CN110279469A - A kind of robot - Google Patents
A kind of robot Download PDFInfo
- Publication number
- CN110279469A CN110279469A CN201910405489.3A CN201910405489A CN110279469A CN 110279469 A CN110279469 A CN 110279469A CN 201910405489 A CN201910405489 A CN 201910405489A CN 110279469 A CN110279469 A CN 110279469A
- Authority
- CN
- China
- Prior art keywords
- robot
- truss
- mechanical arm
- degree
- clamping device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1001—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy using radiation sources introduced into or applied onto the body; brachytherapy
- A61N5/1007—Arrangements or means for the introduction of sources into the body
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/025—Arms extensible telescopic
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Robotics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Surgery (AREA)
- Public Health (AREA)
- Mechanical Engineering (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Radiology & Medical Imaging (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of robots, robot includes the clamping jaw being sequentially connected, six degree of freedom platform and mechanical arm, wherein, mechanical arm includes at least two sections successively hinged truss and the scalable driving part between two adjacent section truss, and scalable driving part is successively staggered on the both sides of the mechanical arm, enhances the robustness and load capacity of mechanical arm.Simultaneously, the movement of the six-freedom degree of clamping device is adjusted by six degree of freedom platform, improve motion process stability, it is even more so that more complicated postures may be implemented in clamping device by increasing cyclotron mechanism, the stability in multivariant motor adjustment and motion process may be implemented in the operating member of gripper mechanism grips.
Description
Technical field
The present invention relates to robot fields, further relate to a kind of Needle-driven Robot.
Background technique
With the rise of artificial intelligence, robot is greatly developed in every field.Robot with mechanical arm
It needs to guarantee the flexible motion of robot arm and the operational stability of robot entirety at work, improves the spirit of robot
Stability living is the mainstream studied at present.
During medical domain, treating malignant tumor, it is by tumour that radioactive particle, which intervenes Inner irradiation technology,
It is implanted into radioactive particle, to make the technology of tumor mortality.
Seeds implanted mostly is implemented to complete under CT navigation at present, although CT has the advantage of high resolution, existing cannot
The disadvantages of during dynamic navigation in real time and repeated puncture to the high dose radiation of patient.In the course of surgery, due to patient's
Respiratory movement leads oncogenic position and changes, if compensated using the movement of robot also have corresponding kinetic stability and
The problem of precision.
106580405 A of patent document CN discloses a kind of puncturing operation robot system.The patent is multiple in utilization
Screw rod guide rail structure completes puncture movement using the motor drive machinery hand of two freedom degrees as mechanical arm.
105411653 A of patent document CN discloses a kind of vertical mobile Needle-driven Robot.The patent utilizes omni-directional wheel
It is passively moved, puncture posture is adjusted using motor-driven mechanical arm, and puncture movement is to utilize screw rod guide rail knot
Structure is realized.
The mechanical arm bearing capacity of robot is weak in the above patent, and the flexibility ratio of mechanical arm is also poor, cannot execute complicated move
Make, narrow application range.
In consideration of it, overcoming the above defect in the prior art, a kind of robot is provided.
Summary of the invention
It is an object of the invention in view of the above drawbacks of the prior art, provide a kind of robot.
The purpose of the present invention can be realized by technical measures below:
To achieve the goals above, the present invention provides a kind of robots, and the robot includes clamping device, for pressing from both sides
Hold operating member；
Six degree of freedom platform is connected with the clamping device on one side, for regulating and controlling the six degree of freedom of the clamping device
Movement；
And mechanical arm, it is connected with six degree of freedom platform another side, is used to support and stable operation component, including at least two
Save successively hinged truss and the scalable driving part between truss described in two adjacent sections, the scalable driving portion
Part is successively staggered on the both sides of the mechanical arm；
Wherein, every section truss includes at least one truss.
Preferably, the truss parallelogram shape, the truss include being oppositely arranged two the first vertex, Yi Jixiang
To two the second vertex of setting, two adjacent truss are mutually hinged by one of them first vertex, the scalable drive
Two the second vertex that the both ends of dynamic component are located at the same side with two adjacent truss respectively are connect.
Preferably, the scalable driving part includes the first servo electric cylinders.
