CN114129269A - Catheter rotation driving device for vascular intervention surgical robot - Google Patents
Catheter rotation driving device for vascular intervention surgical robot Download PDFInfo
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- CN114129269A CN114129269A CN202111650791.9A CN202111650791A CN114129269A CN 114129269 A CN114129269 A CN 114129269A CN 202111650791 A CN202111650791 A CN 202111650791A CN 114129269 A CN114129269 A CN 114129269A
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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
- 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
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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
-
- 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
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- Heart & Thoracic Surgery (AREA)
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- General Health & Medical Sciences (AREA)
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Abstract
The invention discloses a catheter rotation driving device for a vascular interventional surgical robot, which is arranged on an instrument operation box and positioned below the instrument operation box, wherein one transverse side of the instrument operation box is laterally connected with a robot body, the catheter rotation driving device comprises a catheter rotation power input shaft and a transmission assembly, a tail end gear of the transmission assembly is used for being meshed with a rotation driving piece of a catheter connecting piece arranged on the instrument operation box for transmission, the catheter connecting piece and a catheter assembled on the catheter connecting piece are driven to rotate, the catheter rotation power input shaft extends along the transverse direction of the instrument operation box, and a power input end of the catheter rotation power input shaft extends out of the side face of the instrument operation box and is connected with a catheter rotation driving shaft arranged on one side of the robot body.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a driving device for realizing catheter rotation for a vascular intervention surgical robot.
Background
Minimally invasive vascular interventional surgery is a basic means for diagnosis and treatment of cardiovascular and cerebrovascular diseases, and most of the currently implemented vascular lesion diagnosis and vascular reconstruction surgeries need the help of the technology. The minimally invasive vascular interventional surgical robot can effectively improve the accuracy and controllability of instrument delivery in the surgical process and reduce the cumulative radiation injury to doctors. In the existing vascular intervention operation robot, the advancing mechanisms of instruments such as a catheter, a guide wire, a balloon catheter and the like have the following defects that various dispersing components are complicated and inconvenient to disassemble, and are not beneficial to disinfection of the catheter and the guide wire before operation and replacement in operation; the advancing mechanism does not allow for simultaneous delivery of the catheter and guidewire. For the operation of the robot-assisted surgery, the instrument operation needs to be capable of realizing the cooperative action of the guide catheter, the guide wire and the balloon catheter in a relatively compact space without interfering with each other. Meanwhile, strict requirements are placed on the sterility of instruments in surgical operations, and it is necessary to ensure that instruments in direct contact with blood vessels of patients are not polluted by operating mechanisms. On the other hand, the efficiency of installing and replacing catheters, guide wires, balloon catheters and other instruments remains an important issue to be considered during the surgical operation. Therefore, it is necessary to design an instrument operation box for a vascular intervention surgical robot, which can realize accurate, stable, sterile and efficient operation of relevant instruments.
In the prior art, most of instrument operation boxes for vascular intervention operation robots are arranged above a power unit, but the mode of arranging the instrument operation boxes above the power unit has at least the following defects: (1) liquid in the operation process can permeate into the body of the power unit below, so that the problem of structural part corrosion or electrical short circuit is easy to occur; (2) the whole thickness of the robot from the end part is large, so that instruments such as a tube wire loaded on the robot cannot be completely close to the vascular entrance of a patient, the effective using distance of the instruments such as the tube wire is reduced, and the operation of part of patients cannot be completed or is difficult to complete.
In view of the above problems of the conventional techniques, there is a need for a vascular interventional surgical robot with further improved structural performance.
Disclosure of Invention
The present invention is directed to overcoming the above-mentioned drawbacks of the conventional art, and an object of the present invention is to provide a catheter rotation driving apparatus for a vascular interventional surgical robot, which enables an instrument operation box to be connected to a robot body in a side connection manner, thereby solving the problem of the prior art that the instrument operation box is mounted above a power unit, which causes liquid to infiltrate into the body of the power unit to cause corrosion of structural members or electrical short-circuit, and reducing the overall thickness of the slave end portion of the robot to facilitate the operation of the surgery.
