CN110623729B - Replaceable surgical robot extension part - Google Patents
Replaceable surgical robot extension part Download PDFInfo
- Publication number
- CN110623729B CN110623729B CN201910995672.3A CN201910995672A CN110623729B CN 110623729 B CN110623729 B CN 110623729B CN 201910995672 A CN201910995672 A CN 201910995672A CN 110623729 B CN110623729 B CN 110623729B
- Authority
- CN
- China
- Prior art keywords
- inner rod
- outer tube
- elongated portion
- clamping
- rod
- 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.)
- Expired - Fee Related
Links
Images
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
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
Abstract
The invention discloses a replaceable surgical operation robot instrument extension part, belonging to the field of medical instruments, and the extension part comprises: a first elongated portion connected to the implement end of the instrument, the first elongated portion including a first outer tube and a first inner rod positioned within the first outer tube; a second elongated portion detachably connected to the first elongated portion, the second elongated portion being connected to a drive unit of the instrument, the second elongated portion including a second outer tube and a second inner rod positioned within the second outer tube; the first outer tube is detachably connected with the second outer tube, the first inner rod is detachably connected with the second inner rod, when the first inner rod is connected with the second inner rod, the first inner rod can rotate synchronously along with the rotation of the second inner rod, and the first inner rod can move synchronously along with the axial movement of the first inner rod.
Description
Technical Field
The present invention relates to the field of medical devices.
Background
Surgical robots have been used in many operating rooms around the world. These robots are not truly automated robots that cannot perform the procedure themselves, but they provide useful mechanized assistance to the procedure. These machines still require the surgeon to operate them and input commands to them. The control methods of these surgical robots are remote control and voice activation.
The end of the surgical instrument person is provided with a surgical instrument, the surgical instrument usually comprises an execution end, an extension part and a driving end, the surgical instrument usually belongs to consumable materials, the surgical instrument needs to be integrally replaced after being used once or twice, and the replacement of the surgical instrument is a main reason for increasing the surgical cost.
Disclosure of Invention
It is an object of the present invention to address the above problems by providing an interchangeable surgical robotic instrument extension, the extension comprising: a first elongated portion connected to the implement end of the instrument, the first elongated portion including a first outer tube and a first inner rod positioned within the first outer tube;
a second elongated portion detachably connected to the first elongated portion, the second elongated portion being connected to a drive unit of the instrument, the second elongated portion including a second outer tube and a second inner rod positioned within the second outer tube;
the first outer tube is detachably connected with the second outer tube, the first inner rod is detachably connected with the second inner rod, when the first inner rod is connected with the second inner rod, the first inner rod can rotate synchronously along with the rotation of the second inner rod, and the first inner rod can move synchronously along with the axial movement of the first inner rod.
In the middle of some preferred embodiments, first interior pole include first interior pole body, mounting, kelly mounting one end articulate on first interior pole body, the other end of mounting is card portion, the axial direction parallel of articulated shaft and first interior pole, card portion can rotate round the articulated shaft, the mounting be equipped with a passageway, the kelly can the card passageway and the kelly can be fixed and then restrict the mounting and rotate by first outer tube, first interior pole body be equipped with an insertion groove, the part of second interior pole can get into in the insertion groove, be equipped with the fixed slot on the second interior pole, when the kelly is taken out from the passageway of mounting, the mounting rotates round the articulated shaft and then makes the card portion of mounting get into in the fixed slot of second interior pole with fixed first interior pole and second interior pole.
In some preferred embodiments, the first outer tube is provided with a hole for fixing the clamping rod.
In some preferred embodiments, the first inner rod body is provided with a rotating column, the fixing member is hinged to the rotating column, the fixing member and the first inner rod body are provided with springs, and the springs drive the fixing member to rotate so that the clamping portion of the fixing member is clamped into the fixing groove.
In some preferred embodiments, the fixing member is provided with a sliding groove, the sliding groove extends to the passage opening, and the sliding groove is used for clamping the rod in the sliding groove passage.
