CN113796965B - Detachable slave-end intervention operation robot driving device - Google Patents
Detachable slave-end intervention operation robot driving device Download PDFInfo
- Publication number
- CN113796965B CN113796965B CN202111158440.6A CN202111158440A CN113796965B CN 113796965 B CN113796965 B CN 113796965B CN 202111158440 A CN202111158440 A CN 202111158440A CN 113796965 B CN113796965 B CN 113796965B
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- seat
- power seat
- driving
- power
- butt joint
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- 210000001503 joint Anatomy 0.000 claims abstract description 18
- 238000009434 installation Methods 0.000 claims abstract description 9
- 238000012546 transfer Methods 0.000 claims description 20
- 238000002955 isolation Methods 0.000 claims description 12
- 230000007246 mechanism Effects 0.000 claims description 8
- 125000000524 functional group Chemical group 0.000 claims description 3
- 238000000926 separation method Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 230000002792 vascular Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- CWYNVVGOOAEACU-UHFFFAOYSA-N Fe2+ Chemical compound [Fe+2] CWYNVVGOOAEACU-UHFFFAOYSA-N 0.000 description 2
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 206010028980 Neoplasm Diseases 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 239000002872 contrast media Substances 0.000 description 1
- 229940039231 contrast media Drugs 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 201000011066 hemangioma Diseases 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000001575 pathological effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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
- A61B34/30—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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- 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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
Abstract
The utility model provides a removable from end intervention surgical robot drive arrangement, its includes power seat and drive seat, the drive seat includes the shell main part and is used for placing the function group of pipe/seal wire, be equipped with the installation face on the shell main part and be facing away from the installation face is equipped with and is used for holding the butt joint groove of power seat, works as the drive seat passes through butt joint groove detachably lock in the power seat, the power seat with be located the outer function group detachably of butt joint groove joins, in order to drive place in the pipe/seal wire motion of function group. The invention can quickly take down the damaged or polluted driving seat from the power seat, can replace driving seats with different functions according to actual use requirements, has good flexibility, is convenient for doctors to adjust according to operation requirements during actual operation, has strong practicability and has stronger popularization significance.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a detachable drive device for a slave-end interventional operation robot.
Background
The interventional therapy is a minimally invasive therapy by using modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as a catheter, a guide wire and the like are introduced into a human body to diagnose and treat the in vivo pathological condition locally.
The interventional therapy uses a digital technology, so that the visual field of a doctor is expanded, the guide wire prolongs the hands of the doctor by means of the catheter, and the incision (puncture point) of the guide wire is only in the size of rice grains, so that a plurality of diseases which cannot be treated in the past and have poor curative effects in surgical treatment or medical treatment, such as tumors, hemangiomas, various bleeding and the like, can be treated without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect, and is a development trend of future medicine.
For the vascular intervention operation, the traditional Chinese medicine needs to receive X-ray radiation for a long time, and a remote-operated master-slave vascular intervention operation robot is developed in the engineering. The master-slave vascular interventional operation robot can work in a strong radiation environment, so that a doctor can control the master-slave vascular interventional operation robot outside a ray environment.
The slave end operation robot needs to be driven by a corresponding transmission mechanism in the operation executing process, however, the transmission mechanism of the traditional operation robot is unreasonable in structural design, the whole structure is not flexible enough, and the damaged and polluted transmission mechanism or the transmission mechanism with different functions cannot be quickly replaced, so that great inconvenience is brought to a user.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a novel detachable slave-end interventional surgical robot driving device that addresses the shortcomings of the prior art.
The utility model provides a removable from end intervention surgical robot drive arrangement, its includes power seat and drive seat, the drive seat includes the shell main part and is used for placing the function group of pipe/seal wire, be equipped with installation face, isolation portion and back on the shell main part the installation face is equipped with the butt joint groove that is used for holding the power seat, be equipped with the end plate in the butt joint groove, the function group includes fixed box device install the Y valve in the fixed box device, pipe/seal wire includes the guide pipe, fixed box device includes and is located end plate with transfer device between the installation face, the Y valve includes the valve main part, locates the link of main part one end, the link is equipped with the drive ring, the guide pipe is installed the link, transfer device is including being located respectively the input and the output of isolation portion both sides, the output with the drive ring is connected, works as the drive seat passes through the butt joint groove detachably lock in the power seat, the power seat with input detachably joins, so that passes through the guide pipe drives motion.