Preferably, the robot further includes the pedestal being connected with the bottom end of the mechanical arm, mechanical arm bottom end purlin
Another first vertex and the bottom end of frame are fixed, another second vertex of mechanical arm bottom end truss passes through can
Flexible driving part is connected with the pedestal.
Preferably, the base bottom is equipped with universal wheel and support column, and the support column is for stablizing the robot.
Preferably, the six degree of freedom platform includes upper fixed disk, six the second servo electric cylinders and lower fixed disks, and described six
A second servo electric cylinders are connected between fixed disk and the lower fixed disk and are uniformly distributed, the lower fixed disk with it is described
Mechanical arm top truss is connected, and fixed disk is connected with the clamping device.
Preferably, the robot further includes the convolution machine being located between the clamping device and the six degree of freedom platform
Structure rotates the clamping device for driving.
Preferably, the cyclotron mechanism includes rotation driving power source, pinion gear, ring gear and thrust bearing, described to push away
Power bearing and the rotation driving power source are installed in one, the six degree of freedom platform fixed panel surface, and the ring gear is set
It is connected in the rotary shaft of the aperture surface of the thrust bearing, the rotation driving power source with the pinion gear, the pinion gear
It is engaged with the ring gear, the ring gear and the clamping device are fixedly linked to drive the ring gear in thrust bearing
Rotation.
Preferably, the rotation driving power source is high-precision servo electric cylinders.
Preferably, the operating member includes the piercing mechanism for puncturing operation.
The beneficial effects of the invention are as follows providing a kind of robot, robot include the clamping device being sequentially connected, six from
By degree platform and mechanical arm, wherein mechanical arm include at least two sections successively hinged truss and set on two adjacent section truss it
Between scalable driving part, and scalable driving part is successively staggered on the both sides of the mechanical arm, enhances machine
The robustness and load capacity of tool arm.Meanwhile the movement of the six-freedom degree of clamping device is realized by six degree of freedom platform, greatly
The stability for improving motion process greatly, in addition sets cyclotron mechanism between six degree of freedom platform and clamping device, so that clamping
Mechanism realizes more complicated postures.In addition, increasing omni-directional wheel and support rod design on pedestal, robot can be taken into account narrow
The indoor movement of operation, and can guarantee the stability that robot is fixed up.In puncturing operation, operating member is puncture machine
The puncture implantation of radioactive particle may be implemented with robot of the present invention, respiration motion compensation and preoperative position appearance in art in structure
The function of state adjustment.
Detailed description of the invention
Fig. 1 is the Needle-driven Robot structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the schematic diagram of base structure of the embodiment of the present invention.
Fig. 3 is the mechanical arm structural schematic diagram of the embodiment of the present invention.
Fig. 4 is the six degree of freedom platform and cyclotron mechanism structural schematic diagram of the embodiment of the present invention.
Fig. 5 is the piercing mechanism structural schematic diagram of the embodiment of the present invention.
Fig. 6 is the linear motion modular structure schematic diagram of the embodiment of the present invention.
Fig. 7 is the puncture needle modular structure schematic diagram of the embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawing and specific implementation
Invention is further described in detail for example.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention,
It is not intended to limit the present invention.
In order to keep the narration of this disclosure more detailed with it is complete, below for embodiments of the present invention and specific real
It applies example and proposes illustrative description；But this not implements or uses the unique forms of the specific embodiment of the invention.Embodiment
In cover multiple specific embodiments feature and to construction with operate these specific embodiments method and step it is suitable with it
Sequence.However, can also reach identical or impartial function and sequence of steps using other specific embodiments.
As shown in Figure 1, Fig. 1 illustrates the Needle-driven Robot structural schematic diagram of the embodiment of the present invention.The present embodiment robot
It include: pedestal 11, mechanical arm 12, six degree of freedom platform 13, cyclotron mechanism 14, clamping jaw 16 and piercing mechanism 15, wherein puncture machine
Structure 14 can also change any other operating member into.One end of mechanical arm 12 is connected with pedestal 11, the other end and six degree of freedom
The one side of platform 13 is connected, and the another side of six degree of freedom platform 13 is connected with cyclotron mechanism 14, is connected with clamping jaw on cyclotron mechanism 14
16, clamping jaw 16 can follow cyclotron mechanism 14 to rotate together, and cyclotron mechanism 14 is connected with piercing mechanism 15.