In some preferred embodiments, the cross section of the first inner rod body insertion groove is semicircular, and the second inner rod body insertion groove is provided with an insertion protrusion which is inserted into the insertion groove and fixes the first inner rod and the second inner rod to limit the first inner rod and the second inner rod from rotating relatively to the axial direction.
In some preferred embodiments, the end of the clamping rod is in a pointed structure so that the clamping rod slides into the channel on the surface of the fixing piece.
Drawings
FIG. 1 is a prior art clamp;
FIG. 2 is a schematic view of a clamp according to embodiment 1;
FIG. 3 is a schematic diagram of an execution unit of embodiment 1;
FIG. 4 is a schematic view of a drive unit of embodiment 1;
FIG. 5 is a component diagram of a drive unit of embodiment 1;
FIG. 6 is a component diagram of a drive unit of embodiment 1;
FIG. 7 is a clamp of embodiment 2;
FIG. 8 is an execution unit of embodiment 2;
FIG. 9 is an execution unit of embodiment 2;
FIG. 10 is a schematic view of example 3;
FIG. 11 is a schematic view of the first and second elongated portions separated;
figure 12 is a schematic view of a first inner rod;
figure 13 is a schematic view of a first inner rod;
figure 14 is a schematic view of a first inner rod;
figure 15 is a second inner rod schematic;
FIG. 16 is a schematic view of a fastener;
figure 17 is a schematic view of a fastener.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings.
Example 1
As shown in fig. 1, the present embodiment discloses a surgical robot clamp, which comprises an execution unit 1, an extension part 2 and a driving unit 3, wherein two ends of the extension part are respectively connected with the execution unit and the driving unit, the driving unit controls the execution unit to perform a surgical operation through the extension part, the extension part comprises an outer tube 21 and an inner rod 22, the inner rod is positioned in the outer tube, and the execution unit is a surgical instrument with two jaws, such as surgical scissors, surgical forceps, electric coagulation forceps, application forceps and the like.
In some preferred embodiments, as shown in fig. 3, the actuating unit includes a first clamp 11 and a second clamp 12, a hinge seat 17, and a pin 15, the first clamp and the second clamp are hinged through a first pin hole 16 at ends of the first clamp and the second clamp, the first connecting seat 112 and the second connecting seat 122 are respectively disposed at back sides of the first clamp and the second clamp, the hinge seat 17 is provided with a second pin hole 171, the hinge seat can axially rotate around the outer tube relative to the outer tube so that the actuating unit can rotate relative to the outer tube, and the pin connects the first pin hole and the second pin hole so that the ends of the first clamp and the second clamp are hinged on the hinge seat.
Continuing to be shown in fig. 3, the execution unit further includes a first connecting rod 13 and a second connecting rod 14, one end of the first connecting rod is hinged to the first connecting seat, one end of the second connecting rod is hinged to the second connecting seat, and the other ends of the first connecting rod and the second connecting rod are hinged to the inner rod 22, in this embodiment, the inner rod can be driven by the driving unit to move axially along the inner rod, and the axial movement of the inner rod pulls the first connecting rod and the second connecting rod to drive the first clamp and the second clamp to rotate around the second pin hole to open and close the first clamp and the second clamp, as shown in fig. 3, when the inner rod 22 moves towards the left side, the first clamp and the second clamp open; when the inner rod is moved to the right, the first and second jaws close.
Further, as shown in fig. 3, the inner rod can be driven by the driving unit to axially rotate around the inner rod to drive the first clamp, the second clamp and the hinge base to rotate relative to the outer tube, the rotation direction is an axial direction of the outer tube, and the axial direction of the outer tube is a direction indicated by an arrow in fig. 3. An actuating unit such as first and second jaws, an articulated mount, or the like, is axially rotatable about the outer tube to enable the position of the jaws to be changed as required by the procedure.
