CN114191088A - Limit type intervenes surgical robot from end strutting arrangement - Google Patents
Limit type intervenes surgical robot from end strutting arrangement Download PDFInfo
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- CN114191088A CN114191088A CN202111318951.XA CN202111318951A CN114191088A CN 114191088 A CN114191088 A CN 114191088A CN 202111318951 A CN202111318951 A CN 202111318951A CN 114191088 A CN114191088 A CN 114191088A
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- 238000000034 method Methods 0.000 description 4
- 238000002560 therapeutic procedure Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
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- 230000008569 process Effects 0.000 description 3
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- 238000010586 diagram Methods 0.000 description 2
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- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects 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
- 230000009471 action Effects 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 235000013339 cereals Nutrition 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
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- 238000011084 recovery Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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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
- A61B34/35—Surgical robots for telesurgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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 spacing type intervenes surgical robot from end strutting arrangement, including be used for fixed surgical robot from the connecting portion of end and with the first support arm that connecting portion are connected, connecting portion with the junction of first support arm is first rotating part, first rotating part has been installed and has been used for the restriction connecting portion are relative the turned angle's of first support arm stopper makes to install the surgical robot from end equipment is located the operation table top all the time of the intervention of connecting portion, to the demand of the angle and the position of interveneeing surgical robot from end equipment when having satisfied the operation to easy operation's characteristic has.
Description
Technical Field
The invention relates to a device in the field of medical robots, in particular to a limiting type slave end supporting device of an interventional surgical robot.
Background
Interventional therapy is minimally invasive therapy carried out by modern high-tech means, and under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat internal diseases.
The digital image technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, the incision (puncture point) of the digital image technology is only the size of rice grains, and the digital image technology can treat a plurality of diseases which cannot be treated in the past, need surgical treatment or have poor curative effect in internal treatment without cutting human tissues, such as tumors, hemangioma, various kinds of bleeding and the like. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
In order to reduce the radiation hazard of the traditional Chinese medicine during the growth period of the X-ray in the interventional operation, a master-slave interventional operation robot operated remotely is developed for the engineering. The slave end equipment of the master-slave interventional surgical robot can work in a radiation environment, and a doctor controls the slave end equipment through the master end outside the radiation environment.
Generally, before an operation, the slave end device of the interventional operation robot needs to be arranged on an operation bed, and the inclination angle and the position of the slave end device of the interventional operation robot relative to the operation bed are adjusted according to the body information and the operation position of a patient, so that the slave end device supporting base of the interventional operation robot needs to assist in rotating and moving the slave end device of the interventional operation robot, and the existing adjustable supporting base cannot meet the requirements of multidirectional rotation and movement of the slave end device of the interventional operation robot.
Disclosure of Invention
Based on this, for the diversified demand of rotating and removing that satisfies the operation robot slave end equipment of interveneeing, provide a neotype operation robot slave end strutting arrangement of interveneeing.
The utility model provides a spacing type intervenes surgical robot from end strutting arrangement, including be used for fixed surgical robot from the connecting portion of end and with the first support arm that connecting portion are connected, connecting portion with the junction of first support arm is first rotating part, first rotating part has been installed and has been used for the restriction connecting portion are relative the turned angle's of first support arm stopper.
Furthermore, the rotation angle of the connecting part relative to the first support arm is 90-270 degrees.
Furthermore, the limiting type intervenes surgical robot from end strutting arrangement still include with the second support arm that first support arm is connected, the second support arm with the junction of first support arm is the second rotating part, the second rotating part is equipped with and is used for restricting first support arm is relative the stopper of the turned angle of second support arm.
Further, the rotation angle of the first support arm relative to the second support arm is 22-202 degrees.
Furthermore, the spacing type intervenes surgical robot from end strutting arrangement still includes the support column of being connected with the second support arm, the support column with the junction of second support arm is the third rotating part, the third rotating part is installed and is used for the restriction the second support arm is relative the turned angle's of support column stopper.
Further, the rotation angle of the second support arm relative to the support column is 0-90 degrees.