The mechanical arm of the Needle-driven Robot of the present embodiment is using the truss structure being sequentially connected and is set between truss structure
The rotation of flexible driving truss structure servo electric cylinders, therefore enhance the robustness and load capacity of mechanical arm.Meanwhile by six
Freedom degree platform realizes the movement of the six-freedom degree of piercing mechanism, substantially increases the stability of motion process, circle round machine
Structure is even more so that more complicated postures may be implemented in piercing mechanism.The Needle-driven Robot of the present embodiment simultaneously, may be implemented to radiate
Property particle puncture implantation, in art respiration motion compensation and the adjustment of preoperative position and attitude function.
Fig. 2 is 11 structural schematic diagram of pedestal in Fig. 1.The pedestal 11 of the present embodiment includes: folding support column 21, complete
To wheel 22 and base shell 23.Wherein support column 21 and omni-directional wheel 22 have 4, are fixed on the inside of base shell 23, when need
When fixation, it is only necessary to which putting down 21 support columns can be stably fixed on ground.
The puncturing operation robot of the present embodiment is convenient in the such small space of operating room using omni-directional wheel move mode
Movement, while folding support column is easy to use, so that Needle-driven Robot is stably fixed on ground.
Fig. 3 is the structural schematic diagram of mechanical arm 12 in Fig. 1.Mechanical arm 12 includes: servo electric cylinders 31, and servo electric cylinders 32 are watched
Take electric cylinders 33, truss 34, truss 35 and truss 36.Wherein, truss 34, truss 35 and truss 36 pass sequentially through one group of opposite top
Point is connected, another group of vertex of the same truss side between 32 truss frame for connecting 34 of servo electric cylinders and truss 35, servo electric cylinders 33
Another group of vertex of another side of same truss between truss frame for connecting 35 and truss 36, servo electric cylinders 31 are used for truss frame for connecting 34
Between pedestal, servo electric cylinders 31, servo electric cylinders 32 and servo electric cylinders 33 are successively staggered in truss two sides.Every group of truss knot
Structure corresponds to one group of servo electric cylinders, and as viewed from front, all truss and servo electric cylinders are all arranged symmetrically, and can effectively eliminate big
Deviation torque caused by mass loading improves the mechanical robustness and load capacity of mechanism, also extends making for mechanical arm
Use the service life.By electric drive servo electric cylinders 31, servo electric cylinders 31 can be made to realize stretching motion, to drive truss 34 around joint
It makes rotating motion；By electric drive servo electric cylinders 32, the electric cylinders can be made to realize stretching motion, to drive truss 35 around joint
It makes rotating motion；By electric drive servo electric cylinders 33, the electric cylinders can be made to realize stretching motion, to drive truss 36 around joint
It makes rotating motion.
The structure that the mechanical arm of the present embodiment is combined using three section truss and three servo electric cylinders, is successively cut with scissors using three sections
The truss connect and the servo electric cylinders between two adjacent section truss, and servo electric cylinders are successively interlocked on the both sides of mechanical arm
It arranges, in three section truss structures, wherein the truss of two identical parallelogram is arranged in first segment and third section, and the second section is set
A parallelogram truss is set, the servo electric cylinders for flexible driving, while mechanical arm ground terminal are connected between every section truss
Truss, which also is provided with a servo electric cylinders, to connect with pedestal, can increase the motor adjustment of mechanical arm, therefore robustness and load
Ability is stronger, can support heavier weight, avoids being bent, while it is also ensured that robust motion.Wherein, in order to guarantee
Every section truss of stablizing of mechanical arm may include at least one truss, and multiple truss are arranged in every section, and truss shape is identical.
Fig. 4 is the structural schematic diagram of six degree of freedom platform 13 and cyclotron mechanism 14 in Fig. 1.Six degree of freedom platform 13 includes:
Lower fixed disk 41, high-precision servo electric cylinders 42, upper fixed disk 43.Lower fixed disk 41 is fixed on third truss 36, passes through driving
Six high-precision servo electric cylinders 42 can make the high-precision motion of the completion six-freedom degree of fixed disk 43.
