CN113180833A - Robot docking device and medical robot - Google Patents
Robot docking device and medical robot Download PDFInfo
- Publication number
- CN113180833A CN113180833A CN202110466080.XA CN202110466080A CN113180833A CN 113180833 A CN113180833 A CN 113180833A CN 202110466080 A CN202110466080 A CN 202110466080A CN 113180833 A CN113180833 A CN 113180833A
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- data communication
- head
- communication port
- docking device
- conductive connecting
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 31
- 238000004891 communication Methods 0.000 claims abstract description 50
- 238000012423 maintenance Methods 0.000 abstract description 6
- 230000009286 beneficial effect Effects 0.000 abstract description 4
- 230000007246 mechanism Effects 0.000 description 7
- 239000002245 particle Substances 0.000 description 6
- 210000001503 joint Anatomy 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000001959 radiotherapy Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 206010028980 Neoplasm Diseases 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 238000009434 installation Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 201000011510 cancer Diseases 0.000 description 2
- 238000001125 extrusion Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000002285 radioactive effect Effects 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000005180 public health Effects 0.000 description 1
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Classifications
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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
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
Abstract
The invention discloses a robot docking device and a medical robot. The female head is provided with a sliding chute, and a first conductive connecting piece and a first data communication port are arranged on the sliding chute; the male head is provided with a sliding block matched with the sliding groove, a second conductive connecting piece and a second data communication port are arranged on the sliding block, the second conductive connecting piece is matched with the first conductive connecting piece, the second data communication port is matched with the first data communication port, and the male head is connected with the female head through the sliding block. The robot docking device simultaneously realizes connection between the male head and the female head, power supply between the male head and the female head and data communication between the male head and the female head, is more convenient and more stable in connection between the male head and the female head, and is convenient for disassembly and daily maintenance between the male head and the female head, thereby being beneficial to improving the reliability of docking.
Description
Technical Field
The invention relates to the technical field of medical robots, in particular to a robot docking device and a medical robot.
Background
Malignant tumors have become one of the important public health problems which seriously affect the health of the national people in China. The internal radiotherapy technology is a continuation of the radiotherapy technology, in which radioactive particles are placed inside a target tumor by an interventional method such as puncture, and a low-dose radioactive source is used to continuously irradiate the tumor in a small range to treat cancer, so that compared with the traditional radiotherapy, the internal radiotherapy technology has fewer side effects and lower damage to surrounding healthy tissues. However, the particle puncturing and implanting operation of internal radiotherapy requires a doctor to be in a radiation environment together with a patient all the way, which causes continuous radiation damage to the operator, so that performing the puncturing and particle implanting operation by using a medical robot instead of manual operation has become a major problem today.
When the robot is used for carrying out the particle puncture operation, an operator controls a mechanical arm and a puncture executing mechanism which are positioned at a patient position at a far-end master-slave control center, and simultaneously, under the assistance of positioning and navigation software, the actions of inserting/pulling out a puncture needle, advancing/retreating a particle thimble, filling particles and the like of a doctor hand are simulated, so that the interventional operation is completed. The puncture executing mechanism and the positioning mechanical arm are two independent integrated modules, and the two mechanisms are reliably butted when the equipment is installed. At present, some schemes adopt a rotating mode and adopt an internal power system for driving, and a puncture executing mechanism is connected to a positioning mechanical arm.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a robot docking device which can improve the reliability of docking.
The invention also provides a medical robot comprising the robot docking device.
According to an embodiment of the first aspect of the invention, the robot docking device comprises: the female head is provided with a sliding groove, and a first conductive connecting piece and a first data communication port are arranged on the sliding groove; the male head is provided with a sliding block matched with the sliding groove, a second conductive connecting piece and a second data communication port are arranged on the sliding block, the second conductive connecting piece is matched with the first conductive connecting piece, the second data communication port is matched with the first data communication port, and the male head is connected with the female head through the sliding block.