Further, the first rotating part, the second rotating part and the third rotating part are respectively provided with a rotating gear set and an electromagnetic brake.
Further, the rotating gear set comprises a first driving gear and a driven gear meshed with the first driving gear, and the electromagnetic brake controls the driven gear.
Further, spacing type intervenes surgical robot from end strutting arrangement still include with the base that the support column is connected, the base includes the backup pad, is fixed in the backup pad is with orbital sliding sleeve of cooperation operation table and fixing bolt handle.
Further, the base is located the operation table track of keeping away from operating personnel one side.
Furthermore, a main pulley is fixed on the supporting plate, and an auxiliary pulley is installed on the sliding sleeve.
In summary, the limiting type slave-end supporting device for an interventional surgical robot is connected with a slave-end device of the interventional surgical robot through a connecting part, when the connecting part rotates relative to the first support arm, the limiting block is used for limiting the rotating range of the connecting part, so that the slave-end device of the interventional surgical robot installed on the connecting part is always located above an operating table, the requirements on the angle and the position of the slave-end device of the interventional surgical robot during operation are met, and the limiting type slave-end supporting device for the interventional surgical robot has the characteristic of being simple to operate.
Drawings
FIG. 1 is a schematic structural diagram of a slave-end supporting device of a spacing type interventional surgical robot according to the present invention;
FIG. 2 is a schematic structural diagram of a connecting portion according to the present invention;
FIG. 3 is a schematic view of a limit switch according to the present invention;
FIG. 4 is a schematic view of a first rotating portion according to the present invention;
FIG. 5 is a schematic view of a second rotary part according to the present invention;
FIG. 6 is a schematic view of a third rotary part according to the present invention;
FIG. 7 is a schematic structural view of a base according to the present invention;
fig. 8 is a schematic view of the rotation angle of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The distal end of the interventional operation robot slave end equipment is one end close to the patient, and the other end which is far away from the patient and corresponds to the distal end is the distal end.
As shown in fig. 1, the slave end supporting device of the spacing type interventional surgical robot provided by the embodiment of the present invention includes a base 5, a supporting column 4, a first supporting arm 2, a second supporting arm 3 and a connecting portion 1, which are connected in sequence, wherein the connecting portion 1 includes a first connecting unit 11 and a second connecting unit 12, wherein a wire guide is arranged at a front end of the first connecting unit 11 and is connected to slave end equipment of the interventional surgical robot, a power-on control button for controlling the slave end supporting device of the interventional surgical robot is mounted on the slave end equipment of the interventional surgical robot, the base 5 is supported on an operating table, and an initial position of the slave end equipment of the interventional surgical robot is parallel to the operating table.
The connecting portion 1 with the junction of first support arm 2 is first rotating part 6, the second support arm 3 with the junction of first support arm 2 is second rotating part 7, first support arm 3 with the junction of support column 4 is third rotating part 8.
As shown in fig. 2 to fig. 3, the connection portion 1 of the slave-end supporting device of the position-limiting interventional surgical robot according to the embodiment of the present invention includes a first connection unit 11 and a second connection unit 12, wherein a second driving gear 121, a damping wheel 122 engaged with the second driving gear 121, and a position-limiting switch 123 are installed at a connection portion of the first connection unit 11 and the second connection unit 12, a position-limiting groove 124 is installed at a bottom of the position-limiting switch 123, at least two damping wheels 122 are symmetrically installed at two sides of the second driving gear 121 and engaged with the second driving gear 121, respectively, and the damping wheel 122 can prevent the second driving gear 121 from rotating by inertia in the clockwise/counterclockwise rotation process.