Cyclotron mechanism 14 includes ring gear 51, pinion gear 52, servo motor 53 and thrust bearing 54.Piercing mechanism is fixed on
On ring gear 51 and thrust bearing 54, driving servo motor 53 can be such that piercing mechanism 15 turns round, and realize complicated posture.Wherein, it presss from both sides
Pawl 16 is fixed on ring gear 53 and thrust bearing 54, and ring gear 53 is fixed on the aperture surface of thrust bearing 54, thrust bearing 54
Another side is entrenched in 43 in fixed disk, and servo motor 53 is fixed with upper 43 phase of fixed disk, pinion gear 52 and driving servo motor
53 rotary shaft is connected, while pinion gear 52 is also engaged with ring gear 53.Driving servo motor 53 can be revolved with driving pinion 52
Turn, and pinion gear 52 is engaged with ring gear 51, driving force can be passed to ring gear 53, drives the rotation of ring gear 51, it is interior
Gear ring 51 drives clamping jaw 16 to rotate.Since piercing mechanism 15 is gripped by clamping jaw 16, piercing mechanism 15 can be with 44 ring gears
Rotation and rotation.
The present embodiment completes the movement of operating member six-freedom degree by using six degree of freedom platform, is able to satisfy its Gao Yun
Dynamic required precision.Simultaneously by fixing a swing mechanism on six degree of freedom platform, piercing mechanism can be allowed to complete more complicated
Movement and posture.The Needle-driven Robot of the present embodiment can then pass through respiratory movement in six degree of freedom platform compensation puncturing operation.
Fig. 5 is the structural schematic diagram of piercing mechanism 15 in Fig. 1.15 structure of piercing mechanism includes: ultrasonic peripheral hardware 61, puncture needle
Mould group 62, antibacterial shell 63 and linear motion mould group 64.Its linear movement mould group 64 punctures needle mould group 62 and ultrasonic peripheral hardware 61
It is all to be fixed on antibacterial shell 63, and antibacterial shell 63 is fixed on six degree of freedom platform 13.The mechanism is able to achieve radiation
The puncture of particle is implanted into function.
Fig. 6 is the structural schematic diagram of Fig. 5 linear movement mould group 64.Linear motion mould group 64 includes: screw rod 71, moves and put down
Platform 72, guide rail 73, shaft coupling 74, servo motor 75 and screw rod rail brackets 76.The driving force of this structure is servo motor 75, is led to
It overdrives this motor, guide rail 73 can be driven to rotate, so that mobile platform 72 be driven to move in a straight line on guide rail 73.
Fig. 7 is the structural schematic diagram that needle mould group 62 is punctured in Fig. 5.Puncturing needle mould group 62 includes: puncture needle 82, has particle
Push channel；Force feedback sensor 83, for acquiring axial force suffered when puncture needle 82 punctures；Cartridge clip module 84, for holding
Set particle；Particle push rod 86, for pushing the particle in cartridge clip module 84 along the particle push channel of puncture needle 82；It rubs
Wheel module 85 is wiped, for being used to provide branch to above-mentioned all components to the offer of particle push rod 86 push power and support frame 81
Support force.
When puncture needle 82 is successfully punctured to target area, cartridge clip module 84 can fill radioactive particle, particle push to channel
Radioactive particle can be pushed into puncture needle by bar 86 under the drive of friction pulley module 85, until target area.
The Needle-driven Robot course of work of the present invention:
1, preoperative using control program adjusting mechanical arm and position base, it adjusts piercing mechanism and is in suitable height and position
It sets；
2, preoperative that radioactive particle is packed into the cartridge clip module of piercing mechanism；
3, after position is adjusted, puncture needle, ultrasonic peripheral hardware are attached separately in corresponding module by operator, are completed preoperative
Preparation；
4, six degree of freedom platform is responsible for the drift of knub position caused by compensating respiratory movement in art, and piercing mechanism is responsible for radiation
Property particle puncture implantation, robot will automatically realize radioactive prospecting instrument.
