CN112545653B - 一种单孔手术机械臂的展开机构 - Google Patents
一种单孔手术机械臂的展开机构 Download PDFInfo
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- CN112545653B CN112545653B CN202011402446.9A CN202011402446A CN112545653B CN 112545653 B CN112545653 B CN 112545653B CN 202011402446 A CN202011402446 A CN 202011402446A CN 112545653 B CN112545653 B CN 112545653B
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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
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
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- Life Sciences & Earth Sciences (AREA)
- Biomedical Technology (AREA)
- Robotics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
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CN202011402446.9A CN112545653B (zh) | 2020-12-04 | 2020-12-04 | 一种单孔手术机械臂的展开机构 |
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CN202011402446.9A CN112545653B (zh) | 2020-12-04 | 2020-12-04 | 一种单孔手术机械臂的展开机构 |
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CN112545653A CN112545653A (zh) | 2021-03-26 |
CN112545653B true CN112545653B (zh) | 2022-04-19 |
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Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
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CN106426238B (zh) * | 2015-08-10 | 2019-02-12 | 北京空间飞行器总体设计部 | 腱-连杆混合传动的可自伸展两自由度机构 |
CN109091230B (zh) * | 2017-06-21 | 2020-12-18 | 山东威高手术机器人有限公司 | 一种微创手术主操作臂 |
CN111012504B (zh) * | 2019-12-23 | 2023-09-15 | 山东中科先进技术有限公司 | 一种绳驱动关节解耦机构 |
CN111658152B (zh) * | 2020-07-10 | 2021-09-07 | 山东大学 | 一种手术机械臂及内窥镜系统 |
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CB03 | Change of inventor or designer information |
Inventor after: Gao Yongzhuo Inventor after: Du Zhijiang Inventor after: Wang Xiaolong Inventor after: Wang Haodong Inventor before: Du Zhijiang Inventor before: Gao Yongzhuo Inventor before: Wang Xiaolong Inventor before: Wang Haodong |
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CB03 | Change of inventor or designer information | ||
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TR01 | Transfer of patent right |
Effective date of registration: 20220630 Address after: 150090 08, room 15, No. 368 Changjiang Road, Nangang District, Harbin, Heilongjiang. Patentee after: Harbin sizherui intelligent medical equipment Co.,Ltd. Address before: 150001 No. 92 West straight street, Nangang District, Heilongjiang, Harbin Patentee before: HARBIN INSTITUTE OF TECHNOLOGY |
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TR01 | Transfer of patent right |