The limiting groove 124 comprises a first limiting groove 1241, when the limiting switch 123 is closed, the bottom end of the limiting switch 123 is located in the first limiting groove 1241, and in the operation process, an operator adjusts an inclined included angle between the slave device of the interventional operation robot and the operating bed, so that the interventional operation robot moves from the far end of the slave device to the direction close to the operating bed, and moves from the near end of the slave device to the direction far from the operating bed, so as to drive the first connecting unit 11 to rotate relative to the second connecting unit 12, and the rotation angle of the first connecting unit 11 is in a first angle range, such as 0-30 degrees; in order to facilitate an operator to store the slave end device of the interventional surgical robot, the limiting groove 124 further includes a second limiting groove 1242 spaced from the first limiting groove 1241, after the operation is completed, the operator adjusts the proximal end of the slave end device of the interventional surgical robot to move towards the operating table, so as to drive the first connecting unit 11 to rotate relative to the second connecting unit 12, and simultaneously pull up the limiting switch 123, so as to move the bottom end of the limiting switch 123 into the second limiting groove 1242, wherein the rotation angle of the first connecting unit 11 relative to the second connecting unit 12 is in a second angle range, such as 40-90 °, and finally the slave end device of the interventional surgical robot is stored in the vertical direction perpendicular to the operating table. In another embodiment, the first limiting groove 1241 and the second limiting groove 1242 are combined into a limiting groove, and the rotation angle of the first connection unit 11 relative to the second connection unit 12 is a third angle range, such as 0 ° to 90 °.
An operator forcibly lifts the near end of the slave end device of the interventional surgical robot, so that the far end moves towards the direction close to the operating bed, the inclination angle of the slave end device of the interventional surgical robot relative to the operating bed is adjusted, the first connecting unit 11 is driven to rotate relative to the second connecting unit 12, the second driving gear 121 is driven to rotate under the damping action of the damping wheels 122 on the two sides, and the inclination angle of the slave end device of the interventional surgical robot and the operating bed is adjusted to a required position. The damping of the damping wheel 122 installed on both sides of the second driving gear 121 is large enough, and if there is no external force, the second driving gear 121 is prevented from rotating due to gravity, that is, the first connection unit 11 is protected and stationary with respect to the second connection unit 12, so that the fixation of the inclination angle of the slave end device of the interventional operation robot and the operating table is realized.
As shown in fig. 4, the first rotating portion 6 of the slave-end supporting device of the position-limited interventional surgical robot according to the embodiment of the present invention is provided with an electromagnetic brake 21 and a rotating gear set 22, wherein the rotating gear set 22 includes a first driving gear 201 and a driven gear 202 engaged with the first driving gear 201, the electromagnetic brake 21 is connected to the driven gear 202, when the electromagnetic brake 21 is powered on, the driven gear 202 is released to apply an external force to rotate the first driving gear 201, so as to drive the driven gear 202 to rotate, thereby realizing the rotation of the connecting portion 1 relative to the first arm 2, when the electromagnetic brake 21 is powered off, the driven gear 202 is locked, and the connecting portion 1 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 is mounted on the first arm 2, and the first driving gear 201 is mounted on the second connecting unit 12.
The first rotating portion 6 is further provided with a limiting block 23 fixed to the second connecting unit 12, the first support arm 2 is further provided with a limiting nut 231 adapted to the limiting block 23, and the limiting nut 231 may be one or more than one, and is configured to limit a rotation angle of the connecting portion 1 relative to the first support arm 2, for example, the rotation angle ranges from 90 degrees to 270 degrees (see fig. 8).
As shown in fig. 5, the second rotating portion 7 of the slave-end supporting device of the position-limiting interventional surgical robot according to the embodiment of the present invention is provided with an electromagnetic brake 21 'and a rotating gear set 22', wherein the rotating gear set 22 'includes a first driving gear 201' and a driven gear 202 'engaged with the first driving gear 201', the electromagnetic brake 21 'is connected to the driven gear 202', when the electromagnetic brake 21 'is powered on, the driven gear 202' is released, an external force is applied, the first driving gear 201 'is rotated, the driven gear 202' is driven to rotate, the first arm 2 rotates relative to the second arm 3, and when the electromagnetic brake 21 'is powered off, the driven gear 202' is locked, and the first arm 2 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 'is mounted on the first arm 2, and the first driving gear 201' is mounted on the second arm 3.