Further, the power seat is attached to the stop plate and is positioned through the positioning mechanism.
Further, the stop plate is provided with a force taking hole, and the power seat penetrates through the force taking hole to be connected with the input end.
Further, the switching device further comprises a connecting shaft for connecting the input end and the output end, and the connecting shaft and the power seat are arranged on two sides of the stop plate.
Further, the connecting shaft penetrates through the isolation part.
Further, one side of the isolation part, which is away from the butt joint groove, is concaved inwards from the mounting surface towards the butt joint groove to form an outer space, the input end is arranged in the space formed by the isolation part, the stop plate and the mounting surface in the shell main body, and the output end of the switching device is arranged in the outer space.
Further, the input end and the output end of the transfer device are respectively a first transfer gear and a second transfer gear which are arranged at two ends of the connecting shaft, the power seat is meshed with the first transfer gear through a main driving gear of the power taking hole to transfer power, the connecting end is a luer connector, and the second transfer gear is used for driving the luer connector to enable a guide catheter connected to the luer connector to move.
Further, the first transfer gear and the main driving gear of the power seat are bevel gears.
Further, the second transfer gear drives the luer connector of the Y valve fixed on the functional group to rotate by using a spur gear.
Further, the stop plate and the power seat are fixed in a magnetic attraction mode.
In summary, the driving seat of the driving device of the detachable slave-end interventional operation robot can be freely disassembled from the power seat, and the power seat provides power for the replaced driving seat.
Drawings
FIG. 1 is a schematic diagram of a first driving seat and a power seat of a driving device of a detachable slave-end interventional operation robot after assembly;
FIG. 2 is a schematic view of the first driving seat and the power seat shown in FIG. 1 in another angle after being assembled;
FIG. 3 is a schematic diagram illustrating a structure of the first driving seat and the power seat shown in FIG. 2 when assembled;
FIG. 4 is a schematic view illustrating a structure of the first driving seat and the power seat shown in FIG. 3 at another angle;
FIG. 5 is an exploded view of the power seat of FIG. 4;
fig. 6 is a schematic structural view of the first driving seat of the present invention after the outer case is opened;
FIG. 7 is a schematic view of the first driving seat of FIG. 6 after the outer and inner covers are opened simultaneously;
FIG. 8 is a schematic diagram of the structure of a Y valve;
FIG. 9 is a schematic diagram of the first driving seat shown in FIG. 8 without a Y valve;
FIG. 10 is a cross-sectional view of the first drive socket;
FIG. 11 is a schematic diagram of the structure of the present invention when the second driving seat is assembled with the power seat;
FIG. 12 is a schematic view of the second driving seat and the power seat shown in FIG. 11 assembled at another angle;
fig. 13 is a schematic structural view of the second driving seat after the outer case is opened.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 13, the present invention provides a detachable slave-end interventional surgical robot driving device, which is mounted on a slave-end robot to implement a rotation or delivery operation of a medical instrument, wherein the detachable slave-end interventional surgical robot driving device comprises a power seat 10 and a driving seat, and the driving seat can be freely detached from the power seat 10. According to the actual use demand, take down the drive seat from power seat 10, change the drive seat of the same or different functions to the drive seat is disposable consumptive material, can not used repeatedly. In this embodiment, the driving seat may be a first driving seat 20 or a second driving seat 30 with different functions, different functional groups are disposed on the first driving seat 20 and the second driving seat 30, and the medical apparatus may be different types of guide wires or catheters (such as a guiding catheter 100, a balloon catheter, etc.).
The power seat 10 comprises a support plate 13, a plurality of driving groups 12 arranged between the base 16 and the support plate 13, and an outer cover 11 arranged on the support plate 13, wherein the outer cover 11 is coated on the outer sides of the support plate 13 and the driving groups 12, and the driving groups 12 penetrate through the support plate 13 and extend out of the outer cover 11.