In order to achieve the above object, the present invention provides a catheter rotation driving device for a vascular interventional surgical robot, the catheter rotation driving device being provided on an instrument operation box located below the instrument operation box, a lateral side of the instrument operation box being laterally connected to a robot body, the catheter rotation driving device including a catheter rotation power input shaft and a transmission assembly, a tip gear of the transmission assembly being for meshing transmission with a rotation driving member of a catheter connection member provided on the instrument operation box, driving the catheter connection member and the catheter fitted on the catheter connection member to rotate, the catheter rotation power input shaft extending in a lateral direction of the instrument operation box, a power input end of the catheter rotation power input shaft protruding from a lateral side of the instrument operation box for connection with a catheter rotation driving shaft provided on a side of the robot body.
Compared with the prior art, the technical scheme of the invention has the following technical effects:
according to the catheter rotation driving device for the vascular interventional surgical robot, the power input shaft extends along the transverse direction of the instrument operation box, the power input end of the power input shaft extends out of the side surface of the instrument operation box and can be connected with the catheter rotation power output shaft of the power unit on one side of the robot body in a side connection mode, the catheter rotation power input shaft and the rotation driving piece are connected by adopting the adaptive transmission assembly, so that the instrument operation box of the vascular interventional surgical robot can be connected with the robot body in the side connection mode, the problem that liquid permeates into the power unit body to generate corrosion structural parts or electrical short circuit caused by the fact that the instrument operation box is arranged above the power unit in the prior art is solved, and the instrument operation box is arranged on the transverse side surface of the robot body in the side connection mode, so that the whole thickness of the robot from the end part is reduced, the device such as the tube thread loaded on the robot can be completely close to the vascular entrance of the patient, the effective use distance of the device such as the tube thread is remarkably increased, and the device is easy to popularize and use.
Drawings
The invention will be further described in detail with reference to the following figures and examples, in which:
fig. 1A is a perspective view illustrating the general structure of a slave end portion for a vascular interventional surgical robot;
fig. 1B is a perspective view illustrating a partial structure of a robot body for a vascular interventional surgical robot;
fig. 2 is a perspective view illustrating an instrument cassette assembly for a vascular interventional surgical robot;
fig. 3A is a perspective view seen from the side of the pipe rotary power input shaft, illustrating a pipe rotary drive apparatus according to a first embodiment of the present invention;
FIG. 3B is a perspective view of the catheter rotational drive assembly in accordance with the first embodiment of the present invention with a partial housing of the transmission removed to show the internal structure of the transmission;
FIG. 4 is a perspective view of a catheter rotational drive arrangement according to a second embodiment of the present invention;
FIG. 5 is a perspective view of a catheter rotational drive arrangement according to a third embodiment of the present invention;
fig. 6A is a perspective view seen from the side of the conduit rotary power input shaft, illustrating a conduit rotary drive apparatus according to a fourth embodiment of the present invention;
FIG. 6B is a perspective view of a catheter rotational drive assembly in accordance with a fourth embodiment of the present invention with a partial housing of the transmission removed to show the internal structure of the transmission;
fig. 7A is a perspective view seen from the side of the catheter rotational power input shaft, illustrating a catheter rotational drive apparatus according to a fifth embodiment of the present invention; and
fig. 7B is a perspective view seen from the side away from the catheter rotational power input shaft, illustrating a catheter rotational drive apparatus according to a fifth embodiment of the present invention.
Detailed Description
The catheter rotation driving device for a vascular interventional surgical robot according to the present invention will be described in detail below. It should be noted herein that the embodiments of the present invention are merely illustrative, which are only for the purpose of illustrating the principles of the present invention and are not to be construed as limiting the present invention.
Referring first to fig. 1A, the general structure of a slave end portion for a vascular interventional surgical robot is illustrated in a perspective view. As shown in fig. 1A, the slave end portion includes a robot body 1 and an instrument manipulation box assembly 2. The robot body 1 comprises a base mechanism and a power unit, the power unit comprises a catheter power box 5 and a guide wire power box 4, the catheter power box is installed on a sliding block arranged in the base mechanism and moves along with the sliding block, and the guide wire power box 4 is arranged at the rear part of the catheter power box and is laterally connected and fixed with the catheter power box. The transverse side of the instrument operation box component 2 is laterally connected with the adjacent side of the catheter power box 5, and the instrument operation box component 2 moves along with the catheter power box.