In order to enable the two connecting rods to control the axial rotation of the two clamps around the outer tube, in a more preferred embodiment, the first connecting seat and the second connecting seat are respectively provided with a groove, and the first connecting rod/the second connecting rod are hinged with the first connecting seat/the second connecting seat in the groove so that the first connecting rod and the first clamp have only one rotational degree of freedom, and the second connecting rod and the second clamp have only one rotational degree of freedom.
In view of the fact that the two connecting rods are in a lower position when the first and second jaws are closed, and the two connecting rods are easily in contact with and interfere with each other with the first and second jaws, in a more preferred embodiment, the first jaw is provided with a first recess 111 on the back side, the second jaw is provided with a second recess 121 on the back side, the first recess is located between the first connecting seat and the first pin hole, the second recess is located between the second connecting seat and the first pin hole, and the first recess and the second recess enable the first/second jaw and the first/second connecting rod not to interfere with each other.
In a more preferred embodiment, the hinge base 17 is provided with upper and lower grooves 172 through which the first and second connecting rods pass, respectively. The actuator unit comprises a bearing 18 by which the hinged socket and the outer tube are connected so that the hinged socket can rotate relative to the outer tube. As shown in fig. 3, the inner rod includes a fixing head, the first connecting rod and the second connecting rod are hinged on the fixing head, the fixing head and the inner rod are integrally formed or fixedly connected, and the hinged positions of the first connecting rod and the second connecting rod on the fixing head are coaxial or parallel.
Furthermore, the inner rod can drive the execution unit to open, close and rotate only by simultaneously completing axial movement and rotation, in some specific embodiments, as shown in fig. 4, the driving unit of the present embodiment is connected with an extension part, the extension part is connected with an executing unit, the driving unit controls the executing unit to perform a surgical operation through the extension part, the extension part is provided with an outer tube and an inner rod inside the outer tube, the inner rod is connected with the driving unit and the execution unit, the inner rod controls the execution unit through axial movement and axial rotation, the driving unit comprises a shell 33, a first driving part 31 and a second driving part 32, a cavity is formed in the shell 33, the first driving part 31 and the second driving part are located in the cavity of the shell, the first driving part controls the inner rod to move along the axial direction of the inner rod so as to control the surgical instrument, and the second driving part controls the inner rod to rotate along the axial direction of the inner rod so as to control the surgical instrument.
As for the structure of the first driving part, in a preferred embodiment, as shown in fig. 5, the first driving part 31 includes:
the first motor 315, the screw 314, the slider 313, the connecting portion 312 and the rotating portion 311, the screw 314 is connected with the first motor and driven to rotate by the first motor, the slider 313 is connected with the screw rod, the screw rotation control slider moves along the axial direction of the screw, the connecting portion is fixedly connected with the slider, the rotating portion 311 connects the connecting portion to the inner rod, the rotating portion can be stationary relative to the inner rod under the axial rotation of the inner rod, and the first motor can control the inner rod to move along the axial direction of the inner rod through the rotating portion.
In one embodiment, the rotating portion is a bearing, an inner ring of the bearing is fixedly connected with an inner rod, and an outer ring of the bearing is fixedly connected with the connecting portion. In another embodiment, the inner rod is provided with a connecting groove 22, the connecting groove is of an annular structure, the rotating part is a circular ring part, and the rotating part is matched with the connecting groove.
As for the structure of the second driving part, in a preferred embodiment, the second driving part 32 includes:
In still more preferred embodiments, as shown in fig. 6, the fixed pipe is provided with a central groove 3211, the end of the inner rod extends into the central groove, the inner rod is provided with a clamping strip 221 extending axially and distributed, the inner wall of the central groove is provided with a clamping groove 3212, as shown in fig. 6, the clamping strips are 2, the clamping grooves are 2 and distributed vertically, certainly, the clamping strips and the clamping grooves can be 1, 3, 4 or the like, and the clamping strips and the clamping grooves are matched to prohibit the radial rotation of the inner rod and the fixed pipe, that is, the inner rod and the fixed pipe cannot rotate axially around the inner rod, but the inner rod and the fixed pipe can move axially along the inner rod, and at this time, the clamping strips just move in the clamping grooves, the first driving part can drive the inner rod to move axially along the inner rod, while the fixed pipe remains stationary, and the execution unit. When the fixed pipe is driven to rotate to enable the inner rod to rotate, each part of the first driving part is static due to the fact that the rotating part can rotate, and the inner rod rotates axially to drive the execution unit to rotate around the outer pipe.