In this embodiment, the number of the driving groups 12 is at least two, each driving group 12 includes a driving motor 122 and a main driving gear 121 connected to the driving motor 122, the main driving gear 121 is a bevel gear, the main driving gear 121 is disposed on the outer side of the housing 11, the driving motor 122 drives the main driving gear 121 to rotate, and the main driving gear 121 drives the first driving seat 20 or the second driving seat to work in the rotation process.
The first driving seat 20 includes a casing main body 21, a quick-crossing device 24, a fixed box device 23 and an outer box 22, a side surface of the casing main body 21 facing away from the power seat 10 is a mounting surface, and one end of the outer box 22 is pivoted with the mounting surface of the casing main body 21 through an outer connecting shaft 225. The outer case 22 is rotated around the axis of the outer connecting shaft 225 to open the outer case 22 to expose the snapclose device 24 and the fixed case device 23, or to cover the outer case 22 outside the snapclose device 24 and the fixed case device 23, and the edge portion of the outer case 22 and the case main body 21 are magnetically fixed by means of a magnet 221 and a ferrous element or a magnet 221 and a magnetic element.
The shell main body 21 is provided with a butt joint groove 211 at one end matched with the power seat 10, the shell main body 21 is provided with a stop plate 212 in the butt joint groove 211, the stop plate 212 is provided with a power taking hole 213, and the first driving seat 20 is matched with the power seat 10 through the butt joint groove 211. After installation, the stop plate 212 is attached to the power seat 10, in order to ensure that the cooperation between the stop plate 212 and the power seat 10 is stable, the stop plate 212 and the power seat 10 are positioned by a positioning mechanism, in this embodiment, the positioning mechanism adopts a magnetic attraction structure and a fastening structure, specifically, the outer surfaces of the stop plate 212 and the power seat 10 are magnetically attracted and fixed by adopting a mode of magnets 111 and iron-containing elements or magnets 111 and magnetic elements, the stop plate 212 is provided with a groove (not shown), the outer surface of the power seat 10 facing the first driving seat 20 is convexly provided with an alignment fastener 112, and the alignment fastener 112 is matched with the groove.
The quick-crossing device 24 and the fixing box device 23 are arranged on the mounting surface of the shell main body 21, one side of the fixing box device 23 far away from the quick-crossing device 24 is pivoted with the mounting surface through a steering shaft 235, one side of the fixing box device 23 can rotate around the steering shaft 235, and the angle of the Y valve 40 can be conveniently adjusted to mount medical equipment on the Y valve 40. The fixing case device 23 and the mounting surface are magnetically fixed by means of a magnet and a ferrous element or a magnet and a magnetic element.
The fixed box device 23 comprises a box main body 231 and an inner cover 232 arranged on the box main body 231, wherein a mounting groove 233 is arranged on the box main body 231 for mounting the Y valve 40. One side of the inner cover 232 is pivoted with the box body 231 through an inner connecting shaft (not shown), one side of the inner cover 232 can rotate around the box body 231, and the inner cover 232 is covered on the box body 231 in a magnetic attraction manner. When the inner cap 232 is covered on the cartridge body 231, the inner cap 232 limits the Y valve 40.
The Y valve 40 includes a valve body (not shown) having a first pipe 41 and a second pipe 42 connected to one side of the first pipe 41, and a connection end 43 provided at one end of the valve body. The connecting end 43 is provided with a driving ring 44, the driving ring 44 is provided with clamping teeth, the clamping teeth on the driving ring 44 are distributed around the axis of the first pipe body 41, the connecting end 43 can rotate around the axis of the first pipe body 41, and the external guide pipe 100 is arranged on the connecting end 43. The bottom of the mounting groove 233 is provided with a through hole 234, and the driving ring 44 of the connection end 43 is extended from the through hole 234 to the cartridge body 231 when the Y valve 40 is mounted on the mounting groove 233. The first pipe 41 is further provided with a first channel (not shown), the second pipe 42 is provided with a second channel (not shown), and the first channel and the second channel are mutually communicated.