Robot of the present invention can be not only used for puncturing operation, can be used for the robot of any required regulation movement,
By replacing clamping device, robot of the present invention is suitable for every field.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of robot, which is characterized in that the robot includes clamping device, is used for clipping operation component；
Six degree of freedom platform is connected with the clamping device on one side, the movement of the six degree of freedom for regulating and controlling the clamping device；
And mechanical arm, be connected with six degree of freedom platform another side, be used to support with stable operation component, including at least two sections according to
Secondary hinged truss and the scalable driving part between truss described in two adjacent sections, the scalable driving part exist
The both sides of the mechanical arm are successively staggered；
Wherein, every section truss includes at least one truss.
2. robot as described in claim 1, which is characterized in that the truss parallelogram shape, the truss include phase
To two the first vertex of setting and two the second vertex being oppositely arranged, two adjacent truss by one of them first
Vertex is mutually hinged, and the both ends of the scalable driving part are located at two second of the same side with two adjacent truss respectively
Vertex connection.
3. robot as claimed in claim 2, which is characterized in that the scalable driving part includes the first servo electric cylinders.
4. robot as claimed in claim 3, which is characterized in that the robot further includes being connected with the bottom end of the mechanical arm
Pedestal, another first vertex and the bottom end of mechanical arm bottom end truss fix, mechanical arm bottom end truss
Another second vertex be connected with the pedestal by scalable driving part.
5. robot as claimed in claim 4, which is characterized in that the base bottom is equipped with universal wheel and support column, the branch
Dagger is for stablizing the robot.
6. robot as claimed in claim 3, which is characterized in that the six degree of freedom platform includes upper fixed disk, six second
Servo electric cylinders and lower fixed disk, six second servo electric cylinders are connected between fixed disk and the lower fixed disk
Even distribution, the lower fixed disk are connected with mechanical arm top truss, and fixed disk is connected with the clamping device.
7. the robot as described in claim 1-6 is any, which is characterized in that the robot further includes being located at the clamping device
Cyclotron mechanism between the six degree of freedom platform rotates the clamping device for driving.
8. robot as claimed in claim 7, which is characterized in that the cyclotron mechanism include rotation driving power source, pinion gear,
Ring gear and thrust bearing, the thrust bearing and the rotation driving power source are installed in one, the six degree of freedom platform admittedly
On disc setting surface, the ring gear is set to the aperture surface of the thrust bearing, the rotary shaft in the rotation driving power source and institute
It states pinion gear to be connected, the pinion gear is engaged with the ring gear, and the ring gear and the clamping device are fixedly linked with band
The ring gear is moved to rotate in thrust bearing.
9. robot as claimed in claim 8, which is characterized in that the rotation driving power source is high-precision servo electric cylinders.
10. robot as claimed in claim 9, which is characterized in that the operating member includes the puncture machine for puncturing operation
Structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405489.3A CN110279469A (en) | 2019-05-16 | 2019-05-16 | A kind of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910405489.3A CN110279469A (en) | 2019-05-16 | 2019-05-16 | A kind of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110279469A true CN110279469A (en) | 2019-09-27 |
Family
ID=68001916
