location are corresponding.It is provided with semicircular structure above the lower section of the boss and the seal wire slot,
Box cover can constitute a circular seal wire movable passageway after fastening, and can play the role of supporting catheter guide wire, this channel
It is slightly wider than seal wire and conduit diameter, seal wire will not be hindered mobile；The side of movable passageway reserves the space of moving operation；Similarly,
Conduit trough and boss are capable of forming conduit movable passageway.
Further, the seal wire mobile device includes:
Grip block, the grip block are installed in the seal wire slot and can move down on the direction of the vertical seal wire slot
It is dynamic；The grip block has clamping piece；
Miniature guide rail, the miniature guide rail lateral wall are connect with the grip block；
Sliding slot, the sliding slot are set in the seal wire slot；
Magnetic coupling, the magnetic coupling are slidably connected with the sliding slot, and the magnetic coupling has multiple and edge
The direction of the sliding slot is arranged；The electromagnet is able to drive the magnetic coupling and moves along the chute.
Further, the magnetic coupling includes:
Sliding block, the sliding block are slidably connected with the miniature guide rail；
Connection sheet, the connection sheet are mounted on the side of U-shaped part, and one side is connected with the slide block, the other side with it is medical
Rubber block connection；
Iron plate, the iron plate are mounted on the other side of U-shaped part；
Phase magnet, the phase magnet are set to the lower section in seal wire slot and being located at the U-shaped part.
Device disclosed by the invention need to cooperate intervention operation robot come using, robot is equipped with electromagnet.When
After machine startup, then robot Mobile electromagnetic iron allows electromagnet to be powered to iron plate position, then iron plate and electromagnet are inhaled one
It rises, it now is possible to which electromagnet and iron plate 309 are regarded as an entirety.Because iron plate is connected with medical grade rubber block, medical grade rubber block
It is directly contacted with seal wire, so passing through Mobile electromagnetic iron, so that it may mobile medical grade rubber block, and then can be understood as control and lead
Silk.
Robot can be linked together by clamping piece and grip block, and grip block can do vertical up and down motion.Folder
Holding has sliding block on plate, there is medical grade rubber block on sliding block.Medical grade rubber block and seal wire directly contact, the medical rubber of cooperation iron plate connection
Blob of viscose, 2 medical grade rubber blocks can clamp seal wire, just as two fingers of doctor.When robot control electromagnet to
Upper movement, control grip block move down, are as a result exactly that 2 rubber blocks connected do movement one on the other, thus may be used
To achieve the effect that thread rolling, exactly can seal wire be rotated clockwise.On the contrary, when robot controls electromagnet to moving down
Dynamic, control grip block moves up, and can seal wire be rotated counterclockwise.When robot control electromagnet clamps seal wire
Afterwards, then control electromagnet carries out right direction movement, and effect is to think that the hand of doctor is the same, and seal wire is caught to move right, because
It is connected to blood vessel for seal wire, so, it is as a result exactly that control seal wire enters intravascular.That is, as the hand of people is continuously pushed
A piece silk advances equally, this 2 rubber blocks, and under the control of robot, the same time, only one is to clamp seal wire, in addition
One release seal wire.They move back and forth, that is, clamp, push, unclamp, retract the movement repeatedly come, realization continuously pushes away
Send seal wire into or out blood vessel.And have medical grade rubber block inside this box, under the drive of this robot, this may be implemented
A movement.It is also possible to rotate and promote seal wire simultaneously.Because there is the presence of U-shaped part, can allow sliding block on clamping piece with
It is moved synchronously in the horizontal direction with the medical grade rubber block on iron plate.That is, U-shaped part can return with movable slider.The folder of seal wire
Holding is the movement for leaning on electromagnet, after robot energization electromagnet, pushes electromagnet close to clamping piece, after reaching a certain distance,
Can achieve the clamping to seal wire, when robot by electromagnet far from clamping piece, then drive 2 medical grade rubber blocks to unclamp seal wires,
Complete the release to seal wire.
Further, the displacement device for catheter includes: active friction wheel, driven friction pulley and micro-driving motor, institute
The port that active friction wheel is set to the conduit trough is stated, the driven friction pulley is set in the conduit trough, the active
Friction pulley is connected with the driven frictional wheel drive, and the micro-driving motor and the active friction wheel are sequentially connected.
