CN114391955A - Incision closure and closure nail removal medical robot - Google Patents
Incision closure and closure nail removal medical robot Download PDFInfo
- Publication number
- CN114391955A CN114391955A CN202210045832.XA CN202210045832A CN114391955A CN 114391955 A CN114391955 A CN 114391955A CN 202210045832 A CN202210045832 A CN 202210045832A CN 114391955 A CN114391955 A CN 114391955A
- Authority
- CN
- China
- Prior art keywords
- nail
- incision
- linear module
- closure
- closing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/064—Surgical staples, i.e. penetrating the tissue
Abstract
The invention discloses an incision closure and closure nail removal medical robot. The robotic system generally includes a motion module, an execution module, a control module, and the like. The motion module adopts a mechanical arm and other devices to send the execution module to a required position for relevant operation. The multi-purpose camera in the control module is used for collecting images of the incision or the closed nail, and the computer control system positions the incision or the closed nail according to the collected images, plans the path of the execution module and drives the motion module. The execution module comprises an incision closing device, a nail feeding device and a nail dismounting device, and can respectively finish the operations of reducing the incision width or closing the incision, nailing a closing nail into the incision and dismounting the closing nail. The system has the advantages of replacing the traditional manual operation, realizing the automation of the incision closing and the closed nail removing process, improving the operation precision, reducing the infection in the open operation and the like.
Description
Technical Field
The invention relates to a medical robot for closing an incision and removing a closed nail, belongs to the technical field of robots, and particularly relates to a robot system design.
Background
The following description and examples are not admitted to be prior art by virtue of their inclusion in this section.
Open surgery often results in various incisions that need to be closed immediately after surgery. The more common way in practical scenarios is manual closure by medical tools based on the experience of the surgeon, and problems with this approach include infectivity, uneven distribution of closure pin spacing, etc. The robot operation can avoid many defects in the traditional operation and is an important means for promoting the development of medical practice. At present, the theory and technology of medical robot operation are in a vigorous development stage, and certain achievements are achieved in medical operations such as intestinal anastomosis, blood sampling, vaginal cuff closure, tumor resection, tissue palpation, soft tissue grasping, laser ablation, biopsy, gastrointestinal tract screening, soft tissue resection and the like. Therefore, a medical robot for incision closure has received attention from the medical field because it has an advantage of reducing infection and the like.
Disclosure of Invention
The following description of various system embodiments is not to be construed in any way as limiting the subject matter of the appended claims.
The invention provides an incision closing and closing nail removing medical robot, and a robot system with the structural characteristics is generally divided into a motion module, an execution module, a control module and the like. The motion module adopts a mechanical arm and other devices to send the execution module to a required position for relevant operation. The multi-purpose camera in the control module is used for collecting images of the incision or the closed nail, and the computer control system is used for positioning the incision or the closed nail according to the collected images, planning a motion path of the execution module and driving the motion module. The execution module comprises an incision closing device, a nail feeding device and a nail dismounting device, and can respectively finish the operations of reducing the incision width or closing the incision, nailing a closing nail into the incision and dismounting the closing nail.
A medical robot for incision closure and removal of closed nails generally comprises a mechanical arm, a first connecting piece, a second connecting piece, a nail feeding device, an incision closing device, a first multi-view camera, a nail detaching device, a waste nail box, tissues, a second multi-view camera, a computer control system, an air pump, a first air pipe and a second air pipe, wherein the nail feeding device comprises a nail feeding device fixing piece, a nail pressing plate driving piece, a nail pressing plate, a closing nail, a shell, a nail pushing plate and a nail pushing plate driving piece, the incision closing device comprises an incision closing device fixing piece, a first linear module driving piece, a first linear module guide rail, a first linear module moving end, a second linear module guide rail, a second linear module driving piece, a first sucker fixing piece, a second sucker fixing piece, a first sucker and a second sucker, the nail detaching device comprises an incision opening device fixing piece, a third linear module driving piece, a T linear module driving piece, Third linear module guide rail, third linear module remove end, first grabbing device, T linear module guide rail, T linear module remove end, second grabbing device, telescoping device.