For convenience of description, in the following description and elsewhere in the specification, the moving direction of the instrument control box assembly is defined as a longitudinal direction, and the width direction of the instrument control box assembly perpendicular to the longitudinal direction is defined as a lateral direction; when in use, one end of the instrument operation box assembly facing to the blood vessel of the human body is called a front end, and the other end of the instrument operation box assembly facing away from the blood vessel is called a rear end; the side on which the instrument control box assembly operation surface is located is referred to as an upper side, and the side opposite to the instrument control box assembly operation surface is referred to as a lower side.
Referring now to fig. 2, there is illustrated in perspective view an instrument cassette assembly 2 for a vascular access surgical robot, which is detachably mounted laterally on one lateral side of the robot body by a connector. As shown in fig. 2, the instrument operation box assembly 2 includes an instrument operation box 300, on which a guide tube 301 is provided, the guide tube extending in a longitudinal direction of the instrument operation box, a front end of which extends from a front end of the instrument operation box, a rear end of which is connected to a front end of a guide tube connector 302, and a rear end of which is connected to a Y valve 303, the Y valve being fixedly installed on the instrument operation box 300. A rotary drive 304, typically in the form of a gear, is provided on the catheter connector, the catheter connector and catheter being rotatable relative to the Y-valve and hence the instrument cartridge. During operation, the catheter usually needs to realize two motions, namely rotation motion and longitudinal front-back motion, and the instrument operation box can move front-back and longitudinally relative to the base mechanism of the robot body, so that the catheter is driven to move back and forth together to realize longitudinal motion of the catheter; the rotary driving member 304 is connected to a driving source, such as a motor, via a catheter rotation driving device, and is driven by the driving source to rotate, so as to drive the catheter to rotate together to realize the rotation of the catheter.
Fig. 3A and 3B illustrate a catheter rotation driving apparatus 100 for a vascular interventional surgical robot according to a first embodiment of the present invention, in which fig. 3A is a perspective view seen from a side of a catheter rotation power input shaft, and fig. 3B is a perspective view with a partial housing of a transmission mechanism removed to show an internal structure of the transmission mechanism. The catheter rotation driving means is provided on the instrument manipulation box 300 and located below the instrument manipulation box. As shown in fig. 3A and 3B, the catheter rotation driving device 100 includes a catheter rotation power input shaft 101, and a transmission assembly disposed between the catheter rotation power input shaft and a rotation driving member 304, and power input from the catheter rotation power input shaft 101 is transmitted to the rotation driving member 304 via the transmission assembly, and the rotation driving member is driven to rotate the catheter.
As shown in fig. 3A and 3B and fig. 2, the catheter rotational power input shaft 101 extends transversely of the instrument cassette and is bearing-supported on a housing wall of a housing 1016 of a transmission 1015 mounted on the instrument cassette or fixed to other structural components of the instrument cassette. The first transmission gear 102 is provided on the power output end 1012 of the catheter rotation power input shaft, and the power input end 1011 extends from the side of the instrument operation box (see fig. 2) for connecting with the catheter rotation drive shaft 901 of the drive source (such as a motor or the like) of the power unit on the robot body side, see fig. 1B. Preferably, the power input end 1011 of the conduit rotational power input shaft is formed with a shaft bore 1013, which may be polygonal or D-shaped in cross-sectional profile, for non-rotational coupling with the conduit rotational drive shaft 901 of the drive source.
The transmission assembly includes an intermediate transmission shaft 105 and an output shaft 109, the intermediate transmission shaft 105 being disposed parallel to the catheter rotational power input shaft 101. The intermediate drive shaft is supported on the housing wall by bearings, and the power input 1051 of the intermediate drive shaft is provided with a second drive gear 106. An intermediate transmission gear 104 is arranged between the first transmission gear 102 and the second transmission gear 106, the intermediate transmission gear is mounted on an intermediate gear shaft 103, the intermediate gear shaft 103 is arranged in parallel with the catheter rotation power input shaft 101 and is supported on the housing wall through a bearing, and the intermediate transmission gear 104 is meshed with the first transmission gear 102 and the second transmission gear 106 respectively.
