CN111110353A - 一种介入手术机器人的主端控制器 - Google Patents
一种介入手术机器人的主端控制器 Download PDFInfo
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- CN111110353A CN111110353A CN202010066127.9A CN202010066127A CN111110353A CN 111110353 A CN111110353 A CN 111110353A CN 202010066127 A CN202010066127 A CN 202010066127A CN 111110353 A CN111110353 A CN 111110353A
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- 230000007246 mechanism Effects 0.000 claims abstract description 105
- 238000001514 detection method Methods 0.000 claims abstract description 39
- 238000005259 measurement Methods 0.000 claims abstract description 22
- 230000001360 synchronised effect Effects 0.000 claims description 187
- 230000033001 locomotion Effects 0.000 claims description 26
- 230000000903 blocking effect Effects 0.000 claims description 4
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- 238000010168 coupling process Methods 0.000 claims description 3
- 238000005859 coupling reaction Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 3
- 238000000034 method Methods 0.000 abstract description 7
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- 230000008713 feedback mechanism Effects 0.000 description 3
- 230000036541 health Effects 0.000 description 3
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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
- A61B34/37—Master-slave robots
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Biomedical Technology (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)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
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CN202010066127.9A CN111110353B (zh) | 2020-01-20 | 2020-01-20 | 一种介入手术机器人的主端控制器 |
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CN202010066127.9A CN111110353B (zh) | 2020-01-20 | 2020-01-20 | 一种介入手术机器人的主端控制器 |
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CN111110353A true CN111110353A (zh) | 2020-05-08 |
CN111110353B CN111110353B (zh) | 2024-04-19 |
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CN202010066127.9A Active CN111110353B (zh) | 2020-01-20 | 2020-01-20 | 一种介入手术机器人的主端控制器 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114177480A (zh) * | 2021-08-19 | 2022-03-15 | 深圳高性能医疗器械国家研究院有限公司 | 适用于血管介入手术的导丝导管同轴驱动设备及控制方法 |
CN114442490A (zh) * | 2022-04-07 | 2022-05-06 | 杭州柳叶刀机器人有限公司 | 基于自适应力反馈的血管介入机器人系统主端控制方法 |
Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005039835A1 (en) * | 2003-10-24 | 2005-05-06 | The University Of Western Ontario | Force reflective robotic control system and minimally invasive surgical device |
US20070043338A1 (en) * | 2004-03-05 | 2007-02-22 | Hansen Medical, Inc | Robotic catheter system and methods |
CN103006327A (zh) * | 2012-12-03 | 2013-04-03 | 北京航空航天大学 | 一种主从式遥操作血管介入手术机器人 |
WO2016204437A1 (ko) * | 2015-06-16 | 2016-12-22 | 한양대학교에리카산학협력단 | 혈관중재시술로봇 및 혈관중재시술시스템 |
CN107307909A (zh) * | 2017-07-06 | 2017-11-03 | 北京理工大学 | 一种介入机器人远程操作系统及其控制方法 |
CN108888848A (zh) * | 2018-04-13 | 2018-11-27 | 上海交通大学 | 一种微细丝管精密介入操作的机器人机械系统 |
CN109730779A (zh) * | 2019-03-07 | 2019-05-10 | 天津理工大学 | 一种血管介入手术机器人导管导丝协同控制系统及方法 |
CN208989133U (zh) * | 2017-08-30 | 2019-06-18 | 首都医科大学附属北京天坛医院 | 一种机器人操作平台 |
CN212089720U (zh) * | 2020-01-20 | 2020-12-08 | 北京理工大学 | 一种介入手术机器人的主端控制器 |
-
2020
- 2020-01-20 CN CN202010066127.9A patent/CN111110353B/zh active Active
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2005039835A1 (en) * | 2003-10-24 | 2005-05-06 | The University Of Western Ontario | Force reflective robotic control system and minimally invasive surgical device |
US20070043338A1 (en) * | 2004-03-05 | 2007-02-22 | Hansen Medical, Inc | Robotic catheter system and methods |
CN103006327A (zh) * | 2012-12-03 | 2013-04-03 | 北京航空航天大学 | 一种主从式遥操作血管介入手术机器人 |
WO2016204437A1 (ko) * | 2015-06-16 | 2016-12-22 | 한양대학교에리카산학협력단 | 혈관중재시술로봇 및 혈관중재시술시스템 |
CN107307909A (zh) * | 2017-07-06 | 2017-11-03 | 北京理工大学 | 一种介入机器人远程操作系统及其控制方法 |
CN208989133U (zh) * | 2017-08-30 | 2019-06-18 | 首都医科大学附属北京天坛医院 | 一种机器人操作平台 |
CN108888848A (zh) * | 2018-04-13 | 2018-11-27 | 上海交通大学 | 一种微细丝管精密介入操作的机器人机械系统 |
CN109730779A (zh) * | 2019-03-07 | 2019-05-10 | 天津理工大学 | 一种血管介入手术机器人导管导丝协同控制系统及方法 |
CN212089720U (zh) * | 2020-01-20 | 2020-12-08 | 北京理工大学 | 一种介入手术机器人的主端控制器 |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114177480A (zh) * | 2021-08-19 | 2022-03-15 | 深圳高性能医疗器械国家研究院有限公司 | 适用于血管介入手术的导丝导管同轴驱动设备及控制方法 |
CN114177480B (zh) * | 2021-08-19 | 2024-01-30 | 深圳高性能医疗器械国家研究院有限公司 | 适用于血管介入手术的导丝导管同轴驱动设备及控制方法 |
CN114442490A (zh) * | 2022-04-07 | 2022-05-06 | 杭州柳叶刀机器人有限公司 | 基于自适应力反馈的血管介入机器人系统主端控制方法 |
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CN111110353B (zh) | 2024-04-19 |
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Effective date of registration: 20220106 Address after: 518000 runheng building 2515, 2008 CaiTian Road, Fushan community, Futian street, Futian District, Shenzhen City, Guangdong Province Applicant after: Shenzhen Investment rongmai Network Technology Co.,Ltd. Address before: 100081 No. 5 South Main Street, Haidian District, Beijing, Zhongguancun Applicant before: BEIJING INSTITUTE OF TECHNOLOGY |
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Effective date of registration: 20220215 Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo medical robot Co.,Ltd. Address before: 518000 runheng building 2515, 2008 CaiTian Road, Fushan community, Futian street, Futian District, Shenzhen City, Guangdong Province Applicant before: Shenzhen Investment rongmai Network Technology Co.,Ltd. |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. |
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