Active friction wheel is that the following robot of cooperation uses.In robot, having can allow active friction wheel mobile
Device control robot after placing conduit and by active friction wheel move close to driven pulley, reach a certain distance
Afterwards, it can achieve the clamping to conduit.Equally, it far from driven pulley, may be implemented to loosen conduit.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is overall structure of the present invention；
Fig. 2 is that box cover of the present invention opens rear structural schematic diagram；
Fig. 3 is whole interior structural schematic diagram of the present invention；
Fig. 4 is seal wire clamping device structural schematic diagram of the present invention；
Fig. 5 is bottom view of the present invention；
Attached graph laplacian respectively indicates are as follows:
1, disinfection box；101, shaft；102, handle；103, box cover；104, box body is sterilized；105, conduit trough；106, it leads
Silk slot；107, round iron piece；108, magnet；109, conformable region；110, boss；111, pillar；
2, displacement device for catheter；201, driven friction pulley；202, active friction wheel；
3, seal wire mobile device；301, grip block；302, groove；303, miniature line slideway；304, sliding block；305, it connects
Piece；306, sliding slot；307, U-shaped part；308, phase magnet；309, iron plate；310, medical grade rubber block.
Specific embodiment
The technical scheme in the embodiments of the invention will be clearly and completely described below, it is clear that described implementation
Example is only a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without making creative work belongs to the model that the present invention protects
It encloses.
As shown in Figure 1-3, performing the operation the invention discloses a kind of intervention operation robot propulsion device disinfection box 1 with intervention
Robot, conduit and seal wire are used cooperatively, comprising: disinfection box body 104, disinfection box body 104 limit the seal wire slot communicated
106 and conduit trough 105；Seal wire is set in seal wire slot 106, and conduit is set in conduit trough 105；Seal wire mobile device 3, seal wire
Mobile device 3 is set in seal wire slot 106, and seal wire mobile device 3 is corresponding with the electromagnet position of intervention operation robot；Electromagnetism
It is mobile that iron is able to drive seal wire；Displacement device for catheter 2, displacement device for catheter 2 are set in conduit trough 105, displacement device for catheter 2
It is mobile to be able to drive displacement device for catheter 2；Box cover 103, box cover 103 between the first position and the second position with disinfection box body
104 is hinged, is bonded when box cover 103 is located at the second position with 104 magnetism of disinfection box body.It can protect disinfection by box cover 103
Each structure on box body 104.
As Figure 2-3, box cover 103 and disinfection box body 104 are carried out hingedly using shaft 101, and shaft 101 is arranged in box
On lid 103, it is provided on disinfection box body 104 and is adapted to hinged pillar 111 with shaft 101；It is arranged on the outer edge of box cover 103
There are two blocks of magnet 108, disinfection box body 104 has conformable region 109, round iron piece 107, iron plate 309 are provided on conformable region 109
It is corresponding with the position of magnet；Fig. 1 show the second position of box cover 103, and Fig. 2 show the first position of box cover 103, box cover
It is bonded after 103 fastenings with 109 magnetism of conformable region of disinfection box body 104；The outside of box cover 103 is provided with handle 102, handle
102 are wholely set with box cover 103 and extend along the direction far from box cover 103, are opened the lid by what handle 102 can be convenient
103 separate box cover 103 with disinfection box body 104；The lower surface of box cover 103 is provided with multiple boss 110, the shape of boss 110
Shape and position are corresponding with seal wire slot 106 or 105 position of conduit trough.
As illustrated in figures 4-5, seal wire mobile device 3 includes: grip block 301, grip block 301 be installed in seal wire slot 106 and
It can be moved up and down along the direction of vertical seal wire slot 106；Grip block 301 has clamping piece 302；Miniature line slideway 303, it is miniature
303 lateral wall of linear guide is connect with grip block 301；Sliding slot 306, sliding slot 306 are set in seal wire slot 106；Magnetic coupling,
Magnetic coupling is slidably connected with sliding slot 306, and magnetic coupling has multiple and 306 direction setting along the chute；Electromagnet can
Drive magnetic coupling 306 movement along the chute.
In some embodiments, magnetic coupling includes: sliding block 304, and sliding block 304 and the sliding of miniature line slideway 303 connect
It connects；Connection sheet 305, connection sheet 305 are mounted on the side of U-shaped part 307, and one side is connect with sliding block 304, the other side and medical rubber
Blob of viscose 310 connects；Iron plate 309, iron plate 309 are mounted on the other side of U-shaped part 307；Phase magnet 308, phase magnet 308 are arranged
In the lower section in seal wire slot and positioned at U-shaped part 307.
As shown in figure 3, displacement device for catheter includes: active friction wheel 202, driven friction pulley 201 and micro-driving motor,
Active friction wheel 202 is set to the port of conduit trough, and driven friction pulley 201 is set in conduit trough, active friction wheel 202 and from
Dynamic friction wheel 201 is sequentially connected, and micro-driving motor and active friction wheel 202 are sequentially connected.