The incision closing and closing nail removing medical robot can be generally divided into a motion module, an execution module, a control module and the like.
In the control module, a multi-view camera is used for acquiring images of the incision or the closed nail to acquire related information (specifically including acquiring the width, position, form and the like of the incision in an incision closing stage and acquiring the position, form and the like of the closed nail in a nail detaching stage), and a computer control system analyzes the position and form of an object (the incision or the closed nail) to be operated according to the images acquired by the multi-view camera, plans a motion path corresponding to the execution module, and drives the motion module.
The motion module adopts a mechanical arm and other devices to send the execution module to a required position for relevant operation.
In the incision closing device of the execution module, the sucking disc sucks the skin on two sides of the incision through air pumping of the air pump, and the skin is driven by the linear module (comprising a linear module driving part, a linear module guide rail and a linear module moving end) to do opposite linear motion, so that the purpose of reducing the incision width or closing the incision is achieved, and preparation is made for subsequent nailing of a closing nail. In the nail feeding device, the nail pressing plate moves linearly along the inner wall of the shell under the action of the corresponding driving piece, and presses the closed nail which is positioned at the gap position of the shell into the skin at the cut; after the closing nail enters the skin to a certain depth, the nail pressing plate is retracted, the nail pushing plate moves linearly along the inner wall of the shell under the action of the corresponding driving piece, and the next closing nail is sent to the notch. In the nail dismounting device, the grabbing device fixes two ends of the closed nail, the moving end of the telescopic device presses the middle part of the closed nail to deform the closed nail, and meanwhile, the grabbing device is lifted upwards to finish the closed nail dismounting work.
The waste nail box is used for placing the closing nails detached from the skin so as to avoid the hidden trouble caused by random discarding.
The invention has the advantages that:
(1) manual operation can be replaced, and automation of the incision closing and closed nail removing process is realized;
(2) can reduce infectivity in the open surgery process;
(3) the incision closing operation precision is improved, and the intervals of the closed nails are uniformly distributed.
Drawings
Other objects and advantages of the present invention will become apparent upon reading the following detailed description and upon reference to the drawings wherein:
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the structure of the nail feeding device of the present invention;
FIG. 3 is a schematic view of an incision closure device of the present invention;
FIG. 4 is a schematic view of the structure of the nail removing device of the present invention;
FIG. 5 is a flowchart illustrating the operation of the incision closure and stapling closure of the present invention;
FIG. 6 is a flow chart of the closure nail removal operation of the present invention;
wherein: 1-mechanical arm, 2-first connecting piece, 3-second connecting piece, 4-nail feeding device, 5-incision closing device, 6-first multi-view camera, 7-nail removing device, 8-waste nail box, 9-tissue, 10-second multi-view camera, 11-computer control system, 12-air pump, 13-first air pipe, 14-second air pipe, 401-nail feeding device fixing piece, 402-nail pressing plate driving piece, 403-nail pressing plate, 404-closing nail, 405-shell, 406-nail pushing plate, 407-nail pushing plate driving piece, 501-incision closing device fixing piece, 502-first linear module driving piece, 503-first linear module guide rail, 504-first linear module moving end, 505-second linear module moving end, 506-second linear module guide rail, 507-second straight line module driving piece, 508-first sucker fixing piece, 509-second sucker fixing piece, 510-first sucker, 511-second sucker, 701-nail dismounting device fixing piece, 702-third straight line module driving piece, 703-third straight line module driving piece, 704-third straight line module guide rail, 705-third straight line module moving end, 706-first grabbing device, 707-third straight line module guide rail, 708-third straight line module moving end, 709-second grabbing device and 710-telescopic device.
Further, it is noted that the drawings are not necessarily to scale and that certain features may be depicted at a greater scale than other features to illustrate their nature.
Detailed Description
While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail herein. It should be understood, however, that the drawings and detailed description thereto are not intended to limit the invention to the particular form disclosed, but on the contrary, the intention is to cover all modifications, equivalents and alternatives falling within the spirit and scope of the present invention as defined by the appended claims.