The fixing box device 23 further includes a switching device 25 disposed outside the docking slot 211, the switching device 25 includes a connection shaft 251, a first switching gear 252 and a second switching gear 253 disposed at two ends of the connection shaft 251, the first switching gear 252 and the second switching gear 253 are respectively an input end and an output end, and the connection shaft 251 and the power seat 10 are respectively disposed at two sides of the stop plate 212. The shell main body 21 is concaved inwards towards the butt joint groove 211 to form a separation part 215, an outer space 216 is formed at one side of the separation part 215, which is opposite to the butt joint groove 211, the connecting shaft 251 passes through the separation part 215, the first transfer gear 252 is a bevel gear, which is arranged in the shell main body 231, the first transfer gear 252 is arranged in the space formed by the separation part 215, the stop plate 212 and the mounting surface in the shell main body 21, the second transfer gear 253 is arranged in the outer space 216 of the separation part 215, and after the Y valve 40 is mounted, the driving ring 44 of the Y valve 40 extends into the outer space 216 of the separation part 215 to be meshed with the second transfer gear 253. The first transfer gear 252 is disposed in a position corresponding to the main drive gear 121 of the set of drive gears 12 in the power seat 10. When the first driving seat 20 is mounted in cooperation with the power seat 10, the main driving gear 121 of the power seat 10 extends into the power taking hole 213, the first transfer gear 252 is meshed with the main driving gear 121, and the power seat 10 provides power for the first driving seat 20, so that the driving ring 44 drives the guide catheter 100 connected with the Y valve 40 to rotate. The isolation part 215 is arranged to separate the Y valve 40 and the power seat 10 from each other, so that the contaminated Y valve 40 and the power seat 10 are effectively prevented from being cross-contaminated.
In use, the first passageway of the first body 41 of the Y-valve 40 and the guide catheter 100 establish a delivery passageway between a surgical patient and the slave robot through which medical instruments (e.g., a guidewire or catheter) may enter the patient's body and contrast media or other medical agents may enter the patient's body through the second passageway of the Y-valve 40, the guide catheter 100. When a rapid-crossing medical instrument such as a rapid-crossing catheter is desired, the rapid-crossing catheter is first passed into the first passageway of the Y-valve 40 and placed over the rapid-crossing device 24, such that the medical instrument introduced from the rapid-crossing device 24 passes through the guide catheter 100 and into the human body at a location proximal to the lesion. By providing the quick-delivery device 24, a physician can quickly change different types of catheters during surgery according to the needs of the surgery.
The second driving seat 30 is structurally similar to the first driving seat 20 and includes a casing main body 31, a fixed box device 33 and an outer box 32, and the casing main body 31, the fixed box device 33 and the outer box 32 of the second driving seat 30 are similar to the first driving seat 20 in structure and installation mode, and the main difference between the two is that the second driving seat 30 does not have the quick-acting device 24, if the quick-acting device 24 is not needed in the operation process, a doctor can select the second driving seat 30 to drive, and the second driving seat 30 does not have the quick-acting device 24, so that the stroke of the medical apparatus can be effectively shortened.
In summary, the driving seat of the driving device of the detachable slave-end interventional operation robot can be freely disassembled from the power seat 10, the power seat 10 provides power for the replaced driving seat, the driving seat with the same function and damaged or polluted driving seat can be quickly replaced, the driving seats with different functions can be quickly replaced according to actual use requirements, the flexibility is good, a doctor can conveniently adjust according to operation requirements during actual operation, the practicability is strong, and the popularization significance is strong.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that variations and modifications can be made by those skilled in the art without departing from the inventive concept, which fall within the scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (8)
1. The utility model provides a removable from end intervention surgical robot drive arrangement, includes power seat and drive seat, the drive seat includes the shell main part and is used for placing the function group of pipe/seal wire, be equipped with installation face, isolation portion and dorsad in the shell main part the installation face is equipped with and is used for holding the butt joint groove of power seat, be equipped with the stop plate in the butt joint groove, the function group includes fixed box device install Y valve in the fixed box device, pipe/seal wire includes guide pipe, its characterized in that: the fixed box device comprises a switching device positioned between the stop plate and the mounting surface, the Y valve comprises a Y valve main body and a connecting end arranged at one end of the valve main body, a driving ring is arranged on the connecting end, the guide catheter is arranged at the connecting end, the switching device comprises an input end and an output end which are respectively positioned at two sides of the isolation part, and a connecting shaft connected with the input end and the output end, the connecting shaft and the power seat are respectively arranged at two sides of the stop plate, the connecting shaft penetrates through the isolation part, the output end is connected with the driving ring, and when the driving seat is detachably buckled on the power seat through a butt joint groove, the power seat is detachably connected with the input end so as to drive the guide catheter to move through the switching device.