Specific work process is as follows:
When carrying out blood vessel intervention operation, first install in this disinfection box to robot, by the way of vertically plugging.Disappearing
After malicious box installs.The box cover for opening disinfection box is put into seal wire to seal wire slot 106, is put into conduit and arrives according to intervention operation needs
At conduit trough 105, after placing, box cover is covered；Robot and disinfection box are attached, i.e., iron is sucked in robot control electromagnet
Piece 309, robot control clamping device clamp grip block 302, after completing good connection.Then doctor controls robot to carry out hand
Art can control robot and can push ahead and withdraws catheter guide wire, the operation such as control seal wire rotation.After operation, open
The box cover of disinfection box takes out catheter guide wire, covers box cover, disinfection box is extracted, be put into recycling bins, as hospital refuse, system
One processing.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.For device disclosed in embodiment
For, since it is corresponded to the methods disclosed in the examples, so being described relatively simple, related place is said referring to method part
It is bright.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, of the invention
It is not intended to be limited to the embodiments shown herein, and is to fit to and the principles and novel features disclosed herein phase one
The widest scope of cause.
Claims (7)
1. a kind of intervention operation robot propulsion device disinfection box, is used cooperatively with intervention operation robot, conduit and seal wire,
It is characterized in that, comprising:
It sterilizes box body (104), disinfection box body (104) limits the seal wire slot (106) and conduit trough (105) communicated；
The seal wire is set in the seal wire slot (106), and the conduit is set in the conduit trough (105)；
Seal wire mobile device (3), the seal wire mobile device (3) are set in the seal wire slot (106), the mobile dress of the seal wire
It is corresponding with the electromagnet position of the intervention operation robot to set (3)；It is mobile that the electromagnet is able to drive the seal wire；
Displacement device for catheter (2), the displacement device for catheter (2) are set in the conduit trough (105), the mobile dress of the conduit
It sets (2) and is able to drive the displacement device for catheter (2) movement.
2. a kind of intervention operation robot propulsion device disinfection box according to claim 1, which is characterized in that further include box
Cover (103), the box cover (103) between the first position and the second position with the disinfection box body (104) hingedly, the box
It is bonded when lid (103) is located at the second position with disinfection box body (104) magnetism.
3. a kind of intervention operation robot propulsion device disinfection box according to claim 2, which is characterized in that further include handle
Hand (102), the handle (102) and the box cover (103) are wholely set and extend along the direction far from the box cover (103).
4. a kind of intervention operation robot propulsion device disinfection box according to claim 2, which is characterized in that the box cover
(103) lower surface is provided with multiple boss (110), the boss (110) with the seal wire slot (106) or the conduit trough
(105) position is corresponding.
5. a kind of intervention operation robot propulsion device disinfection box according to claim 1-4, which is characterized in that
The seal wire mobile device (3) includes:
Grip block (301), the grip block (301) are installed in the seal wire slot (106) and can be along the vertical seal wire slots
(106) direction moves up and down；The grip block (301) has clamping piece (302)；
Miniature line slideway (303), miniature line slideway (303) lateral wall are connect with the grip block (301)；
Sliding slot (306), the sliding slot (306) are set in the seal wire slot (106)；
Magnetic coupling, the magnetic coupling are slidably connected with the sliding slot (306), and the magnetic coupling has multiple and edge
The direction of the sliding slot (306) is arranged；It is mobile along the chute (306) that the electromagnet is able to drive the magnetic coupling.
6. a kind of intervention operation robot propulsion device disinfection box according to claim 5, which is characterized in that the magnetism
Connector includes:
Sliding block (304), the sliding block (304) are slidably connected with the miniature line slideway (303)；
Connection sheet (305), the connection sheet (305) are mounted on the side of U-shaped part (307), and one side and the sliding block (304) are even
It connects, the other side is connect with medical grade rubber block (310)；
Iron plate (309), the iron plate (309) are mounted on the other side of U-shaped part (307)；
Phase magnet (308), the phase magnet (308) are set in seal wire slot (106) and are located at the U-shaped part (307)
Lower section.