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The invention relates to a medical robot for incision closure and closed nail removal, as shown in figures 1-4, the robot system generally comprises a mechanical arm 1, a first connecting piece 2, a second connecting piece 3, a nail feeding device 4, an incision closing device 5, a first multi-view camera 6, a nail detaching device 7, a waste nail box 8, a tissue 9, a second multi-view camera 10, a computer control system 11, an air pump 12, a first air pipe 13 and a second air pipe 14, the nail feeding device 4 comprises a nail feeding device fixing piece 401, a nail pressing plate driving piece 402, a nail pressing plate 403, a closed nail 404, a shell 405, a nail pushing plate 406 and a nail pushing plate driving piece 407, the incision closing device 5 comprises an incision closing device fixing piece 501, a first linear module driving piece 502, a first linear module guide rail 503, a first linear module moving end 504, a second linear module moving end 505, a second linear module guide rail 506, a second linear module driving piece 507, a first sucker fixing piece 508, a second linear module driving piece 502, a second linear module driving piece 508, a second linear module driving piece and a third linear module driving piece, The second suction cup fixing part 509, the first suction cup 510 and the second suction cup 511, and the nail dismounting device 7 comprises a nail dismounting device fixing part 701, a third linear module driving part 702, a third linear module driving part 703, a third linear module guide rail 704, a third linear module moving end 705, a first gripping device 706, a third linear module guide rail 707, a third linear module moving end 708, a second gripping device 709 and a telescopic device 710.
Incision closure and closure staple removal medical robot the robotic arm 1, waste staple cartridge 8, tissue 9, computer control system 11, air pump 12 are placed in a platform designated position for the relevant operations. The nail feeding device 4 and the incision closing device 5 are respectively arranged on the second connecting piece 3, and the second connecting piece 3 and the nail dismounting device 7 are fixedly connected to the tail end of the mechanical arm 1 through the first connecting piece 2. The first multi-view camera 6 and the second multi-view camera 10 are respectively arranged at the first connecting piece 2 and a platform appointed position to ensure that an image acquisition task can be normally carried out.
In the nail feeding device 4, a nail feeding device fixing part 401 is connected with the second connecting part 3, so that the whole nail feeding device 4 is fixed at the tail end of the mechanical arm 1. The housing 405 with the notch is fixed to the nailing device fixing member 401. One side of the housing 405 is provided with a plate driver 402, the moving end of which is connected to the plate 403 to ensure that the plate 403 can move linearly along the inner wall of the housing 405. One side of the housing 405 is provided with a stripper plate driver 407, the moving end of which is connected to the stripper plate 406 to ensure that the stripper plate 406 moves linearly along the inner wall of the housing 405 on that side. The closure pins 404 are placed side-by-side between the notches and the ejector plate 406.
In the incision closing apparatus 5, an incision closing apparatus fixing member 501 is connected to the second link 3, so that the entire incision closing apparatus 5 is fixed to the end of the robot arm 1. The first linear module driving member 502 and the first linear module guide rail 503 are installed on one side of the incision closing device fixing member 501, and the first linear module moving end 504 can move linearly along the first linear module guide rail 503. The first chuck securing member 508 with the first chuck 510 is fixedly connected to the first linear module moving end 504 to ensure that the first chuck 510 can move linearly. The second linear module moving end 505, the second linear module guide 506, the second linear module driving member 507, the second suction cup fixing member 509, and the second suction cup 511 are installed on the other side of the incision closing device fixing member 501 in the same manner. The air pump 12 is connected with the first suction cup 510 and the second suction cup 511 through a first air pipe 13 and a second air pipe 14 respectively.
In the nail removing device 7, a nail removing device fixing member 701 is fixedly connected with the first connecting member 2, so that the whole nail removing device 7 is fixed at the tail end of the mechanical arm 1. The third linear module driving member 702, the third linear module driving member 703, the third linear module guide rail 704 and the third linear module guide rail 707 are respectively installed on the nail removing device fixing member 701. The third linear module moving end 705 fixedly connected with the first gripping device 706 and the fourth linear module moving end 708 fixedly connected with the second gripping device 709 can respectively do linear motion along the third linear module guide rail 704 and the fourth linear module guide rail 707. The distance between the first and second grasping devices 706, 709 is approximately the same as the width of the closure pin. The telescopic device 710 is installed on the staple remover mount 701 and located between the first gripper 706 and the second gripper 709.