In a more preferred embodiment, the second driving part further includes a fixed head 322 connected to the fixed pipe, and a rotating rod 323 connected to the fixed head, and the rotating rod is driven to rotate by the second motor.
Example 2
The present embodiment discloses a surgical robot gripper, as shown in fig. 7-9, which includes an extension part and a driving unit of embodiment 1, and is different from the embodiment 1 in that, as shown in fig. 7, a specific embodiment of the present invention includes:
the clamp comprises a first clamp 11, a second clamp 12 and an articulated seat 13, wherein the first clamp and the second clamp are articulated on the articulated seat, the articulated shafts of the first clamp and the second clamp are coaxial, the first clamp and the second clamp are respectively provided with a rotating channel 111, the far end of an inner rod is provided with a clamping column 221, the clamping column is clamped into the rotating channels of the first clamp and the second clamp, the inner rod moves axially, the first clamp and the second clamp are driven to open and close through the clamping column, and the inner rod axially and automatically drives the first clamp and the second clamp to axially and automatically rotate;
further, as shown in fig. 9, the actuator unit further includes a bearing 18, which is located between the hinge seat and the outer tube, so that the hinge seat can rotate relative to the outer tube, and thus the driving unit can rotate relative to the outer tube.
The present embodiment also discloses a surgical robotic forceps, comprising:
the drive unit of embodiment 1;
an extension portion;
in the execution units of embodiment 2 and embodiment 1, the extension part is respectively connected with the driving unit and the execution unit, and the driving unit controls the execution unit to perform a surgical operation instruction through the extension part.
The embodiment discloses a surgical robot, which is characterized by comprising a clamp and a surgical robot body, wherein the clamp is arranged on the surgical robot body.
Example 3
This embodiment discloses a replaceable surgical robotic instrument extension that can be used with the jaws of embodiments 1 and 2. as shown in fig. 10, the extension includes a first extension 200 and a second extension 300, the first extension 200 is connected to the implement end of the instrument, the first extension includes a first outer tube and a first inner rod 210 inside the first outer tube, the second extension 300 is detachably connected to the first extension, the second extension is connected to the drive unit of the instrument, the second extension includes a second outer tube 320 and a second inner rod 310 inside the second outer tube;
as shown in fig. 11, the first outer tube is detachably connected to the second outer tube, the first inner rod is detachably connected to the second inner rod, when the first inner rod is connected to the second inner rod, the first inner rod can rotate synchronously with the rotation of the second inner rod, and the first inner rod can move synchronously with the axial movement of the first inner rod.
As shown in fig. 12, the first inner rod comprises a first inner rod body 211, a fixing piece 212 and a clamping rod 213, one end of the fixing piece is hinged to the first inner rod body, the other end of the fixing piece is a clamping portion, the hinge shaft is parallel to the axial direction of the first inner rod, the clamping portion can rotate around the hinge shaft, the fixing piece is provided with a channel 2121, the clamping rod can be clamped into the channel, the clamping rod can be fixed 220 by a first outer tube to limit the rotation of the fixing piece, the first inner rod body is provided with an insertion groove 2111, a part of the second inner rod can enter the insertion groove, a fixing groove 312 is formed in the second inner rod, and when the clamping rod 213 is taken out from the channel of the fixing piece, the fixing piece rotates around the hinge shaft to enable the clamping portion of the fixing piece to enter the fixing groove of the second inner rod so as to fix.
As shown in fig. 11, the first outer tube and the first inner rod are provided with holes for fixing the clamping rod, and the holes of the first outer tube and the first inner rod correspond to the channel 2121 of the fixing member, so that the clamping rod can penetrate through the fixing member, the first inner rod and the first outer tube to fix the position of the fixing member.