The second rotating portion 7 is further provided with a limiting block 23', and correspondingly provided with a limiting convex plate 231' adapted to the limiting block 23', where the limiting convex plate 231' may be one or more than one, and is used to limit a rotation angle of the first support arm 2 relative to the second support arm 3, for example, the rotation angle range is 22 ° to 202 ° (see fig. 8).
As shown in fig. 6, the third rotating portion 8 of the slave end supporting device of the position-limited interventional surgical robot according to the embodiment of the present invention is provided with an electromagnetic brake 21 "and a rotating gear set 22", wherein the rotating gear set 22 "includes a first driving gear 201" and a driven gear 202 "engaged with the first driving gear 201", the electromagnetic brake 21 "is connected to the driven gear 202", when the electromagnetic brake 21 "is powered on, the driven gear 202 is released, an external force is applied to rotate the first driving gear 201" to drive the driven gear 202 "to rotate, so as to realize rotation of the second arm 3 relative to the supporting column 4, when the electromagnetic brake 21" is powered off, the driven gear 202 is locked, and the second arm 3 stops rotating and is positioned. In this embodiment, the electromagnetic brake 21 "is mounted on the second arm 3, and the driven gear 202" is mounted on the support post 4.
The third rotating portion 8 is further provided with a limiting block 23 ″ and correspondingly provided with a limiting convex plate 231 ″ adapted to the limiting block, where the limiting convex plate 231 ″ may be one or more than one, and is used to limit the rotation angle of the second support arm 3 relative to the support post 4, for example, the rotation angle range is 0 ° to 90 ° (see fig. 8).
As shown in fig. 4 to 6, in the present embodiment, the first rotating unit 6, the second rotating unit 7, and the third rotating unit 8 have substantially the same structure, the electromagnetic brake 21 has the same type as the electromagnetic brake 21 'and the electromagnetic brake 21 ″, the rotation gear set 22 has the same structure as the rotation gear set 22' and the rotation gear set 22 ″, the first driving gear 201 has the same structure as the first driving gear 201 'and the first driving gear 201 ″, and the driven gear 202 has the same structure as the driven gear 202' and the driven gear 202 ″. In other embodiments, their structure and model may be different.
Referring to fig. 4 to 6, in this embodiment, the functions of the limiting block 23, the limiting block 23 'and the limiting block 23 ″ are substantially the same, and both are used for limiting the rotation angle of the corresponding structure, it is understood that the structures of the limiting block 23, the limiting block 23' and the limiting block 23 ″ may be the same or different, correspondingly, the functions of the limiting nut 231 and the limiting convex plate 231', and the structures of the limiting nut 231 and the limiting convex plate 231', and the limiting convex plate 231 ″ may be the same or different.
With reference to fig. 1 to 6, when the slave device of the interventional surgical robot mounted on the first connection unit 11 is to be adjusted, the power-on control button of the slave device of the interventional surgical robot is pressed, the electromagnetic brake 21 is powered on, the electromagnetic brake 21 releases the driven gear 202, the operator swings to get into the near end or the far end of the slave device of the surgical robot, the second connection unit 12 drives the first driving gear 201 to rotate, the driven gear 202 rotates along with the first driving gear, and the connection portion 1 rotates counterclockwise or clockwise relative to the first support arm 2.
Referring to fig. 1 to 6, when the power-on control button of the slave device of the interventional surgical robot is pressed, the electromagnetic brake 21' is powered on, the electromagnetic brake 21' releases the driven gear 202', the operator swings the slave device of the interventional surgical robot, the first support arm 2 drives the first driving gear 201' to rotate, and the driven gear 202' rotates along with the driven gear, so that the first support arm 2 rotates counterclockwise/clockwise relative to the second support arm 3.
Referring to fig. 1 to 6, when the power-on control button of the slave end device of the interventional surgical robot is pressed, the electromagnetic brake 21 is powered on, the electromagnetic brake 21 releases the driven gear 202, an operator pulls the slave end device of the interventional surgical robot, the second support arm 3 drives the first driving gear 201 to rotate, and the driven gear 202 rotates along with the second support arm 3, so that the second support arm 3 rotates clockwise or counterclockwise relative to the support column 4.