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910405489.3A Pending CN110279469A (en) | 2019-05-16 | 2019-05-16 | A kind of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110279469A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111214765A (en) * | 2020-01-15 | 2020-06-02 | 山东科技大学 | Brachytherapy robot |
| CN112294456A (en) * | 2020-10-30 | 2021-02-02 | 四川大学华西医院 | Intelligent supporting device for surgical operation |
| CN113069694A (en) * | 2021-04-13 | 2021-07-06 | 西南医科大学附属医院 | Auxiliary device for radiotherapy |
| WO2021147269A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Surgical robotic arm and surgical robot |
| CN113749706A (en) * | 2021-10-25 | 2021-12-07 | 中国人民解放军空军军医大学 | Auxiliary distraction device for cardiothoracic surgery |
Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| US20040085038A1 (en) * | 2002-02-14 | 2004-05-06 | Kawasaki Jukogyo Kabushiki Kaisha | Robot arm mechanism |
| WO2007012094A1 (en) * | 2005-07-29 | 2007-02-01 | Franz Ehrenleitner | Folding boom |
| DE102010048435A1 (en) * | 2010-10-15 | 2012-04-19 | Franz Ehrenleitner | Machine tool, particularly milling machine, has kinematics assembled in row that form less than six degrees of freedom, which affect on tool holder or work piece |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN104644267A (en) * | 2013-11-19 | 2015-05-27 | 上海理工大学 | Series-parallel minimally invasive surgery mechanical arm with five degrees of freedom |
| CN106142073A (en) * | 2016-07-24 | 2016-11-23 | 中国科学院合肥物质科学研究院 | A kind of advance and the adjusting apparatus of pose and method of adjustment for continuous robot |
| CN106346489A (en) * | 2016-10-31 | 2017-01-25 | 郑运长 | Robot for cleaning bus stop board |
| CN106625565A (en) * | 2016-12-30 | 2017-05-10 | 宁秀芬 | Transformer carrying robot |
| WO2017077755A1 (en) * | 2015-11-04 | 2017-05-11 | ソニー株式会社 | Support arm structure |
| CN106901836A (en) * | 2017-04-12 | 2017-06-30 | 华中科技大学 | A kind of prostate biopsy operating robot |
| CN107378925A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical arm for shield machine tool changing |
| CN108032282A (en) * | 2017-08-30 | 2018-05-15 | 安徽工程大学 | A kind of series parallel type mobile manipulator |
| EP2943318B1 (en) * | 2013-01-11 | 2018-06-13 | Katholieke Universiteit Leuven | An apparatus for generating motion around a remote centre of motion |
| US20180193107A1 (en) * | 2017-01-12 | 2018-07-12 | Electronics And Telecommunications Research Institute | Balance arm apparatus for supporting heavy tools |
| CN109260586A (en) * | 2018-07-23 | 2019-01-25 | 深圳先进技术研究院 | A kind of radioactive prospecting instrument operating robot |
| CN109549775A (en) * | 2018-12-06 | 2019-04-02 | 哈尔滨工业大学 | Robot arm towards eye ground micrurgy |
| CN208788635U (en) * | 2018-08-16 | 2019-04-26 | 山东农业大学 | A kind of multi-degree-of-freemechanical mechanical arm of Telescopic rotary |
-
2019
- 2019-05-16 CN CN201910405489.3A patent/CN110279469A/en active Pending
Patent Citations (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0327094A1 (en) * | 1988-02-02 | 1989-08-09 | Nokia Mechatronics Gmbh | Industrial robot |
| US20040085038A1 (en) * | 2002-02-14 | 2004-05-06 | Kawasaki Jukogyo Kabushiki Kaisha | Robot arm mechanism |
| WO2007012094A1 (en) * | 2005-07-29 | 2007-02-01 | Franz Ehrenleitner | Folding boom |
| DE102010048435A1 (en) * | 2010-10-15 | 2012-04-19 | Franz Ehrenleitner | Machine tool, particularly milling machine, has kinematics assembled in row that form less than six degrees of freedom, which affect on tool holder or work piece |
| EP2943318B1 (en) * | 2013-01-11 | 2018-06-13 | Katholieke Universiteit Leuven | An apparatus for generating motion around a remote centre of motion |
| CN103083156A (en) * | 2013-01-21 | 2013-05-08 | 江苏大学 | Three-degree of freedom parallel serial upper limb rehabilitation robot |
| CN104644267A (en) * | 2013-11-19 | 2015-05-27 | 上海理工大学 | Series-parallel minimally invasive surgery mechanical arm with five degrees of freedom |
| WO2017077755A1 (en) * | 2015-11-04 | 2017-05-11 | ソニー株式会社 | Support arm structure |
| CN107378925A (en) * | 2016-05-17 | 2017-11-24 | 湖南工业大学 | A kind of mechanical arm for shield machine tool changing |