As shown in fig. 12-13, the first inner rod body is provided with a rotation column 214, the rotation column and the first inner rod body are integrally formed, the fixing member is hinged on the rotation column 214, the fixing member and the first inner rod body are provided with a spring 215, the spring can be preloaded, the spring drives the fixing member to rotate so that the clamping portion of the fixing member is clamped into the fixing groove, specifically, as shown in fig. 12, as the clamping rod penetrates through the fixing member to fix the fixing member on the left side, the spring is preloaded, the fixing member has a tendency of turning right, the execution unit and the first extension portion can form a whole replaceable consumable, and the second extension portion and the driving unit are connected with a surgical instrument. When the special needs that need the operation need change the consumptive material, the initial state of consumptive material is the spring preloaded, the mounting is located left state, insert the second of second extension portion in the insertion groove this time, the design of insertion groove makes the second in pole male the mounting and the second in pole on the fixed slot corresponding, later take out the kelly from the above, the mounting turns left under the effort of spring, make the card portion of mounting just can block into in the fixed slot, it is further, first outer tube and second outer tube can pass through the buckle, modes such as screws are connected, the preferred connected mode that does not need other parts through buckle etc..
When the consumptive material needs to be taken out, the hole of the first outer tube of kelly follow lower part and first interior pole is inserted during this time, the head of kelly can support the downside of mounting, the mounting can slow left turn, card portion takes out from the fixed slot of pole in the second, go into the passageway of mounting until kelly card, card portion takes out from the fixed slot of pole in the second completely, pole and first interior pole separation in the second, synchronous with first outer tube and the separation of second outer tube, then first extension and the complete separation of second extension.
According to the extension part, the first inner rod and the second inner rod are only required to be provided with holes on the side surface when being combined and separated, the outer part is not required on the side surface, the first inner rod and the first outer tube of the first extension part are fixed through the clamping rods, the position is not prone to shifting, and the accuracy of a surgical instrument is kept. When the clamping rod is used, the first extending part and the second extending part can be installed in place by drawing out the clamping rod, and no additional part is needed. The surface of the outer tube does not need to be changed and can keep the original shape.
In a preferred embodiment, as shown in fig. 17, the fixing member is provided with a sliding groove 2122, the sliding groove extends to the passage opening 2121, the sliding groove slides the clamping rod into the groove 2121, when the fixing member rotates to the rightmost side, the clamping rod enters from the hole, the end of the clamping rod first contacts the sliding groove 2122 to push the clamping rod, the clamping rod drives the fixing member to rotate until the clamping rod enters into the groove 2121, the sliding groove can reduce the interference friction between the clamping rod and the fixing member, so that the fixing member can rotate more flexibly, and the pushing force of the clamping rod is saved.
In a further preferred embodiment, as shown in fig. 14 and 15, the first inner rod body insertion groove has a semicircular cross section, and the second inner rod is provided with an insertion projection 311 which is inserted into the insertion groove and fixes the first inner rod and the second inner rod to restrict the first inner rod and the second inner rod from rotating relatively to the axial direction.
In a further preferred embodiment, as shown in fig. 16, the end of the latch rod is a pointed shape to enable the latch rod to slide into the channel on the surface of the fixing member, and the pointed shape can be attached to the fixing member when the latch rod contacts the fixing member, so as to reduce the friction force between the latch rod and the fixing member.