The power output 1052 of the intermediate drive shaft 105 is provided with a third transmission gear 107 in the form of a bevel gear. The output shaft 109 is perpendicular to the middle transmission shaft, is arranged along the up-down direction and is supported on the horizontal structure wall of the instrument operation box through a bearing, a fourth transmission gear 108 in the form of a bevel gear is arranged at the power input end of the output shaft 109, a fifth transmission gear 110 in the form of a bevel gear is arranged at the power output end of the output shaft, and the fifth transmission gear is positioned above the surface of the instrument operation box. The fourth transmission gear 108 meshes with the third transmission gear 107, while the fifth transmission gear 110 is intended to mesh with a rotary drive 304 in the form of a bevel gear.
In operation, the catheter rotational power input shaft 101 receives power from the power source and transmits the power to the rotational drive 304 via the transmission assembly, thereby rotating the catheter to accommodate bifurcations and turns within the vessel.
Referring now to fig. 4, there is illustrated a catheter rotary drive device for a vascular interventional surgical robot in accordance with a second embodiment of the present invention.
The conduit rotation driving device of the second embodiment is substantially the same in overall structure as the conduit rotation driving device of the first embodiment, except that:
in the guide pipe rotation driving apparatus of the second embodiment, the intermediate gear shaft and the intermediate transmission gear are omitted, and the first transmission gear 112 on the guide pipe rotation power input shaft 111 is directly meshed with the second transmission gear 116 on the intermediate transmission shaft 115, thereby simplifying the structure of the transmission assembly.
Referring now to fig. 5, there is illustrated a catheter rotary drive device for a vascular interventional surgical robot in accordance with a third embodiment of the present invention.
The catheter rotation driving device of the third embodiment is substantially the same in overall structure as the catheter rotation driving device of the first embodiment, except that:
in the guide duct rotation driving device of the third embodiment, the first transmission gear, the intermediate transmission gear, and the intermediate gear shaft, the second transmission gear are omitted, and the third transmission gear 117 is provided at the power output end of the guide duct rotation power input shaft 131 and directly drives the third transmission gear, thereby simplifying the structure of the transmission assembly.
Reference is now made to fig. 6A and 6B, which illustrate a catheter rotation driving apparatus for a vascular interventional surgical robot in accordance with a fourth embodiment of the present invention.
The conduit rotation driving device of the fourth embodiment is substantially the same in overall structure as the conduit rotation driving device of the first embodiment, except that:
in the first embodiment, a gear set composed of the first transmission gear 102, the intermediate transmission gear 104, and the second transmission gear 106 is used as a transmission mechanism between the catheter rotational power input shaft 101 and the intermediate transmission shaft 105. In the pipe rotation driving apparatus of the fourth embodiment, the power output end of the pipe rotation power input shaft 141 is provided with the first pulley 142, the power input end of the intermediate transmission shaft 145 is provided with the second pulley 146, and the transmission belt 144 is wound around the first pulley and the second pulley, respectively, so that power is transmitted from the pipe rotation power input shaft 141 to the intermediate transmission shaft 145 using a pulley-transmission belt transmission mechanism.
Reference is now made to fig. 7A and 7B, which illustrate a catheter rotation driving apparatus for a vascular interventional surgical robot in accordance with a fifth embodiment of the present invention.
The main differences between the catheter rotation drive device of the fifth embodiment and the catheter rotation drive device of the first embodiment are as follows.