7. a kind of intervention operation robot propulsion device disinfection box described in -4 according to claim 1, which is characterized in that described to lead
Tube shifting device (2) includes: active friction wheel (202), driven friction pulley (201) and micro-driving motor, the active friction
Wheel (202) is set to the port of the conduit trough (105), and the driven friction pulley (201) is set to the conduit trough (105)
It is interior, the active friction wheel (202) and the driven friction pulley (201) transmission connection, the micro-driving motor and the master
Dynamic friction wheel (202) transmission connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910620479.1A CN110236678B (en) | 2019-07-10 | 2019-07-10 | Disinfection box for propulsion device of interventional operation robot |
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| CN201910620479.1A CN110236678B (en) | 2019-07-10 | 2019-07-10 | Disinfection box for propulsion device of interventional operation robot |
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| CN110236678B CN110236678B (en) | 2020-06-30 |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112168578A (en) * | 2020-10-22 | 2021-01-05 | 四川技加医疗科技有限公司 | Interventional operation workbench |
| CN112190334A (en) * | 2020-10-22 | 2021-01-08 | 北京唯迈医疗设备有限公司 | Convenient sterile intervention auxiliary operation robot |
| CN113633389A (en) * | 2021-06-10 | 2021-11-12 | 深圳市爱博医疗机器人有限公司 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
| CN113808464A (en) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| CN113796965A (en) * | 2021-09-28 | 2021-12-17 | 深圳市爱博医疗机器人有限公司 | Detachable slave end intervention operation robot driving device |
| CN114191084A (en) * | 2022-01-07 | 2022-03-18 | 北京万思医疗科技有限公司 | Long-distance guiding mechanism of disposable sterile catheter of vascular intervention operation robot |
| CN114391965A (en) * | 2021-12-31 | 2022-04-26 | 深圳市爱博医疗机器人有限公司 | Sterile box and full-protection type interventional operation robot slave end driving device with same |
| WO2022083015A1 (en) * | 2020-10-22 | 2022-04-28 | 四川技加医疗科技有限公司 | Interventional operation table |
| WO2022088535A1 (en) * | 2020-10-29 | 2022-05-05 | 北京唯迈医疗设备有限公司 | General-use robot for interventional angiographic and therapeutic surgery |
| CN115300106A (en) * | 2022-07-25 | 2022-11-08 | 上海神玑医疗科技有限公司 | Catheter supporting device and blood vessel interventional operation robot |
| CN115500953A (en) * | 2022-10-21 | 2022-12-23 | 中国科学院深圳先进技术研究院 | Magnetic control system and magnetic control method for vascular interventional guide wire |
| WO2023142281A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Slave driver having covering detection function |
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| WO2022083015A1 (en) * | 2020-10-22 | 2022-04-28 | 四川技加医疗科技有限公司 | Interventional operation table |
| CN112190334A (en) * | 2020-10-22 | 2021-01-08 | 北京唯迈医疗设备有限公司 | Convenient sterile intervention auxiliary operation robot |
| CN112168578A (en) * | 2020-10-22 | 2021-01-05 | 四川技加医疗科技有限公司 | Interventional operation workbench |
| WO2022088535A1 (en) * | 2020-10-29 | 2022-05-05 | 北京唯迈医疗设备有限公司 | General-use robot for interventional angiographic and therapeutic surgery |
| CN113633389A (en) * | 2021-06-10 | 2021-11-12 | 深圳市爱博医疗机器人有限公司 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
| CN113633389B (en) * | 2021-06-10 | 2022-08-09 | 深圳市爱博医疗机器人有限公司 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
| CN113808464A (en) * | 2021-09-24 | 2021-12-17 | 山东静禾医疗科技有限公司 | Interventional operation simulation platform |
| CN113796965A (en) * | 2021-09-28 | 2021-12-17 | 深圳市爱博医疗机器人有限公司 | Detachable slave end intervention operation robot driving device |
| CN114391965A (en) * | 2021-12-31 | 2022-04-26 | 深圳市爱博医疗机器人有限公司 | Sterile box and full-protection type interventional operation robot slave end driving device with same |
| WO2023123780A1 (en) * | 2021-12-31 | 2023-07-06 | 深圳市爱博医疗机器人有限公司 | Sterile box and full-protection type interventional surgical robot slave-end driving apparatus having sterile box |
| CN114391965B (en) * | 2021-12-31 | 2024-03-01 | 深圳爱博合创医疗机器人有限公司 | Aseptic box and have full protection formula of this aseptic box to intervene surgical robot from end drive arrangement |
| CN114191084A (en) * | 2022-01-07 | 2022-03-18 | 北京万思医疗科技有限公司 | Long-distance guiding mechanism of disposable sterile catheter of vascular intervention operation robot |
| WO2023142281A1 (en) * | 2022-01-29 | 2023-08-03 | 深圳市爱博医疗机器人有限公司 | Slave driver having covering detection function |
| CN115300106A (en) * | 2022-07-25 | 2022-11-08 | 上海神玑医疗科技有限公司 | Catheter supporting device and blood vessel interventional operation robot |
| CN115300106B (en) * | 2022-07-25 | 2023-08-01 | 上海神玑医疗科技有限公司 | Catheter supporting device and vascular intervention operation robot |
| CN115500953A (en) * | 2022-10-21 | 2022-12-23 | 中国科学院深圳先进技术研究院 | Magnetic control system and magnetic control method for vascular interventional guide wire |
| CN115500953B (en) * | 2022-10-21 | 2023-10-13 | 中国科学院深圳先进技术研究院 | Magnetic control system and magnetic control method for vascular intervention guide wire |
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