The computer control system 11 exchanges data with the mechanical arm 1, the driving device and the image acquisition equipment in the robot system in a cable connection or wireless transmission mode.
The incision closure and closure nail removal medical robot can be modified according to specific requirements for other non-medical scenarios.
The mechanical arm 1 can select or design other motion devices according to specific requirements.
The first multi-view camera 6 and the second multi-view camera 10 may select other types of positioning methods and/or different numbers of positioning devices according to specific requirements, including but not limited to a structured light scanning device, a laser scanning device, a visible light imaging device, an infrared imaging device, and the like.
The nail feeding device 4 is characterized in that each drive can be selected from different forms (including but not limited to electromagnets, pneumatics, hydraulics and the like) according to specific requirements; meanwhile, as for the nail feeding device 4, a skin stapler or a deformation structure thereof or other different mechanical structures can be adopted according to specific requirements to realize the function of nailing the closure nails into the skin.
The incision closing device 5 is provided, wherein each drive can be selected from different forms (including but not limited to electromagnets, pneumatics, hydraulics and the like) according to specific requirements; meanwhile, other forms can be designed for the incision closing device 5 according to specific requirements so as to realize the functions of grabbing or adsorbing the skin and gathering the two ends of the incision.
The nail dismounting device 7 is characterized in that each drive can be selected from different forms (including but not limited to electromagnets, pneumatics, hydraulics and the like) according to specific requirements; meanwhile, for the nail dismounting device 7, a nail dismounting device or a deformation structure thereof can be adopted or other structures are designed according to specific requirements so as to realize the function of closing the nail deformation and separating the nail from the notch.
The waste nail box 8 can be selected in a container form and a fixing mode according to specific requirements, and can also be omitted according to specific requirements.
Above, such disclosure should not be construed as necessarily limiting the manner of design described herein, and the components/parts of the systems described herein may be of any size and shape, depending on the design specifications of these devices. The structures employed to achieve the various operations may include all of the possible ranges covered, any combination thereof, and any combination between different categories.
The working process is as follows: typical working process
The robot system can replace manual work to finish three operations, namely incision closing, closing nail nailing at the incision and closing nail dismantling, wherein the nailing closing nail is usually operated immediately after the incision is closed.
When the incision closing and nail feeding closing operation is performed, as shown in fig. 5, the multi-view camera acquires an incision image and transmits the incision image to the computer control system, the computer control system analyzes the position, the width and the shape of the incision, plans the motion paths of the incision closing device and the nail feeding device, drives the mechanical arm and the like, and sends the incision closing device and the nail feeding device to the vicinity of the incision starting point. The incision closing device works, the sucking disc is adsorbed on the skin on two sides of the incision, and the two ends of the incision are gathered together under the driving of the linear module. Treat that the incision width reduces to certain degree, sucking disc stop motion, advance the work of binding putting, the pressure nail board is through pressure with closed nail advance skin under the drive of sharp module, and the ejector pin board is sent the next piece of closed nail to the work area under the drive of sharp module simultaneously. After the incision closing work at the current position is finished, the incision closing device and the nail feeding device are restored to the initial state, and the moving module sends the incision closing device and the nail feeding device to the next working point. The above procedure was repeated until the entire incision was closed.
When the closed nail is removed, as shown in fig. 6, firstly, an image of the closed nail is acquired through the multi-view camera and transmitted to the computer control system, the computer control system analyzes the position and the form of the closed nail, plans the motion path of the nail removing device, drives the mechanical arm and other devices, and sends the nail removing device to the vicinity of the closed nail to be removed. The nail dismounting device works, the grabbing device lifts the two ends of the closed nail upwards, and the telescopic device presses the middle part of the closed nail downwards, so that the closed nail deforms and is dismounted. The computer control system drives the motion module to dispose the removed waste staples into a waste staple cartridge. And repeating the process until all the closing nails are completely disassembled.
