CN114224490B - 一种微创手术机器人用齿轮传动结构 - Google Patents
一种微创手术机器人用齿轮传动结构 Download PDFInfo
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- CN114224490B CN114224490B CN202111539314.5A CN202111539314A CN114224490B CN 114224490 B CN114224490 B CN 114224490B CN 202111539314 A CN202111539314 A CN 202111539314A CN 114224490 B CN114224490 B CN 114224490B
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 37
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 27
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 69
- 239000010959 steel Substances 0.000 claims abstract description 69
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000000712 assembly Effects 0.000 claims description 17
- 238000000429 assembly Methods 0.000 claims description 17
- 238000001356 surgical procedure Methods 0.000 abstract description 13
- 238000000034 method Methods 0.000 abstract description 8
- 230000008569 process Effects 0.000 abstract description 7
- 239000003814 drug Substances 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 239000004677 Nylon Substances 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003638 chemical reducing agent Substances 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005461 lubrication Methods 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000005036 nerve Anatomy 0.000 description 1
- 229920001778 nylon Polymers 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
- 230000000399 orthopedic effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H7/00—Gearings for conveying rotary motion by endless flexible members
- F16H7/08—Means for varying tension of belts, ropes, or chains
- F16H7/10—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley
- F16H7/12—Means for varying tension of belts, ropes, or chains by adjusting the axis of a pulley of an idle pulley
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Landscapes
- Engineering & Computer Science (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Surgery (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Robotics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
Description
Claims (6)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
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CN202111539314.5A CN114224490B (zh) | 2021-12-15 | 2021-12-15 | 一种微创手术机器人用齿轮传动结构 |
Applications Claiming Priority (1)
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CN202111539314.5A CN114224490B (zh) | 2021-12-15 | 2021-12-15 | 一种微创手术机器人用齿轮传动结构 |
Publications (2)
Publication Number | Publication Date |
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CN114224490A CN114224490A (zh) | 2022-03-25 |
CN114224490B true CN114224490B (zh) | 2023-11-21 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN202111539314.5A Active CN114224490B (zh) | 2021-12-15 | 2021-12-15 | 一种微创手术机器人用齿轮传动结构 |
Country Status (1)
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CN (1) | CN114224490B (zh) |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN103892924A (zh) * | 2014-04-25 | 2014-07-02 | 吉林大学 | 机器人辅助微创手术用无耦合快换式钛夹钳手术装置 |
CN203740945U (zh) * | 2014-03-27 | 2014-07-30 | 北京起重运输机械设计研究院 | 一种用于钢丝绳卷筒和电缆卷筒的传动机构 |
CN104224325A (zh) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | 一种用于微创手术机器人的钢丝绳传动直线伸缩机构 |
CN106308939A (zh) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | 一种用于驱动柔性连续体结构的驱动单元 |
CN107874835A (zh) * | 2017-12-21 | 2018-04-06 | 湖南丹尼尔智能科技有限公司 | 一种腹腔手术用机械臂 |
CN111134850A (zh) * | 2020-02-09 | 2020-05-12 | 深圳市精锋医疗科技有限公司 | 驱动盒、操作臂以及手术机器人 |
CN112914728A (zh) * | 2021-03-23 | 2021-06-08 | 上海电机学院 | 一种微创手术机器人用手术器械 |
CN113081091A (zh) * | 2021-05-20 | 2021-07-09 | 浙江理工大学 | 基于柔索牵引串联弹性驱动的微创手术器械及其使用方法 |
CN213787764U (zh) * | 2020-11-19 | 2021-07-27 | 山东威高手术机器人有限公司 | 一种蛇形手术器械 |
CN113491580A (zh) * | 2020-03-20 | 2021-10-12 | 上海微创医疗机器人(集团)股份有限公司 | 丝传动结构、手术器械及手术机器人 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP5980764B2 (ja) * | 2013-11-29 | 2016-08-31 | オリンパス株式会社 | 術具 |
US11484372B2 (en) * | 2019-02-15 | 2022-11-01 | Covidien Lp | Articulation mechanisms for surgical instruments such as for use in robotic surgical systems |
-
2021
- 2021-12-15 CN CN202111539314.5A patent/CN114224490B/zh active Active
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN203740945U (zh) * | 2014-03-27 | 2014-07-30 | 北京起重运输机械设计研究院 | 一种用于钢丝绳卷筒和电缆卷筒的传动机构 |
CN103892924A (zh) * | 2014-04-25 | 2014-07-02 | 吉林大学 | 机器人辅助微创手术用无耦合快换式钛夹钳手术装置 |
CN104224325A (zh) * | 2014-10-11 | 2014-12-24 | 天津工业大学 | 一种用于微创手术机器人的钢丝绳传动直线伸缩机构 |
CN106308939A (zh) * | 2016-08-31 | 2017-01-11 | 北京术锐技术有限公司 | 一种用于驱动柔性连续体结构的驱动单元 |
CN107874835A (zh) * | 2017-12-21 | 2018-04-06 | 湖南丹尼尔智能科技有限公司 | 一种腹腔手术用机械臂 |
CN111134850A (zh) * | 2020-02-09 | 2020-05-12 | 深圳市精锋医疗科技有限公司 | 驱动盒、操作臂以及手术机器人 |
CN113491580A (zh) * | 2020-03-20 | 2021-10-12 | 上海微创医疗机器人(集团)股份有限公司 | 丝传动结构、手术器械及手术机器人 |
CN213787764U (zh) * | 2020-11-19 | 2021-07-27 | 山东威高手术机器人有限公司 | 一种蛇形手术器械 |
CN112914728A (zh) * | 2021-03-23 | 2021-06-08 | 上海电机学院 | 一种微创手术机器人用手术器械 |
CN113081091A (zh) * | 2021-05-20 | 2021-07-09 | 浙江理工大学 | 基于柔索牵引串联弹性驱动的微创手术器械及其使用方法 |
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CN114224490A (zh) | 2022-03-25 |
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Address after: 266300 South Head of Huiying Street, Jiaozhou Economic and Technological Development Zone, Qingdao City, Shandong Province Patentee after: China National Academy of Machinery Group Qingdao Branch Co.,Ltd. Country or region after: China Address before: 266300 South Head of Huiying Street, Jiaozhou Economic and Technological Development Zone, Qingdao City, Shandong Province Patentee before: Qingdao Branch Co., Ltd. of Mechanical Science Research Institute Country or region before: China |
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