CN112545654A - 一种微创手术机器人用模块化柔性器械臂 - Google Patents
一种微创手术机器人用模块化柔性器械臂 Download PDFInfo
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- CN112545654A CN112545654A CN202011402477.4A CN202011402477A CN112545654A CN 112545654 A CN112545654 A CN 112545654A CN 202011402477 A CN202011402477 A CN 202011402477A CN 112545654 A CN112545654 A CN 112545654A
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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CN202011402477.4A CN112545654B (zh) | 2020-12-04 | 2020-12-04 | 一种微创手术机器人用模块化柔性器械臂 |
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CN202011402477.4A CN112545654B (zh) | 2020-12-04 | 2020-12-04 | 一种微创手术机器人用模块化柔性器械臂 |
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CN112545654A true CN112545654A (zh) | 2021-03-26 |
CN112545654B CN112545654B (zh) | 2022-04-19 |
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023231804A1 (zh) * | 2022-05-31 | 2023-12-07 | 四川省肿瘤医院 | 一种弯曲机构及应用该机构的手术机械臂 |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1843301A (zh) * | 2005-04-07 | 2006-10-11 | 伊西康内外科公司 | 具有单枢轴闭合和双枢轴框架底的关节运动轴的外科器械 |
US20060289602A1 (en) * | 2005-06-23 | 2006-12-28 | Ethicon Endo-Surgery, Inc. | Surgical instrument with articulating shaft with double pivot closure and single pivot frame ground |
CN209611304U (zh) * | 2018-03-09 | 2019-11-12 | 山东大学齐鲁医院 | 一种具有移动定位关节的单孔手术机器人的整体布局结构 |
CN110882017A (zh) * | 2019-12-05 | 2020-03-17 | 天津大学 | 基于异形齿轮传动的双向弯曲微创手术器械 |
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- 2020-12-04 CN CN202011402477.4A patent/CN112545654B/zh active Active
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN1843301A (zh) * | 2005-04-07 | 2006-10-11 | 伊西康内外科公司 | 具有单枢轴闭合和双枢轴框架底的关节运动轴的外科器械 |
US20060289602A1 (en) * | 2005-06-23 | 2006-12-28 | Ethicon Endo-Surgery, Inc. | Surgical instrument with articulating shaft with double pivot closure and single pivot frame ground |
CN209611304U (zh) * | 2018-03-09 | 2019-11-12 | 山东大学齐鲁医院 | 一种具有移动定位关节的单孔手术机器人的整体布局结构 |
CN110882017A (zh) * | 2019-12-05 | 2020-03-17 | 天津大学 | 基于异形齿轮传动的双向弯曲微创手术器械 |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2023231804A1 (zh) * | 2022-05-31 | 2023-12-07 | 四川省肿瘤医院 | 一种弯曲机构及应用该机构的手术机械臂 |
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Inventor after: Gao Yongzhuo Inventor after: Du Zhijiang Inventor after: Wang Haodong Inventor after: Wang Xiaolong Inventor before: Du Zhijiang Inventor before: Gao Yongzhuo Inventor before: Wang Haodong Inventor before: Wang Xiaolong |
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Effective date of registration: 20220629 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 |