Those skilled in the art, having benefit of this disclosure, will appreciate and appreciate that they are not limited to the embodiments disclosed herein. Further modifications and alternative embodiments of various aspects of the invention will be apparent to those skilled in the art.
This description is to be construed as illustrative only and is for the purpose of teaching those skilled in the art the general manner of carrying out the invention. It is to be understood that the forms of the invention shown and described herein are to be taken as the presently preferred embodiments. Elements and materials may be substituted for those illustrated and described herein, parts and processes may be reversed, and certain features of the invention may be utilized independently, all as would be apparent to one skilled in the art after having the benefit of this description of the invention. Changes may be made in the elements described herein without departing from the spirit and scope of the invention as described in the following claims.
Claims (8)
1. The medical robot for incision closure and closed nail removal is characterized in that the robot system generally comprises a mechanical arm (1), an A connecting piece (2), a B connecting piece (3), a nail feeding device (4), an incision closing device (5), an A multi-purpose camera (6), a nail detaching device (7), a waste nail box (8), a tissue (9), a B multi-purpose camera (10), a computer control system (11), an air pump (12), an A air pipe (13) and a B air pipe (14), wherein the nail feeding device (4) comprises a nail feeding device fixing piece (401), a nail pressing plate driving piece (402), a nail pressing plate (403), a closed nail (404), a shell (405), a nail pushing plate (406) and a nail pushing plate driving piece (407), and the incision closing device (5) comprises an incision closing device fixing piece (501), an A linear module driving piece (502), an A linear module guide rail (503), The nail dismounting device comprises an A linear module moving end (504), a B linear module moving end (505), a B linear module guide rail (506), a B linear module driving piece (507), an A sucker fixing piece (508), a B sucker fixing piece (509), an A sucker (510) and a B sucker (511), wherein the nail dismounting device (7) comprises a nail dismounting device fixing piece (701), a C linear module driving piece (702), a D linear module driving piece (703), a C linear module guide rail (704), a C linear module moving end (705), a A grabbing device (706), a D linear module guide rail (707), a D linear module moving end (708), a B grabbing device (709) and a telescopic device (710);
in the incision closing and closed nail removing medical robot, the mechanical arm (1), the waste nail box (8), the tissue (9), the computer control system (11) and the air pump (12) are placed at the appointed positions of a platform so as to carry out related operations; the nail feeding device (4) and the incision closing device (5) are respectively installed on the second connecting piece (3), and the second connecting piece (3) and the nail dismounting device (7) are fixedly connected to the tail end of the mechanical arm (1) through the first connecting piece (2); the first multi-view camera (6) and the second multi-view camera (10) are respectively arranged at the first connecting piece (2) and a platform appointed position so as to ensure that an image acquisition task can be normally carried out;
in the nail feeding device (4), the nail feeding device fixing piece (401) is connected with the second connecting piece (3), so that the whole nail feeding device (4) is fixed at the tail end of the mechanical arm (1); the shell (405) with the notch is fixedly connected to the nail feeding device fixing piece (4); one side of the shell (405) is provided with the nail pressing plate driving piece (402), and the moving end of the nail pressing plate driving piece is connected with the nail pressing plate (403) so as to ensure that the nail pressing plate (403) can do linear motion along the inner wall of the shell (405) on the side; one side of the shell (405) is provided with the nail pushing plate driving piece (407), and the moving end of the nail pushing plate driving piece is connected with the nail pushing plate (406) so as to ensure that the nail pushing plate (406) makes linear motion along the inner wall of the shell (405) on the side; the closing nails (404) are arranged side by side between the notches and the nail pushing plate (406);