| CN106142073A (en) * | 2016-07-24 | 2016-11-23 | 中国科学院合肥物质科学研究院 | A kind of advance and the adjusting apparatus of pose and method of adjustment for continuous robot |
| CN106346489A (en) * | 2016-10-31 | 2017-01-25 | 郑运长 | Robot for cleaning bus stop board |
| CN106625565A (en) * | 2016-12-30 | 2017-05-10 | 宁秀芬 | Transformer carrying robot |
| US20180193107A1 (en) * | 2017-01-12 | 2018-07-12 | Electronics And Telecommunications Research Institute | Balance arm apparatus for supporting heavy tools |
| CN106901836A (en) * | 2017-04-12 | 2017-06-30 | 华中科技大学 | A kind of prostate biopsy operating robot |
| CN108032282A (en) * | 2017-08-30 | 2018-05-15 | 安徽工程大学 | A kind of series parallel type mobile manipulator |
| CN109260586A (en) * | 2018-07-23 | 2019-01-25 | 深圳先进技术研究院 | A kind of radioactive prospecting instrument operating robot |
| CN208788635U (en) * | 2018-08-16 | 2019-04-26 | 山东农业大学 | A kind of multi-degree-of-freemechanical mechanical arm of Telescopic rotary |
| CN109549775A (en) * | 2018-12-06 | 2019-04-02 | 哈尔滨工业大学 | Robot arm towards eye ground micrurgy |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111214765A (en) * | 2020-01-15 | 2020-06-02 | 山东科技大学 | Brachytherapy robot |
| WO2021147269A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Surgical robotic arm and surgical robot |
| CN112294456A (en) * | 2020-10-30 | 2021-02-02 | 四川大学华西医院 | Intelligent supporting device for surgical operation |
| CN112294456B (en) * | 2020-10-30 | 2021-08-10 | 四川大学华西医院 | Intelligent supporting device for surgical operation |
| CN113069694A (en) * | 2021-04-13 | 2021-07-06 | 西南医科大学附属医院 | Auxiliary device for radiotherapy |
| CN113749706A (en) * | 2021-10-25 | 2021-12-07 | 中国人民解放军空军军医大学 | Auxiliary distraction device for cardiothoracic surgery |
| CN113749706B (en) * | 2021-10-25 | 2023-10-13 | 中国人民解放军空军军医大学 | Auxiliary spreader for cardiothoracic surgery |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110279469A (en) | A kind of robot | |
| CN113081282B (en) | Six-degree-of-freedom CT compatible respiration compensation needle puncture robot | |
| CN111265229A (en) | Omnidirectional movement type multi-degree-of-freedom double-source X-ray equipment and application thereof | |
| CN108969878B (en) | All-round close range particle implantation robot of prostate | |
| CN203634188U (en) | Radioactive medical device | |
| CN202143653U (en) | Minimally invasive vascular intervention operation robot | |
| CN108392253B (en) | Automatic puncture device for floor type tumor radioactive particle implantation treatment | |
| CN104307113A (en) | Radiation therapy system | |
| CN104623797A (en) | Near-distance image navigation full-automatic radioactive particle implanting device | |
| CN111603244A (en) | Surgical robot | |
| CN208640847U (en) | A kind of console mode tumour radiotherapy seeds implanted treatment automatic puncturing device | |
| CN110496301A (en) | One kind being suitable for clinical human's lithotomy position and targets seeds implanted robot | |
| EP4108206B1 (en) | Biplane robotic arm device suitable for vascular interventional surgery | |
| CN114569902B (en) | Device for radiotherapy and use method thereof | |
| CN104689489A (en) | Straight line swing arm type robot treatment bed | |
| CN206391383U (en) | Tumour radiotherapy auxiliary frame | |
| CN110141317B (en) | Multi-needle automatic puncture device for tumor radioactive particle implantation treatment | |
| CN111529068A (en) | Catheter robot operation support and catheter robot | |
| CN204619201U (en) | One can realize full track mark radiotherapy equipment | |
| CN205814428U (en) | A kind of pose mechanical conditioning type moveable platform | |
| CN215130042U (en) | Six-degree-of-freedom CT-compatible respiration compensation needle puncture robot | |
| CN114432575A (en) | Novel blood vessel intervention operation system | |
| CN211796624U (en) | CT puncture guide frame | |
| US8632246B2 (en) | Irradiation system | |
| CN208625814U (en) | A kind of puncture positioning device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190927 |
|
| RJ01 | Rejection of invention patent application after publication |