The robot docking device provided by the embodiment of the invention at least has the following beneficial effects: the second conductive connecting piece is adaptive to the first conductive connecting piece, and when the sliding block of the male head slides into the sliding groove of the female head, the first conductive connecting piece is electrically connected with the second conductive connecting piece, so that power supply between the male head and the female head is realized. The second data communication port is adapted to the first data communication port, and when the sliding block of the male head slides into the sliding groove of the female head, the first data communication port is electrically connected with the second data communication port, so that data communication between the male head and the female head is realized. Namely, after the slider of public head slided into female first spout, can realize the rigidity between public head and the female head, realize the power supply between public head and the female head and realize data communication between public head and the female head for the butt joint is more convenient, and the installation effectiveness is higher, still is convenient for the dismantlement and the routine maintenance between public head and the female head, thereby improves the reliability.
According to some embodiments of the invention, the side wall of the sliding groove is provided with a limiting groove, and the sliding block is provided with a limiting part matched with the limiting groove, so that the stability of connection between the male head and the female head is improved.
According to some embodiments of the present invention, the first conductive connecting member is provided with an elastic bump, and the second conductive connecting member is provided with a groove adapted to the elastic bump, so that the power supply between the male connector and the female connector is more stable, and the connection stability between the male connector and the female connector is further improved.
According to some embodiments of the invention, the first end of the elastic lug and the second end of the elastic lug are both provided with a first chamfer, the first end of the elastic lug is located in the moving direction of the male head sliding into the female head, and the second end of the elastic lug is located in the moving direction of the male head sliding out of the female head, so that the male head can slide into or out of the female head conveniently.
According to some embodiments of the invention, the first conductive connecting piece is located on the bottom of the sliding groove, and the second conductive connecting piece is located on the bottom of the sliding block, so as to facilitate routing inside the male head and inside the female head.
According to some embodiments of the invention, the first conductive connecting part is located on a side wall of the sliding groove, and the second conductive connecting part is located on a side wall of the sliding block, so as to increase the stability of the connection between the male head and the female head.
According to some embodiments of the present invention, the first data communication port is located at the end of the sliding groove, and the second data communication port is located at the beginning of the sliding block, so as to facilitate data communication between the male head and the female head and also facilitate routing.
According to some embodiments of the invention, the beginning of the chute is provided with a guiding chamfer to facilitate sliding the slider into the chute.
The medical robot according to the second aspect of the present invention includes a puncture actuator, a positioning arm provided with a control unit, and a robot docking apparatus of the first aspect, wherein the puncture actuator is mounted on the male head, a power receiving port of the puncture actuator is electrically connected to the second conductive connecting element, a controlled port of the puncture actuator is electrically connected to the second data communication port, the female head is mounted on the positioning arm, a power supply port of the positioning arm is electrically connected to the first conductive connecting element, and a control port of the control unit is electrically connected to the first data communication port.
The medical robot according to the embodiment of the invention has at least the following beneficial effects: puncture actuating mechanism installs on public head, and female head is installed on the location arm for puncture actuating mechanism passes through public head, can be faster install on the location arm, and establish electrical connection, and the installation effectiveness is higher promptly. In addition, the puncture executing mechanism can be detached from the positioning mechanical arm more quickly, so that daily maintenance and replacement are facilitated, and the reliability of the medical robot is improved.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a robot docking device according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the docking of the male and female heads of the robotic docking device shown in FIG. 1;
FIG. 3 is an enlarged view of a portion of FIG. 2 circled at position A;
FIG. 4 is a schematic view of another perspective of the robotic docking device shown in FIG. 2;
fig. 5 is a block diagram showing a medical robot according to an embodiment of the present invention.
The reference numbers are as follows:
the connector comprises a female head 100, a sliding groove 110, a first conductive connecting piece 111, an elastic lug 111a, a first chamfer 111b, a first data communication port 112 and a limiting groove 113;
the male head 200, the sliding block 210, the second conductive connecting piece 211, the groove 211a, the second data communication port 212 and the limiting part 213;
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
First aspect
Referring to fig. 1, 2 and 4, a robot docking device includes a female head 100 and a male head 200. The female head 100 is provided with a sliding groove 110, and the sliding groove 110 is provided with a first conductive connecting piece 111 and a first data communication port 112; the male head 200 is provided with a sliding block 210 matched with the sliding groove 110, the sliding block 210 is provided with a second conductive connecting piece 211 and a second data communication port 212, the second conductive connecting piece 211 is matched with the first conductive connecting piece 111, the second data communication port 212 is matched with the first data communication port 112, and the male head 200 is connected with the female head 100 through the sliding block 210.
Specifically, the sliding block 210 of the male head 200 is slid into the sliding slot 110 of the female head 100, so as to connect the male head 200 and the female head 100; meanwhile, the first conductive connector 111 is electrically connected with the second conductive connector 211, so that power supply between the male connector 200 and the female connector 100 is realized; in addition, the first data communication port 112 is electrically connected to the second data communication port 212, so as to realize data communication between the male head 200 and the female head 100. In the whole process, the connection between the male head 200 and the female head 100 is quicker and simpler, and the disassembly and the daily maintenance between the male head 200 and the female head 100 are further facilitated, so that the butt joint between the execution unit of the puncture robot installed on the male head 200 and the mechanical arm of the puncture robot connected with the female head 100 is more reliable, namely, the reliability of the butt joint is improved.
It should be noted that, after the sliding block 210 slides into the sliding slot 110, the sliding block 210 can be prevented from falling off from the sliding slot 110 by the relative frictional resistance between the sliding block 210 and the sliding slot 110 without the external force.
Referring to fig. 1 and 2, a side wall of the sliding groove 110 is provided with a limiting groove 113, and the slider 210 is provided with a limiting portion 213 adapted to the limiting groove 113. Specifically, the limiting groove 113 is adapted to the limiting portion 213, that is, the limiting groove 113 can accommodate the limiting portion 213, so that the limiting groove 113 is in clearance fit with the limiting portion 213, and the slider 210 can only slide into the sliding slot 110 from one direction, thereby improving the stability of the connection after the slider 210 slides into the sliding slot 110, further stabilizing the electrical connection between the first conductive connecting member 111 and the second conductive connecting member 211, and stabilizing the electrical connection between the first data communication port 112 and the second data communication port 212, thereby improving the reliability of the docking.
Referring to fig. 3 and 4, the first conductive connecting member 111 is provided with an elastic bump 111a, and the second conductive connecting member 211 is provided with a groove 211a fitted with the elastic bump 111 a. Specifically, in the process of sliding the slider 210 into the sliding slot 110, the starting end of the slider 210 contacts the elastic projection 111a, and the elastic projection 111a is elastically deformed, so that the slider 210 continues to slide in, and the starting end of the slider 210 abuts against the end of the sliding slot 110. When the starting end of the slider 210 abuts against the end of the sliding slot 110, the elastic deformation of the elastic bump 111a partially or completely disappears and abuts against the groove 211a of the slider 210, so that the first conductive connecting piece 111 is electrically connected with the second conductive connecting piece 211; in addition, under the condition of no external force, the elastic protrusion 111a can clamp the slider 210 in the sliding groove 110, which is beneficial to improving the connection stability of the male head 200 and the female head 100, and making the power supply between the male head 200 and the female head 100 more stable, and making the data communication between the male head 200 and the female head 100 more stable, thereby improving the stability of the butt joint.
It should be noted that, the elastic protrusion 111a is adapted to the groove 211a, and the groove 211a can accommodate the elastic protrusion 111a, so that the elastic protrusion 111a abuts against the groove 211a, and the slider 210 is clamped in the sliding slot 110.
Referring to fig. 2 and 4, the starting end of the slider 210 is located at the front end in the direction indicated by the arrow B in the drawing; the sliding block 210 slides into the sliding slot 110 along the direction indicated by the arrow B, the beginning of the sliding slot 110 refers to the end of the sliding slot 110 that is first contacted with the beginning of the sliding block 210, and the end of the sliding slot 110 refers to the end of the sliding slot 110 that is last contacted with the beginning of the sliding block 210.
Referring to fig. 3, the first end of the elastic protrusion 111a and the second end of the elastic protrusion 111a are both provided with a first chamfer 111b, the first end of the elastic protrusion 111a is located in the moving direction of the male head 200 sliding into the female head 100, and the second end of the elastic protrusion 111a is located in the moving direction of the male head 200 sliding out of the female head 100. Specifically, the first chamfer 111b is arranged to make the elastic lug 111a more easily elastically deform under the extrusion of the slider 210 when the starting end of the slider 210 is in contact with the elastic lug 111a during the process of sliding the male head 200 into the female head 100, so that the starting end of the slider 210 crosses over the elastic lug 111a and abuts against the tail end of the sliding groove 110; or, in the process of sliding the male head 200 out of the female head 100, the elastic protrusion 111a is more easily elastically deformed under the extrusion of the side wall of the groove 211a, so that the slider 210 slides out of the sliding slot 110. That is, the first chamfer 111b is provided to facilitate the connection between the male head 200 and the female head 100 and the detachment between the male head 200 and the female head 100, thereby facilitating the routine maintenance and improving the reliability of the butt joint.
It should be noted that, referring to fig. 2 and 4, in the present embodiment, the first conductive connecting element 111 is located on the bottom of the sliding slot 110, and the second conductive connecting element 211 is located on the bottom of the sliding block 210, so as to facilitate routing inside the male head 200 and inside the female head 100; or, in other embodiments, the first conductive connecting part 111 is located on the sidewall of the sliding slot 110, and the second conductive connecting part 211 is located on the sidewall of the slider 210, so that after the elastic protrusion 111a abuts against the groove 211a, the sidewall of the slider 210 abuts against the sidewall of the sliding slot 110, and the slider 210 is clamped in the sliding slot 110, so as to increase the stability and reliability of the connection between the male head 200 and the female head 100. For example, the first conductive connecting member 111 is located on the left sidewall of the sliding slot 110, and the elastic protrusion 111a abuts on the groove 211a, so as to abut the right sidewall of the slider 210 on the right sidewall of the sliding slot 110; or, the first conductive connecting member 111 is located on the right sidewall of the sliding chute 110, and the elastic protrusion 111a abuts on the groove 211a, so as to abut the left sidewall of the slider 210 on the left sidewall of the sliding chute 110.
Referring to fig. 2, a first data communication port 112 is located on the end of the chute 110 and a second data communication port 212 is located on the beginning of the slider 210. Specifically, when the slider 210 slides into the sliding slot 110, and the start end of the slider 210 abuts against the end of the sliding slot 110, the first data communication port 112 and the second data communication port 212 are electrically connected in a plugging manner, that is, the first data communication port 112 is disposed at the end of the sliding slot 110, and the second data communication port 212 is disposed at the start end of the slider 210, so that the first data communication port 112 and the second data communication port 212 are electrically connected, and the internal routing of the male head 200 and the internal routing of the female head 100 are facilitated, thereby simplifying the structures of the male head 200 and the female head 100, and improving the reliability of the docking.
It should be noted that, in other embodiments, the starting end of the sliding slot 110 is provided with a guiding chamfer (not shown in the figures), so that before the starting end of the slider 210 slides into the sliding slot 110, the starting end of the slider 210 slides into the sliding slot 110 under the action of the guiding chamfer, that is, the slider 210 slides into the sliding slot 110 more easily, thereby making the male head 200 and the female head 100 more easily connected.
Second aspect of the invention
Referring to fig. 5, a medical robot includes a puncture actuator 300, a positioning mechanical arm 400 provided with a control unit 410, and a robot docking device of the first aspect having a partial or complete structure, where the puncture actuator 300 is installed on the male connector 200, a power receiving port of the puncture actuator 300 is electrically connected to the second conductive connector 211, a controlled port of the puncture actuator 300 is electrically connected to the second data communication port 212, the female connector 100 is installed on the positioning mechanical arm 400, a power supply port of the positioning mechanical arm 400 is electrically connected to the first conductive connector 111, and a control port of the control unit 410 is electrically connected to the first data communication port 112.
Specifically, the puncture actuator 300 is fixedly mounted on the male head 200, and establishes electrical connection with the male head 200; the female 100 is fixedly mounted on the positioning robot 400 and electrically connected to the positioning robot 400. Through the robot docking device, the puncture actuator 300 can be mounted on the positioning mechanical arm 400 more quickly, and corresponding electrical connection is established, so that the control unit 410 can control the puncture actuator 300 to work, and the mounting efficiency is improved. In addition, the puncture actuator 300 can be more easily and quickly detached from the positioning mechanical arm 400 through the robot docking device, which facilitates daily maintenance and replacement and improves the reliability of the medical robot.
In addition, the puncture actuator 300 may be attached to the female head 100 and the male head 200 may be attached to the positioning robot 400, as required.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (9)
1. A robotic docking device, comprising:
the female head is provided with a sliding groove, and a first conductive connecting piece and a first data communication port are arranged on the sliding groove;
the male head is provided with a sliding block matched with the sliding groove, a second conductive connecting piece and a second data communication port are arranged on the sliding block, the second conductive connecting piece is matched with the first conductive connecting piece, the second data communication port is matched with the first data communication port, and the male head is connected with the female head through the sliding block.
2. The robot docking device of claim 1, wherein a limiting groove is disposed on a side wall of the sliding groove, and a limiting portion adapted to the limiting groove is disposed on the sliding block.
3. The robot docking device of claim 1, wherein the first conductive connector has an elastic protrusion thereon, and the second conductive connector has a groove adapted to the elastic protrusion thereon.
4. The robot docking device of claim 3, wherein a first end of the elastic bump and a second end of the elastic bump are both provided with a first chamfer, the first end of the elastic bump is located in a moving direction of the male head sliding into the female head, and the second end of the elastic bump is located in a moving direction of the male head sliding out of the female head.
5. The robotic docking device of claim 3 or 4, wherein the first conductive connector is located on a bottom of the chute and the second conductive connector is located on a bottom of the slider.
6. The robotic docking device of claim 3 or 4, wherein the first conductive connector is located on a side wall of the chute and the second conductive connector is located on a side wall of the slider.
7. The robotic docking device of claim 1, wherein the first data communication port is located on an end of the chute and the second data communication port is located on a beginning of the slider.
8. The robot docking device of claim 1, wherein a leading end of the chute is provided with a guide chamfer.
9. A medical robot, comprising a puncture actuator, a positioning mechanical arm provided with a control unit, and the robot docking device as claimed in any one of claims 1 to 8, wherein the puncture actuator is mounted on the male head, a power receiving port of the puncture actuator is electrically connected to the second conductive connecting member, a controlled port of the puncture actuator is electrically connected to the second data communication port, the female head is mounted on the positioning mechanical arm, a power supply port of the positioning mechanical arm is electrically connected to the first conductive connecting member, and a control port of the control unit is electrically connected to the first data communication port.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110466080.XA CN113180833A (en) | 2021-04-28 | 2021-04-28 | Robot docking device and medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110466080.XA CN113180833A (en) | 2021-04-28 | 2021-04-28 | Robot docking device and medical robot |
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| Publication Number | Publication Date |
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| CN113180833A true CN113180833A (en) | 2021-07-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110466080.XA Pending CN113180833A (en) | 2021-04-28 | 2021-04-28 | Robot docking device and medical robot |
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| CN (1) | CN113180833A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114643549A (en) * | 2022-02-16 | 2022-06-21 | 中石化石油工程技术服务有限公司 | Assembling and disassembling tool and method for radioactive source head and sealing ring thereof |
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| CN202403215U (en) * | 2011-12-27 | 2012-08-29 | 林万炯 | Connecting structure for bar lights |
| US20200069381A1 (en) * | 2018-08-28 | 2020-03-05 | Medicaroid Corporation | Surgical instrument, robotic surgical system, and method of detaching surgical instrument attached to robot arm of robotic surgical system through adaptor |
| CN211530345U (en) * | 2020-02-20 | 2020-09-18 | 深圳易马达科技有限公司 | Connector and electronic device |
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2021
- 2021-04-28 CN CN202110466080.XA patent/CN113180833A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101051721A (en) * | 2007-05-11 | 2007-10-10 | 宜鼎国际股份有限公司 | SATA data connector |
| CN202403215U (en) * | 2011-12-27 | 2012-08-29 | 林万炯 | Connecting structure for bar lights |
| US20200069381A1 (en) * | 2018-08-28 | 2020-03-05 | Medicaroid Corporation | Surgical instrument, robotic surgical system, and method of detaching surgical instrument attached to robot arm of robotic surgical system through adaptor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114643549A (en) * | 2022-02-16 | 2022-06-21 | 中石化石油工程技术服务有限公司 | Assembling and disassembling tool and method for radioactive source head and sealing ring thereof |
| CN114643549B (en) * | 2022-02-16 | 2023-12-12 | 中石化石油工程技术服务有限公司 | Radioactive source head, dismounting tool and dismounting method for sealing ring of radioactive source head |
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