in the incision closing device (5), the incision closing device fixing piece (501) is connected with the second connecting piece (3), so that the whole incision closing device (5) is fixed at the tail end of the mechanical arm (1); the first linear module driving piece (502) and the first linear module guide rail (503) are arranged on one side of the incision closing device fixing piece (501), and the first linear module moving end (504) can do linear motion along the first linear module guide rail (503); the first sucker fixing piece (508) provided with the first sucker (510) is fixedly connected with the first linear module moving end (504) so as to ensure that the first sucker (510) can do linear motion; the second linear module moving end (505), the second linear module guide rail (506), the second linear module driving piece (507), the second sucker fixing piece (509) and the second sucker (511) are arranged on the other side of the incision closing device fixing piece (501) in the same way; the air pump (12) is respectively connected with the first sucker (510) and the second sucker (511) through the first air pipe (13) and the second air pipe (14);
in the nail removing device (7), the nail removing device fixing piece (701) is fixedly connected with the nail connecting piece (2), so that the whole nail removing device (7) is fixed at the tail end of the mechanical arm (1); the third linear module driving piece (702), the third linear module driving piece (703), the third linear module guide rail (704) and the third linear module guide rail (707) are respectively installed on the nail dismounting device fixing piece (701); the third linear module moving end (705) fixedly connected with the first grabbing device (706) and the third linear module moving end (708) fixedly connected with the second grabbing device (709) can respectively do linear motion along the third linear module guide rail (704) and the third linear module guide rail (707); the distance between the first gripping device (706) and the second gripping device (709) is approximately the same as the width of the closing pin (404); the telescopic device (710) is arranged on the nail dismounting device fixing piece (701) and is positioned between the first gripping device (706) and the second gripping device (709);
and the computer control system (11) exchanges data with the mechanical arm (1), the driving device and the image acquisition equipment in the robot system in a cable connection or wireless transmission mode.
2. The incision closure and closure tack removal medical robot of claim 1, adapted for use in other non-medical scenarios, according to specific needs.
3. The incision closure and closure nail removal medical robot according to claim 1, wherein the mechanical arm (1) is selected or designed with other motion devices according to specific requirements.
4. The incision closure and closure nail removal medical robot according to claim 1, wherein the first and second multi-view cameras (6, 10) may be selected from other kinds of positioning methods and/or different numbers of positioning devices according to specific needs, including but not limited to a structured light scanning device, a laser scanning device, a visible light imaging device, an infrared imaging device, and the like.
5. The incision closure and closure nail removal medical robot according to claim 1, wherein the nail feeding device (4) wherein the drives can be selected from different forms (including but not limited to electromagnets, pneumatics, hydraulics, etc.) according to specific needs; meanwhile, the nail feeding device (4) can adopt a skin anastomat or a deformation structure thereof or other different mechanical structures according to specific requirements so as to realize the function of nailing the closure nails into the skin.
6. The incision closure and closure nail removal medical robot according to claim 1, wherein the incision closure device (5) wherein the drives may be of different forms (including but not limited to electromagnets, pneumatic, hydraulic, etc.) according to specific needs; meanwhile, other forms can be designed for the incision closing device (5) according to specific requirements so as to realize the functions of grabbing or adsorbing the skin and gathering the two ends of the incision.
7. The incision closure and closure nail removal medical robot according to claim 1, wherein the nail detaching device (7) wherein the drives can be selected from different forms (including but not limited to electromagnets, pneumatics, hydraulics, etc.) according to specific needs; meanwhile, the nail dismounting device (7) can adopt a nail dismounting device or a deformation structure thereof or design other structures according to specific requirements so as to realize the function of closing the nail deformation and separating the nail from the notch.