In the fifth embodiment, the output shaft 159 is arranged perpendicularly to the catheter rotation power input shaft 151 and the intermediate transmission shaft 155 in the longitudinal direction and is supported by bearings on a vertical structural wall of the instrument operation box, the power input end of the output shaft 159 is provided with a fourth transmission gear 158 in the form of a bevel gear, and the power output end of the output shaft 159 is provided with a fifth transmission gear 160 in the form of a spur gear, said fourth transmission gear 158 being in mesh with the third transmission gear 157. The fifth drive gear 160 is partially exposed through an opening formed in a horizontal structural wall of the instrument console box for engagement with a rotary drive member in the form of a spur gear directly below.
Further, as a modification of the conduit rotation driving device of the fifth embodiment, as for the transmission structure between the conduit rotation power input shaft and the intermediate transmission shaft, it is possible to adopt a manner in which the first transmission gear on the conduit rotation power input shaft is directly meshed with the second transmission gear on the intermediate transmission shaft, similarly to the conduit rotation driving device of the second embodiment, thereby omitting the intermediate transmission gear.
Further, as another modification of the duct rotation driving device of the fifth embodiment, the first transmission gear, the intermediate gear shaft, and the second transmission gear may be omitted, and the third transmission gear may be provided at the power output end of the duct rotation power input shaft and directly drive the third transmission gear, similarly to the duct rotation driving device of the third embodiment, thereby simplifying the structure of the transmission assembly.
Also, as still another modification of the catheter rotation driving device of the fifth embodiment, with respect to the transmission structure between the catheter rotation power input shaft and the intermediate transmission shaft, it is possible to provide a first pulley at the power output end of the catheter rotation power input shaft, a second pulley at the power input end of the intermediate transmission shaft, and to wrap the transmission belt around the first pulley and the second pulley, respectively, similarly to the catheter rotation driving device of the fourth embodiment, thereby transmitting power from the catheter rotation power input shaft to the intermediate transmission shaft using a pulley-transmission belt transmission mechanism.
According to the technical scheme of the invention, a catheter rotation power input shaft of a catheter rotation driving device extends along the transverse direction of an instrument operation box, a power input end of the catheter rotation power input shaft extends out from one transverse side of the instrument operation box, and a transmission assembly is adopted to adapt to a transmission structure between a rotation driving piece and the catheter rotation power input shaft, so that the catheter rotation power input shaft can be connected with a driving source in a power unit arranged on one side of a robot body in a side connection mode, and the instrument operation box can be laterally installed on one side of the robot body through a connector, the problem that structural member corrosion or electrical short circuit is caused by liquid permeating into the body of the power unit due to the fact that the instrument operation box is installed above the power unit in the prior art is solved, and the side connection mode enables the whole thickness of the robot from the end part to be reduced, so that instruments such as a catheter and the like installed on the instrument operation box can be completely close to a blood vessel inlet of a patient, the effective using distance of the instruments such as the catheter and the like is remarkably increased. Thus, the present invention achieves a significant technical effect over the prior art.
The present invention has been described above in connection with the specific embodiments with reference to the accompanying drawings, but this is for illustrative purposes only and the present invention is not limited thereto. Therefore, it is apparent to those skilled in the art that various changes and modifications can be made within the technical spirit and scope of the present invention, and these changes and modifications should also be construed as falling within the scope of the present invention, which is defined by the claims and their equivalents.
Claims (11)
1. A catheter rotation driving device for a vascular intervention surgical robot, characterized in that the catheter rotation driving device is arranged on an instrument operation box and is positioned below the instrument operation box, one lateral side of the instrument operation box is laterally connected with a robot body, the catheter rotation driving device comprises a catheter rotation power input shaft and a transmission assembly, a tail end gear of the transmission assembly is used for being meshed with a rotation driving piece of a catheter connecting piece arranged on the instrument operation box to drive the catheter connecting piece and a catheter assembled on the catheter connecting piece to rotate, the catheter rotation power input shaft extends along the lateral direction of the instrument operation box, and a power input end of the catheter rotation power input shaft extends out of the lateral side of the instrument operation box and is connected with a catheter rotation driving shaft arranged on one side of the robot body.