Referring to fig. 1 to 6, pressing the power-on control button of the interventional surgical robot slave end device, the electromagnetic brakes 21', 21 "can also be powered on simultaneously, the electromagnetic brake 21' releases the driven gear 202', the electromagnetic brake 21" releases the driven gear 202", and the operator adjusts the interventional surgical robot slave end device with force to drive the first driving gears 201', 201" to rotate, so as to realize the counter-clockwise/clockwise rotation of the first support arm 2 relative to the second support arm 3 and the second support arm 3 relative to the support column 4, and realize the arbitrary motion of the interventional surgical robot slave end device on the XOY plane where the surgical bed is located.
Simultaneously, when electromagnetic braking ware 21 also switched on, electromagnetic braking ware 21 releases driven gear 202 intervenes operation robot and passes through connecting portion 1 from end equipment and drive first driving gear 201 rotates, realizes connecting portion 1 is relative the anticlockwise/clockwise rotation of first support arm 2 lets intervene operation robot from end equipment in the planar motion of XOY at operation table place more nimble. In fact, when the first driving gear 201 rotates, the connection portion 1 horizontally rotates counterclockwise/clockwise relative to the first support arm 2, so that the slave end device of the interventional operation robot is inclined at a certain angle with the operating table in the XOY plane where the operating table is located. During these procedures, the level of the slave device of the interventional surgical robot remains unchanged.
It is understood that the power on and off of the electromagnetic brake 21, the electromagnetic brake 21', and the electromagnetic brake 21 ″ can be controlled one by one, two at the same time, or three at the same time.
With reference to fig. 1 to 6, after the slave device of the interventional surgical robot is adjusted to a certain position, the energization control button on the slave device of the interventional surgical robot is released, the electromagnetic brake 21 locks the driven gear 202, the electromagnetic brake 21 'locks the driven gear 202', the electromagnetic brake 21 "locks the driven gear 202", the driven gear 202 prevents the first driving gear 201 from rotating, the driven gear 202 "prevents the first driving gear 201 from rotating, and the driven gear 202" prevents the first driving gear 201 from rotating, so that the slave device of the interventional surgical robot is positioned.
As shown in fig. 7, the base 5 of the limiting type slave end supporting device for an interventional surgical robot according to the embodiment of the present invention includes a supporting plate 55, a sliding sleeve with a groove 53 for fixing the supporting plate 55, a main pulley 51, a plurality of auxiliary pulleys 52 and a fixing bolt handle 54, wherein the groove 53 of the sliding sleeve is adapted to a track of an operating table, the plurality of auxiliary pulleys 52 are symmetrically installed at two ends of the groove 53, and for example, 4 auxiliary pulleys 52 are symmetrically installed at two ends of the groove 53.
Loosen fixing bolt handle 54, operating personnel promotes with strength along operation table track direction intervene surgical robot from holding strutting arrangement, support to intervene surgical robot and remove required position from the end equipment, it is closed fixing bolt handle 54 makes intervene surgical robot is fixed on the operation table from holding strutting arrangement to prevent among the operation process intervene surgical robot and produce the removal from holding strutting arrangement.
The main pulley 51 and the auxiliary pulley 52 can assist the interventional operation robot to slide on the operation bed track from the end supporting device.
The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent shall be subject to the claims.
Claims (11)
1. The utility model provides a spacing type intervenes surgical robot from end strutting arrangement, including be used for fixed surgical robot from the connecting portion of end and with the first support arm that connecting portion are connected, its characterized in that intervene: the connecting portion with the junction of first support arm is first rotating part, first rotating part is equipped with and is used for restricting connecting portion is relative the turned angle's of first support arm stopper.
2. The slave-end supporting device of a spacing-type interventional surgical robot of claim 1, wherein: the rotation angle of the connecting part relative to the first support arm ranges from 90 degrees to 270 degrees.
3. The slave-end supporting device of a spacing-type interventional surgical robot of claim 1, wherein: spacing type intervenes surgical robot from end strutting arrangement still include with the second support arm that first support arm is connected, the second support arm with the junction of first support arm is the second rotating part, the second rotating part is equipped with and is used for restricting first support arm is relative the stopper of the turned angle of second support arm.
4. The slave-end supporting device of a spacing-type interventional surgical robot of claim 3, wherein: the rotation angle of the first support arm relative to the second support arm is 22-202 degrees.
5. The slave-end supporting device of a spacing-type interventional surgical robot of claim 3, wherein: spacing type intervenes surgical robot from end strutting arrangement still includes the support column of being connected with the second support arm, the support column with the junction of second support arm is the third rotating part, the third rotating part is installed and is used for the restriction the second support arm is relative the turned angle's of support column stopper.
6. The slave-end supporting device of a spacing-type interventional surgical robot of claim 5, wherein: the rotation angle of the second support arm relative to the support column is 0-90 degrees.
7. The slave-end supporting device of a spacing-type interventional surgical robot of claim 5, wherein: the first rotating part, the second rotating part and the third rotating part are respectively provided with a rotating gear set and an electromagnetic brake.
8. The slave-end supporting device of a spacing-type interventional surgical robot of claim 7, wherein: the rotary gear set comprises a first driving gear and a driven gear meshed with the first driving gear, and the electromagnetic brake controls the driven gear.
9. The slave-end supporting device of a spacing-type interventional surgical robot of claim 5, wherein: spacing type intervenes surgical robot from end strutting arrangement still include with the base that the support column is connected, the base includes the backup pad, is fixed in the backup pad is with orbital sliding sleeve of cooperation operation table and fixing bolt handle.
10. The slave-end supporting device of a spacing-type interventional surgical robot of claim 9, wherein: the base is located the operation table track of keeping away from operating personnel one side.
11. The slave-end supporting device of a spacing-type interventional surgical robot of claim 9, wherein: a main pulley is fixed on the supporting plate, and an auxiliary pulley is installed on the sliding sleeve.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111318951.XA CN114191088B (en) | 2021-11-09 | 2021-11-09 | Slave end supporting device of limiting type interventional operation robot |
| PCT/CN2022/096355 WO2023082612A1 (en) | 2021-11-09 | 2022-05-31 | Limiting type interventional surgical robot slave end supporting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111318951.XA CN114191088B (en) | 2021-11-09 | 2021-11-09 | Slave end supporting device of limiting type interventional operation robot |
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| Publication Number | Publication Date |
|---|---|
| CN114191088A true CN114191088A (en) | 2022-03-18 |
| CN114191088B CN114191088B (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111318951.XA Active CN114191088B (en) | 2021-11-09 | 2021-11-09 | Slave end supporting device of limiting type interventional operation robot |
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| CN (1) | CN114191088B (en) |
| WO (1) | WO2023082612A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023082612A1 (en) * | 2021-11-09 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Limiting type interventional surgical robot slave end supporting device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117257468B (en) * | 2023-11-20 | 2024-01-23 | 云南师范大学 | Multi-degree-of-freedom robot |
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| CN106037937A (en) * | 2016-07-08 | 2016-10-26 | 天津大学 | Surgical robot manipulator arm with self-adaptability |
| CN107736917A (en) * | 2017-09-20 | 2018-02-27 | 范海盟 | A kind of medical lithotripsy |
| CN108338840A (en) * | 2018-04-17 | 2018-07-31 | 成都博恩思医学机器人有限公司 | A kind of laparoscopic surgery holds robot system with endoscope |
| CN111700684A (en) * | 2020-05-29 | 2020-09-25 | 武汉联影智融医疗科技有限公司 | Rotating arm mechanism and integrated robot surgery platform |
| CN112754669A (en) * | 2021-01-19 | 2021-05-07 | 哈尔滨思哲睿智能医疗设备有限公司 | Active arm of surgical robot and surgical robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023082612A1 (en) * | 2021-11-09 | 2023-05-19 | 深圳市爱博医疗机器人有限公司 | Limiting type interventional surgical robot slave end supporting device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114191088B (en) | 2023-08-04 |
| WO2023082612A1 (en) | 2023-05-19 |
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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. |