Claims (6)
1. A replaceable surgical robotic instrument extension, the extension comprising: a first elongated portion (200) connected to the implement end of the instrument, the first elongated portion including a first outer tube and a first inner rod (210) located inside the first outer tube;
a second elongated portion (300) detachably connected to the first elongated portion, the second elongated portion being connected to a drive unit of the instrument, said second elongated portion comprising a second outer tube (320) and a second inner rod (310) located inside the second outer tube;
the first outer tube and the second outer tube are detachably connected, the first inner rod and the second inner rod are detachably connected, when the first inner rod and the second inner rod are connected, the first inner rod can synchronously rotate along with the rotation of the second inner rod, and the first inner rod can synchronously move along with the axial movement of the second inner rod;
the first inner rod comprises a first inner rod body (211), a fixing piece (212) and a clamping rod (213), one end of the fixing piece is hinged on the first inner rod body, the other end of the fixing piece is a clamping part, a hinged shaft of the fixing piece and the first inner rod body is parallel to the axial direction of the first inner rod, the clamping part can rotate around the hinged shaft, the fixing piece is provided with a channel (2121), the clamping rod can penetrate through the channel and can be fixed by the first outer pipe (220) and the first inner rod (210) so as to limit the rotation of the fixing piece, the first inner rod body is provided with an insertion groove (2111), the second inner rod can enter the insertion groove, the second inner rod is provided with a fixed groove (312), when the catching bar (213) is withdrawn from the passage of the fixing member, the fixing member rotates about the hinge shaft to allow the catching portion of the fixing member to enter the fixing groove of the second inside bar to fix the first inside bar and the second inside bar.
2. The interchangeable surgical robotic instrument extension of claim 1, wherein the first outer tube defines a hole for securing a clamping bar.
3. The interchangeable surgical robotic instrument extension of claim 2, wherein the first inner rod body is provided with a rotation post (214), the securing member is hinged to the rotation post (214), and the securing member and the first inner rod body are provided with a spring (215) that drives the securing member to rotate such that the locking portion of the securing member snaps into the securing slot.
4. The interchangeable surgical robotic instrument extension of claim 3, wherein the mount is provided with a sliding slot (2122) extending into the channel (2121), the sliding slot sliding the catch into the channel (2121).
5. The interchangeable surgical robotic instrument extension of claim 4, wherein the first inner rod body insertion slot is semi-circular in cross-section and the second inner rod body insertion slot is provided with an insertion protrusion (311) that is inserted into the insertion slot and secures the first inner rod and the second inner rod to limit relative axial rotation of the first inner rod and the second inner rod.
6. The interchangeable surgical robotic instrument extension of claim 5, wherein the distal end of the catch bar is pointed to enable the catch bar to slide into the channel at the surface of the fastener.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910995672.3A CN110623729B (en) | 2019-10-18 | 2019-10-18 | Replaceable surgical robot extension part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910995672.3A CN110623729B (en) | 2019-10-18 | 2019-10-18 | Replaceable surgical robot extension part |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110623729A CN110623729A (en) | 2019-12-31 |
| CN110623729B true CN110623729B (en) | 2020-05-08 |
Family
ID=68976739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910995672.3A Expired - Fee Related CN110623729B (en) | 2019-10-18 | 2019-10-18 | Replaceable surgical robot extension part |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110623729B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111134850B (en) * | 2020-02-09 | 2023-11-24 | 深圳市精锋医疗科技股份有限公司 | Drive box, operation arm and surgical robot |
| CN111568553B (en) * | 2020-04-26 | 2021-05-11 | 青岛大学附属医院 | Quick-replaceable minimally invasive robot end surgical instrument |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5752973A (en) * | 1994-10-18 | 1998-05-19 | Archimedes Surgical, Inc. | Endoscopic surgical gripping instrument with universal joint jaw coupler |