2. The catheter rotation driving device for a vascular interventional surgical robot as set forth in claim 1, wherein the transmission assembly includes an intermediate transmission shaft and an output shaft, the intermediate transmission shaft is disposed in parallel with the catheter rotation power input shaft, the output shaft is disposed perpendicular to the intermediate transmission shaft, the catheter rotation power input shaft is connected with the intermediate transmission shaft via a transmission mechanism, a power output end of the intermediate transmission shaft is provided with a bevel gear engaged with a bevel gear disposed at a power input end of the output shaft, and the end gear is disposed at a power output end of the output shaft.
3. The catheter rotation driving device for a vascular interventional surgical robot as set forth in claim 2, wherein the transmission mechanism is a gear transmission mechanism including a first transmission gear in the form of a spur gear provided on a power output end of the catheter rotation power input shaft, and a second transmission gear in the form of a spur gear provided on a power input end of the intermediate transmission shaft.
4. The catheter rotation driving device for a vascular interventional surgical robot as set forth in claim 3, wherein the gear transmission mechanism further comprises an intermediate transmission gear installed on an intermediate gear shaft parallel to the catheter rotation power input shaft and engaged with the first and second transmission gears.
5. The catheter rotation driving device for a vascular interventional surgical robot as set forth in claim 2, wherein the transmission mechanism is a belt transmission mechanism including a first pulley provided on a power output end of the catheter rotation power input shaft, a second pulley provided on a power input end of the intermediate transmission shaft, and a transmission belt wound around the first pulley and the second pulley.
6. The catheter rotation driving device for a robot for vascular interventional procedures as set forth in claim 1, wherein the transmission assembly includes an output shaft disposed perpendicular to the catheter rotation power input shaft, a power output end of the catheter rotation power input shaft being provided with a bevel gear engaged with a bevel gear disposed at a power input end of the output shaft, and the final gear being disposed at a power output end of the output shaft.
7. Catheter rotation drive for a vascular interventional surgical robot according to any of the claims 1-6, characterized in, that the rotary drive is a gear.
8. The catheter rotation driving device for a vascular interventional surgical robot as set forth in any one of claims 2 to 6, wherein the output shaft is disposed in an up-down direction, and the final gear is a bevel gear.
9. A catheter rotation drive device for a vascular interventional surgical robot as set forth in claim 8, wherein the rotation drive member is a bevel gear engaged with the tip gear.
10. The catheter rotation driving device for a vascular interventional surgical robot as set forth in any one of claims 2 to 6, wherein the output shaft is disposed in a longitudinal direction, and the tip gear is a spur gear.
11. The catheter rotation driving device for a vascular interventional surgical robot as set forth in claim 10, wherein the rotation driving member is a spur gear engaged with the tip gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111650791.9A CN114129269A (en) | 2021-12-30 | 2021-12-30 | Catheter rotation driving device for vascular intervention surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111650791.9A CN114129269A (en) | 2021-12-30 | 2021-12-30 | Catheter rotation driving device for vascular intervention surgical robot |
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| CN114129269A true CN114129269A (en) | 2022-03-04 |
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| CN202111650791.9A Pending CN114129269A (en) | 2021-12-30 | 2021-12-30 | Catheter rotation driving device for vascular intervention surgical robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2789707C1 (en) * | 2022-03-15 | 2023-02-07 | Федеральное государственное бюджетное научное учреждение "Научно-исследовательский институт комплексных проблем сердечно-сосудистых заболеваний" (НИИ КПССЗ) | Robotic surgical system for transcatheter aortic valve replacement |
| CN116492570A (en) * | 2023-05-11 | 2023-07-28 | 极限人工智能有限公司 | Catheter driving device for interventional operation robot and interventional operation robot |
-
2021
- 2021-12-30 CN CN202111650791.9A patent/CN114129269A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2789707C1 (en) * | 2022-03-15 | 2023-02-07 | Федеральное государственное бюджетное научное учреждение "Научно-исследовательский институт комплексных проблем сердечно-сосудистых заболеваний" (НИИ КПССЗ) | Robotic surgical system for transcatheter aortic valve replacement |
| CN116492570A (en) * | 2023-05-11 | 2023-07-28 | 极限人工智能有限公司 | Catheter driving device for interventional operation robot and interventional operation robot |
| 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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