2. A removable slave-end interventional surgical robot drive according to claim 1, wherein: the power seat is attached to the stop plate and positioned through the positioning mechanism.
3. A removable slave-end interventional surgical robot drive according to claim 2, wherein: and the power seat penetrates through the power taking hole to be connected with the input end.
4. A removable slave interventional surgical robot drive according to claim 3, wherein: the side of the isolation part facing away from the butt joint groove is concaved inwards from the mounting surface towards the butt joint groove to form an outer space, the input end of the switching device is arranged in the space formed by the isolation part, the stop plate and the mounting surface in the shell main body, and the output end of the switching device is arranged in the outer space of the isolation part.
5. A removable slave-end interventional surgical robot drive according to claim 4, wherein: the power seat utilizes a main driving gear through a power taking hole to mutually mesh with the first transfer gear to transmit power, the connecting end is a luer connector, and the second transfer gear drives the luer connector to enable a guide catheter connected to the luer connector to move.
6. A removable slave-end interventional surgical robot drive according to claim 5, wherein: the first transfer gear and the main driving gear of the power seat are bevel gears.
7. The removable slave-end interventional surgical robot drive of claim 6, wherein: the second transfer gear drives the luer connector of the Y valve fixed on the functional group to rotate by utilizing a straight gear.
8. A removable slave-end interventional surgical robot drive according to claim 2, wherein: the stop plate is fixed with the power seat in a magnetic attraction mode.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111158440.6A CN113796965B (en) | 2021-09-28 | 2021-09-28 | Detachable slave-end intervention operation robot driving device |
| PCT/CN2022/091767 WO2023050821A1 (en) | 2021-09-28 | 2022-05-09 | Detachable slave interventional surgical robot driving device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111158440.6A CN113796965B (en) | 2021-09-28 | 2021-09-28 | Detachable slave-end intervention operation robot driving device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113796965A CN113796965A (en) | 2021-12-17 |
| CN113796965B true CN113796965B (en) | 2023-07-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111158440.6A Active CN113796965B (en) | 2021-09-28 | 2021-09-28 | Detachable slave-end intervention operation robot driving device |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113796965B (en) |
| WO (1) | WO2023050821A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113796965B (en) * | 2021-09-28 | 2023-07-18 | 深圳市爱博医疗机器人有限公司 | Detachable slave-end intervention operation robot driving device |
| CN114391964B (en) * | 2021-12-31 | 2023-12-01 | 深圳市爱博医疗机器人有限公司 | Compact interventional operation robot driving device |
| CN115517774A (en) * | 2022-01-29 | 2022-12-27 | 深圳市爱博医疗机器人有限公司 | From end drive seat of intervene surgical robot |
| CN115517777A (en) * | 2022-01-29 | 2022-12-27 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot from end power seat |
| CN115153861B (en) * | 2022-09-06 | 2022-12-09 | 深圳市爱博医疗机器人有限公司 | Interventional robot and guide wire cleaning method thereof |
| CN116492570B (en) * | 2023-05-11 | 2024-01-26 | 极限人工智能有限公司 | Catheter driving device for interventional operation robot and interventional operation robot |
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| CN104706426A (en) * | 2009-09-23 | 2015-06-17 | 伊顿株式会社 | Sterile adapter, connection structure of wheel and connection structure of surgical instrument |
| CN104936649A (en) * | 2012-09-06 | 2015-09-23 | 科林达斯公司 | System for guide catheter control |
| CN104000659A (en) * | 2014-06-13 | 2014-08-27 | 苏州康多机器人有限公司 | Instrument clamping arm quick-change mechanism for minimally invasive surgery robot |
| CN107374739A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot is from end device and its control method |
| CN110025337A (en) * | 2018-01-12 | 2019-07-19 | 杭州术创机器人有限公司 | A kind of locking mechanism that sterile adapter component is fixed to actuator |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023050821A1 (en) | 2023-04-06 |
| CN113796965A (en) | 2021-12-17 |
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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 Patentee 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 Patentee before: Shenzhen Aibo medical robot Co.,Ltd. |