| CN101883529A (en) * | 2007-11-30 | 2010-11-10 | 伊西康内外科公司 | Folded ultrasonic end effectors with increased active length |
| CN104783868A (en) * | 2014-01-20 | 2015-07-22 | 北京安和加利尔科技有限公司 | Ultrasonic scalpel bar with replaceable scalpel head |
| CN107260313A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN208989013U (en) * | 2017-09-29 | 2019-06-18 | 刘雯雯 | A kind of hemorrhoid ligation cutter |
| CN209018856U (en) * | 2018-08-30 | 2019-06-25 | 广州市天鹰精密工具有限公司 | A kind of bone surgery is with can turn to grinding attachment |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4391762B2 (en) * | 2003-05-08 | 2009-12-24 | オリンパス株式会社 | Surgical instrument |
| EP2016913B1 (en) * | 2007-07-20 | 2010-03-03 | Richard Wolf GmbH | Endoscopic instrument |
-
2019
- 2019-10-18 CN CN201910995672.3A patent/CN110623729B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5752973A (en) * | 1994-10-18 | 1998-05-19 | Archimedes Surgical, Inc. | Endoscopic surgical gripping instrument with universal joint jaw coupler |
| CN101883529A (en) * | 2007-11-30 | 2010-11-10 | 伊西康内外科公司 | Folded ultrasonic end effectors with increased active length |
| CN104783868A (en) * | 2014-01-20 | 2015-07-22 | 北京安和加利尔科技有限公司 | Ultrasonic scalpel bar with replaceable scalpel head |
| CN107260313A (en) * | 2017-07-31 | 2017-10-20 | 成都中科博恩思医学机器人有限公司 | The operating theater instruments and operating robot of operating robot |
| CN208989013U (en) * | 2017-09-29 | 2019-06-18 | 刘雯雯 | A kind of hemorrhoid ligation cutter |
| CN209018856U (en) * | 2018-08-30 | 2019-06-25 | 广州市天鹰精密工具有限公司 | A kind of bone surgery is with can turn to grinding attachment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110623729A (en) | 2019-12-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110623729B (en) | Replaceable surgical robot extension part | |
| JP6009840B2 (en) | Medical equipment | |
| JP5931497B2 (en) | Surgery support apparatus and assembly method thereof | |
| US7273488B2 (en) | High-rigidity forceps tip assembly for active forceps and active forceps equipped with the same | |
| CN110613509B (en) | Surgical operation robot clamp execution unit | |
| CN103930056B (en) | Medical treatment instrument and the manipulator including this medical treatment instrument | |
| JP6856363B2 (en) | Powered endoscopic suture device | |
| US20050043758A1 (en) | Endoscopic medical instrument and related methods of use | |
| TWI695701B (en) | End effector and end effector drive apparatus | |
| JP2005261734A (en) | Treatment tool for endoscope and endoscope treatment system | |
| CN110840524A (en) | Tumor clamp for surgical robot | |
| WO2013062132A1 (en) | Medical manipulator | |
| KR20200030209A (en) | Multi degree-of-freedom laparoscopic apparatus using disposable surgical robot tool | |
| CN110680501B (en) | Surgical operation robot clamp driving unit | |
| CN110575258B (en) | Medical surgical instrument and surgical robot | |
| CN109223173B (en) | A kind of department of stomatology multi-angle operation electric coagulation forceps | |
| CN112971873A (en) | Surgical instrument | |
| CN111568553A (en) | Quick-replaceable minimally invasive robot end surgical instrument | |
| CN110934643B (en) | Tumor surgery robot instrument assembly with dual-drive structure | |
| CN217548210U (en) | Laparoscopic surgery instrument and surgical robot | |
| CN110575257B (en) | Surgical robot surgical equipment | |
| CN214434487U (en) | Surgical instrument, actuator and surgical robot | |
| CN110811841A (en) | Rotary piece of tumor surgical robot | |
| KR100982581B1 (en) | Anastomosis apparatus of rotational and translational movement for tubular organ | |
| CN114010265B (en) | Surgical clamp for surgical robot and surgical robot |
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 | ||
| CB03 | Change of inventor or designer information |
Inventor after: Wen Junfeng Inventor after: Other inventor requests not to publish the name Inventor before: Request for anonymity |
|
| CB03 | Change of inventor or designer information | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20200414 Address after: 266000 Shandong city of Qingdao province Jiangsu City Road No. 16 Applicant after: THE AFFILIATED HOSPITAL OF QINGDAO University Address before: 610000 unit 1, building 7, Tianfu New Valley, No. 399, west section of Fucheng Avenue, hi tech Zone, Chengdu, Sichuan Province Applicant before: Yang Rui |
|
| TA01 | Transfer of patent application right | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200508 Termination date: 20201018 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |