CN113729960B - 一种介入手术机器人主端控制模组 - Google Patents
一种介入手术机器人主端控制模组 Download PDFInfo
- Publication number
- CN113729960B CN113729960B CN202111009832.6A CN202111009832A CN113729960B CN 113729960 B CN113729960 B CN 113729960B CN 202111009832 A CN202111009832 A CN 202111009832A CN 113729960 B CN113729960 B CN 113729960B
- Authority
- CN
- China
- Prior art keywords
- operating
- robot
- rod
- control module
- handle
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 claims description 8
- 230000000875 corresponding effect Effects 0.000 claims description 7
- 238000006073 displacement reaction Methods 0.000 claims description 7
- 230000001788 irregular Effects 0.000 claims description 4
- 238000013152 interventional procedure Methods 0.000 claims 9
- 230000002792 vascular Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000008676 import Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- 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]
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Molecular Biology (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (10)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/CN2022/097921 WO2022258021A1 (zh) | 2021-06-10 | 2022-06-09 | 一种介入手术机器人主端控制模组 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202110649908 | 2021-06-10 | ||
CN2021106499085 | 2021-06-10 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN113729960A CN113729960A (zh) | 2021-12-03 |
CN113729960B true CN113729960B (zh) | 2024-03-29 |
Family
ID=78734067
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN202111009832.6A Active CN113729960B (zh) | 2021-06-10 | 2021-08-31 | 一种介入手术机器人主端控制模组 |
Country Status (2)
Country | Link |
---|---|
CN (1) | CN113729960B (zh) |
WO (1) | WO2022258021A1 (zh) |
Families Citing this family (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113729961B (zh) * | 2021-06-10 | 2024-03-29 | 深圳爱博合创医疗机器人有限公司 | 一种介入手术机器人主端操作手柄 |
CN113729960B (zh) * | 2021-06-10 | 2024-03-29 | 深圳爱博合创医疗机器人有限公司 | 一种介入手术机器人主端控制模组 |
CN117084797A (zh) * | 2023-08-25 | 2023-11-21 | 中国科学院自动化研究所 | 血管介入手术机器人的主端操作器力反馈装置及方法 |
CN116807622B (zh) * | 2023-08-29 | 2023-11-24 | 北京唯迈医疗设备有限公司 | 一种介入机器人推杆式力反馈主端控制装置 |
CN117323020A (zh) * | 2023-10-11 | 2024-01-02 | 上海神玑医疗科技有限公司 | 一种手术机器人主控端操作手柄单元及主控端操作平台 |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103599586A (zh) * | 2013-11-20 | 2014-02-26 | 中国科学院深圳先进技术研究院 | 血管介入手术导丝导管远程操控装置 |
CN108472100A (zh) * | 2016-01-26 | 2018-08-31 | 索尼公司 | 握力感觉反馈装置和触笔式力感觉反馈装置 |
CN110236686A (zh) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人主端操作装置及控制方法 |
CN110974423A (zh) * | 2019-12-20 | 2020-04-10 | 郑州大学 | 一种用于胃肠镜手术的带力反馈的两自由度主手 |
CN111449758A (zh) * | 2020-04-09 | 2020-07-28 | 山东大学 | 一种用于连续体手术机器人的主操作手及手术机器人 |
Family Cites Families (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2010025338A1 (en) * | 2008-08-29 | 2010-03-04 | Corindus Ltd. | Catheter control system and graphical user interface |
US10849702B2 (en) * | 2013-03-15 | 2020-12-01 | Auris Health, Inc. | User input devices for controlling manipulation of guidewires and catheters |
US10363164B2 (en) * | 2015-08-11 | 2019-07-30 | The Johns Hopkins University | Tool and tool system having independent axial and transverse force sensing |
CN105662588B (zh) * | 2016-03-16 | 2018-06-29 | 北京理工大学 | 一种主从式微创血管介入手术远程操作系统 |
CN109481022A (zh) * | 2018-11-14 | 2019-03-19 | 李兴国 | 一种主从操作血管介入手术机器人的主手端操作机构 |
CN110215287A (zh) * | 2019-03-29 | 2019-09-10 | 上海联影医疗科技有限公司 | 一种主从式医疗操控系统 |
CN110141365B (zh) * | 2019-05-06 | 2021-01-26 | 清华大学 | 模拟医生手术操作的血管介入手术辅助装置遥控系统 |
CN111973278A (zh) * | 2019-05-21 | 2020-11-24 | 复旦大学 | 一种血管微创介入手术机器人的主手端操作机构 |
CN113729960B (zh) * | 2021-06-10 | 2024-03-29 | 深圳爱博合创医疗机器人有限公司 | 一种介入手术机器人主端控制模组 |
-
2021
- 2021-08-31 CN CN202111009832.6A patent/CN113729960B/zh active Active
-
2022
- 2022-06-09 WO PCT/CN2022/097921 patent/WO2022258021A1/zh unknown
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103599586A (zh) * | 2013-11-20 | 2014-02-26 | 中国科学院深圳先进技术研究院 | 血管介入手术导丝导管远程操控装置 |
CN108472100A (zh) * | 2016-01-26 | 2018-08-31 | 索尼公司 | 握力感觉反馈装置和触笔式力感觉反馈装置 |
CN110236686A (zh) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | 一种介入手术机器人主端操作装置及控制方法 |
CN110974423A (zh) * | 2019-12-20 | 2020-04-10 | 郑州大学 | 一种用于胃肠镜手术的带力反馈的两自由度主手 |
CN111449758A (zh) * | 2020-04-09 | 2020-07-28 | 山东大学 | 一种用于连续体手术机器人的主操作手及手术机器人 |
Also Published As
Publication number | Publication date |
---|---|
WO2022258021A1 (zh) | 2022-12-15 |
CN113729960A (zh) | 2021-12-03 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
CN113729960B (zh) | 一种介入手术机器人主端控制模组 | |
CN113729961B (zh) | 一种介入手术机器人主端操作手柄 | |
WO2021147177A1 (zh) | 一种带导丝导管推进阻力反馈的血管介入机器人操作手柄 | |
CN107374738B (zh) | 一种介入手术机器人从端及其移动平台 | |
CN110141365B (zh) | 模拟医生手术操作的血管介入手术辅助装置遥控系统 | |
CN110801571B (zh) | 介入栓塞手术导丝导管操纵装置 | |
CN113729965B (zh) | 一种介入手术机器人主端控制装置 | |
EP2218396B1 (en) | Robotic manipulator for the remote maneuvering of catheters | |
JP6837774B2 (ja) | カテーテルおよびガイドワイヤ連携挿入システム | |
CN105662586A (zh) | 一种导管导丝协同推送的介入手术机器人及其控制方法 | |
US20150090065A1 (en) | Linear driving mechanism with self-weight compensation, operation input device, and surgery assistance system | |
CN215874929U (zh) | 一种介入手术机器人控制主端 | |
CN101904771B (zh) | 微创血管介入手术机器人送管机构的控制装置 | |
CN108888848A (zh) | 一种微细丝管精密介入操作的机器人机械系统 | |
CN113749779B (zh) | 一种具有防误碰功能的介入手术机器人主端控制装置 | |
Bao et al. | Design and evaluation of a novel guidewire navigation robot | |
CN219895907U (zh) | 消融针推进装置 | |
CN116212194A (zh) | 导丝导管递送装置和血管介入手术机器人 | |
CN107374741B (zh) | 一种介入手术机器人从端装置及其操作平台 | |
CN115553926A (zh) | 主手操控器、用于穿刺机器人的主手操控器及机器人系统 | |
CN111047940B (zh) | 一种基于血管介入手术训练系统的手控操作装置 | |
CN212308037U (zh) | 导管机器人手术支架及导管机器人 | |
CN206819166U (zh) | 一种用于远程控制医疗器械的控制系统 | |
CN215874932U (zh) | 一种介入手术机器人主端控制模组 | |
CN219306926U (zh) | 一种用于机器人的主手操控装置及其手术机器人 |
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 | ||
REG | Reference to a national code |
Ref country code: HK Ref legal event code: DE Ref document number: 40063982 Country of ref document: HK |
|
CB02 | Change of applicant information | ||
CB02 | Change of applicant information |
Country or region after: China 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. Country or region before: China |
|
GR01 | Patent grant | ||
GR01 | Patent grant |