8. The incision closing and staple removing medical robot according to claim 1, wherein the waste staple cartridge (8) can be selected in a container form and a fixing manner according to specific requirements, and can be omitted according to specific requirements.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210045832.XA CN114391955B (en) | 2022-01-18 | 2022-01-18 | Incision closure and closure nail removal medical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210045832.XA CN114391955B (en) | 2022-01-18 | 2022-01-18 | Incision closure and closure nail removal medical robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114391955A true CN114391955A (en) | 2022-04-26 |
| CN114391955B CN114391955B (en) | 2022-09-27 |
Family
ID=81230581
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210045832.XA Active CN114391955B (en) | 2022-01-18 | 2022-01-18 | Incision closure and closure nail removal medical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114391955B (en) |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7004950B1 (en) * | 2002-06-21 | 2006-02-28 | Collins James R | Tissue aligning surgical stapler and method of use |
| US20090134198A1 (en) * | 2007-03-08 | 2009-05-28 | Cardica, Inc. | Surgical Method for Stapling Tissue |
| US20130062394A1 (en) * | 2011-09-13 | 2013-03-14 | Bret W. Smith | Surgical staple cartridge with self-dispensing staple buttress |
| CN104936535A (en) * | 2013-01-14 | 2015-09-23 | 直观外科手术操作公司 | Clamping instrument |
| CN108175507A (en) * | 2017-08-31 | 2018-06-19 | 北京邮电大学 | Automatically control high-precision Soft tissue cutting robot |
| CN208319252U (en) * | 2017-08-08 | 2019-01-04 | 广州科荟泽生物科技有限公司 | A kind of Skin sewing needle of replaceable nail bin |
| CN109350244A (en) * | 2018-11-07 | 2019-02-19 | 北京邮电大学 | A kind of Soft tissue cutting robot system with notch separation function |
| US20190059888A1 (en) * | 2017-08-29 | 2019-02-28 | Ethicon Llc | Electrically-powered surgical box staplers |
| CN113425351A (en) * | 2021-06-23 | 2021-09-24 | 北京航空航天大学 | Automatic wound anastomat with six spatial degrees of freedom |
| CN113425353A (en) * | 2021-06-23 | 2021-09-24 | 北京航空航天大学 | Wire-driven electric wound anastomat |
-
2022
- 2022-01-18 CN CN202210045832.XA patent/CN114391955B/en active Active
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7004950B1 (en) * | 2002-06-21 | 2006-02-28 | Collins James R | Tissue aligning surgical stapler and method of use |
| US20090134198A1 (en) * | 2007-03-08 | 2009-05-28 | Cardica, Inc. | Surgical Method for Stapling Tissue |
| US20130062394A1 (en) * | 2011-09-13 | 2013-03-14 | Bret W. Smith | Surgical staple cartridge with self-dispensing staple buttress |
| CN104936535A (en) * | 2013-01-14 | 2015-09-23 | 直观外科手术操作公司 | Clamping instrument |
| CN208319252U (en) * | 2017-08-08 | 2019-01-04 | 广州科荟泽生物科技有限公司 | A kind of Skin sewing needle of replaceable nail bin |
| US20190059888A1 (en) * | 2017-08-29 | 2019-02-28 | Ethicon Llc | Electrically-powered surgical box staplers |
| CN108175507A (en) * | 2017-08-31 | 2018-06-19 | 北京邮电大学 | Automatically control high-precision Soft tissue cutting robot |
| CN109350244A (en) * | 2018-11-07 | 2019-02-19 | 北京邮电大学 | A kind of Soft tissue cutting robot system with notch separation function |
| CN113425351A (en) * | 2021-06-23 | 2021-09-24 | 北京航空航天大学 | Automatic wound anastomat with six spatial degrees of freedom |
| CN113425353A (en) * | 2021-06-23 | 2021-09-24 | 北京航空航天大学 | Wire-driven electric wound anastomat |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114391955B (en) | 2022-09-27 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6968874B2 (en) | Stapler reload detection and identification | |
| US10772630B2 (en) | Staple pusher with lost motion between ramps | |
| JP6563664B2 (en) | Injection assembly for surgical stapler | |
| WO2017083129A1 (en) | Stapler anvil with compliant tip | |
| US20100268249A1 (en) | Surgical system with medical manipulator and sterile barrier | |
| CN111358561B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN113905675A (en) | Staple cartridge for surgical instruments | |
| CN112621734A (en) | Sampling execution part and throat swab sampling robot | |
| CN110720987A (en) | Robot device for single-hole minimally invasive surgery | |
| CN114391955B (en) | Incision closure and closure nail removal medical robot | |
| US11801111B2 (en) | Retracting tool for robotic surgery | |
| CN111329593B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111012508B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN211049592U (en) | Robot device for single-hole minimally invasive surgery | |
| CN111358560B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111012511B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111358562B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111358558A (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111358557B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111358559B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111012507B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111012512B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| CN111012509B (en) | Surgical instrument control method of laparoscopic surgery robot | |
| US11864757B2 (en) | Reloadable cartridge assembly | |
| CN111012510B (en) | Surgical instrument control method of laparoscopic surgery robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |