CN114452003B - Surgical robot - Google Patents
Surgical robot Download PDFInfo
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- CN114452003B CN114452003B CN202011246738.8A CN202011246738A CN114452003B CN 114452003 B CN114452003 B CN 114452003B CN 202011246738 A CN202011246738 A CN 202011246738A CN 114452003 B CN114452003 B CN 114452003B
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- 230000033001 locomotion Effects 0.000 claims abstract description 57
- 239000011159 matrix material Substances 0.000 claims description 18
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 238000013507 mapping Methods 0.000 claims description 5
- 230000003068 static effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 8
- 208000027418 Wounds and injury Diseases 0.000 description 7
- 239000013598 vector Substances 0.000 description 4
- 230000006978 adaptation Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 208000014674 injury Diseases 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000012084 abdominal surgery Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
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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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The invention discloses a surgical robot, which comprises a master hand, a slave hand and a slave hand controller, wherein the slave hand comprises a general robot and an instrument robot, and the slave hand controller is used for: acquiring the hand action speed of an operator at the main hand; controlling the motion of the slave hand according to the hand motion speed: controlling the motion of the slave hand according to the hand motion speed: controlling the motion of the slave hand according to the hand motion speed: the universal robot is controlled to drive the instrument robot to pass through the target position to enter the target object, and then the universal robot is controlled to move around the telecentric point and the instrument robot is controlled to stretch out and draw back, so that the instrument robot performs setting operation. The surgical robot is controlled in a master-slave hand control mode, so that the control precision is high, and the operation is convenient and accurate; the hand control mode adopts a mode of dividing the universal robot and the instrument robot, which is not only suitable for realizing telescopic rotation around the telecentric point, but also suitable for adjusting the position of the telecentric point.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a surgical robot.
Background
The surgical operation robot is a novel medical instrument integrating various disciplines, and the minimally invasive surgical operation robot represented by Davinci is an important development direction of informatization, program control and intellectualization of the current medical instrument.
Current abdominal surgery robot: the da vinci uses a special configuration of parallelogram, has physical telecentricity; the existing surgical robot can only control the surgical robot arm to stretch and rotate around the physical telecentric point, the telecentric point position is adjusted before and during operation, and the robot base is required to be translated and rotated through an additional position changing mechanism, so that the surgical robot is inconvenient to use.
Therefore, how to provide a surgical robot that can be adapted to realize telescopic rotation around a telecentric point and adjust the position of the telecentric point is a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide the surgical robot which is controlled in a master-slave control mode, and has high control precision and convenient and accurate operation; the hand control mode adopts a mode of dividing the universal robot and the instrument robot, which is not only suitable for realizing telescopic rotation around the telecentric point, but also suitable for adjusting the position of the telecentric point.
To achieve the above object, the present invention provides a surgical robot including a master hand, a slave hand including a general-purpose robot and an instrument robot, and a slave hand controller for:
acquiring the hand action speed of an operator at the main hand;
controlling the motion of the slave hand according to the hand motion speed: the universal robot is controlled to drive the instrument robot to pass through the target position to enter the target object, and then the universal robot is controlled to move around the telecentric point and the instrument robot is controlled to stretch out and draw back, so that the instrument robot performs setting operation.
Preferably, the hand motion speed comprises a cartesian translational speed and a cartesian rotational speed.
Preferably, the hand motion speed control device further comprises a master hand controller, wherein the master hand controller is used for filtering and multiplying power processing after collecting the hand motion speed, and the hand motion speed is sent to the slave hand controller for controlling the slave hand.
Preferably, the slave hand controller is configured to, prior to the step of re-controlling the universal robot to move about the telecentric point and the telescopic movement of the instrument robot in a coordinated manner:
and establishing a telecentric point.
Preferably, the slave hand controller is configured to, in the step of establishing a telecentricity:
dragging a stamping card seat of the instrument robot to a stamping card position which is opened and inserted at the target position, and connecting the stamping card seat and the stamping card;
and calculating to obtain the position of the telecentric point.
Preferably, in the step of calculating the position of the telecentric point, the slave hand controller is configured to:
and acquiring actual displacement or actual angles of all the universal motion axes according to encoders arranged at all the universal motion axes of the universal robot, and calculating the positions of the telecentric points.
Preferably, the slave hand controller is configured to, prior to the step of re-controlling the universal robot to move about the telecentric point and the telescopic movement of the instrument robot in a coordinated manner:
and obtaining all instrument shaft speeds of the instrument robot according to the expected Cartesian speed image of the tail end of the instrument robot through an inverse matrix of the jacobian matrix.
Preferably, the instrument shaft speed includes an instrument physical shaft speed corresponding to a physical shaft and an instrument virtual shaft speed corresponding to a virtual shaft.
Preferably, the slave hand controller is configured to, after the step of mapping the total instrument shaft speed of the instrument robot:
and obtaining all the universal shaft speeds of the universal robot according to the instrument virtual shaft speed image through an inverse matrix of the jacobian matrix.
Preferably, the slave hand controller is configured to, after the step of causing the instrument robot to perform a setting operation:
and controlling the instrument robot to pass through the telecentric point and be taken out of the target object.
In view of the above background art, the surgical robot provided by the present invention includes a master hand, a slave hand, and a slave hand controller, the slave hand includes a general-purpose robot and an instrument robot, the slave hand controller acquires a hand motion speed of an operator at the master hand in a first step, and controls a motion of the slave hand in a second step according to the hand motion speed acquired in the first step; the second step can be further subdivided into three steps including: the universal robot is controlled to drive the instrument robot to pass through a wound of a patient to enter the patient, and then the universal robot is controlled to move around a telecentric point and the instrument robot is controlled to stretch out and draw back, so that the instrument robot performs an operation. The surgical robot is controlled in a master-slave hand control mode, an operator performs hand operation by the master hand, input hand motions are converted into specific hand motion speeds, the slave hand performs corresponding motions according to the hand motion speeds of the input master hand, the control precision is high, the operation is convenient and accurate, and the surgical robot is suitable for realizing telescopic rotation around a telecentric point and adjusting the position of the telecentric point.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and that other drawings can be obtained according to the provided drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a control method of a surgical robot according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a surgical robot according to an embodiment of the present invention;
fig. 3 is a schematic view of the instrument robot of fig. 2.
Wherein:
1-general robot, 2-instrument robot, 11-general motion axis, 21-straight axis, 22-surgical instrument, 23-stab cartridge, 24-stab cartridge, 25-instrument cartridge, 200-orthogonal virtual axis, 221-instrument motion axis, 2000-telecentric point.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The present invention will be further described in detail below with reference to the drawings and detailed description for the purpose of enabling those skilled in the art to better understand the aspects of the present invention.
Referring to fig. 1 to 3, fig. 1 is a schematic flow chart of a control method of a surgical robot according to an embodiment of the present invention, fig. 2 is a schematic structural diagram of the surgical robot according to an embodiment of the present invention, and fig. 3 is a schematic structural diagram of an instrument robot in fig. 2.
In a first specific embodiment, the surgical robot provided by the invention comprises a master hand, a slave hand and a slave hand controller, wherein the slave hand comprises a general robot 1 and an instrument robot 2, and the slave hand controller controls two steps: s1, acquiring the hand action speed of an operator at a main hand; s2, controlling the motion of the slave hand according to the hand motion speed.
The surgical robot system comprises a general-purpose robot 1 and an instrument robot 2, wherein the general-purpose robot 1 can adopt five axes, six axes, seven axes and the like and has a corresponding number of general motion axes 11; the universal robot 1 has the same number of degrees of freedom as the universal axes of motion 11; the instrument robot 2 comprises a linear shaft 21, the linear shaft 21 comprises a linear guide part and a sliding block in sliding connection, a poking clamping seat 23 is arranged on the linear guide part, an instrument seat 25 is arranged on the sliding block, and a surgical instrument 22 is arranged on the instrument seat 25; the instrument robot 2 has multiple degrees of freedom of the instrument motion axis 221 of the surgical instrument 22, orthogonal virtual axis 200, linear axis 21. The surgical instrument 22 is a replaceable part, and does not include the linear guide and the instrument holder 25.
In this embodiment, the surgical robot adopts a master-slave hand control mode, the operator performs hand control at the master hand, and the sensor of the master hand converts the hand motion into the hand motion speed input into the master hand controller, so as to input the collected hand motion speed into the slave hand controller, thereby realizing the control of the motion of the master hand to the slave hand.
Wherein, step S2 can be further subdivided into: s21, firstly controlling the universal robot 1 to drive the instrument robot 2 to pass through a target position to enter a target object; s22, controlling the universal robot 1 to move around the telecentric point 2000 and the instrument robot 2 to stretch out and draw back; s23, the instrument robot 2 is caused to perform a setting operation.
It should be noted that, the surgical robot in this embodiment is not only suitable for a simulation operation in a teaching form when the target object is a dummy, but also suitable for a real operation when the target object is a real person. When the actual operation is performed, the target object corresponds to the human body, the target position corresponds to the wound of the patient, and the setting operation performed by the instrument robot 2 is various operations during the actual operation. More specifically, S21, the general-purpose robot 1 is controlled to drive the instrument robot 2 to pass through the wound of the patient and enter the patient; s22, controlling the universal robot 1 to move around the telecentric point 2000 and the instrument robot 2 to stretch out and draw back; s23, enabling the instrument robot 2 to perform operation.
In this embodiment, the universal robot 1 is stationary only when the instrument is inserted; in the surgical operation after the insertion of the instrument, the general-purpose robot 1 always moves around the telecentric point 2000, that is, the general-purpose robot 1 moves around the telecentric point 2000 when the instrument robot 2 moves, and the pose and trajectory of the distal end of the instrument are combined together by the general-purpose robot 1 and the instrument robot 2. The surgical robot adopts a mode of respectively controlling the universal robot 1 and the instrument robot 2, that is, different control methods are adopted for different robots, so that different motion control is realized, and different functional roles are realized. Specifically, the universal robot 1 is connected with the instrument robot 2, and the universal robot 1 can drive the instrument robot 2 to move, so that the universal robot 1 drives the instrument robot 2 to move around the telecentric point 2000 by controlling the universal robot 1 to move from the hand controller, and then the tail end of the instrument robot 2 completes the operation in the body.
Specifically, the hand motion speed includes a cartesian translation speed and a cartesian rotation speed.
In addition, before step S2, that is, before the step of controlling the motion of the slave hand according to the hand motion speed, the method further includes: the hand action speed is collected by the master hand controller, filtered and multiplying power processed, and sent to the slave hand controller for slave hand control.
Wherein, before step S22, further comprises: telecentric point 2000 is established.
Specifically, the step of establishing the telecentric point 2000 specifically includes: opening at the target location, inserting a stamper 24; dragging the stamping card seat 23 of the instrument robot 2 to the stamping card 24; a stamp card holder 23 and a stamp card 24 are connected; the position of the telecentric point 2000 is calculated. Wherein, in a real surgery, the target position corresponds to a real surgical site.
Because of the design of the poke-in holder 23 on the robot, the Cartesian position of the telecentric point 2000 relative to the base coordinate system can be obtained by inputting the actual angle or actual displacement of each joint encoder to the robot positive kinematic model at the moment of connecting the poke-in card 24.
When the instrument is inserted, the instrument is inserted through the spatially fixed linear guide and the spatially fixed punch 24. The poking card 24 is parallel to the linear guide part, so that the operation difficulty of the insertion instrument is simplified; the position of the telecentric point 2000 can be adjusted in operation according to clinical needs, if the patient is in need of wound movement, the poking card seat 23 can be dragged to translate to rapidly release the pressure at the poking card 24, so that secondary injury is avoided; the present configuration allows the linear guides fixed in spatial position and the stab card 24 fixed in spatial position to allow the clinical staff to pull out the instrument in a straight line to protect the patient's wound from secondary injury if the need for rapid removal of the instrument to continue the procedure is met with an emergency failure, a power outage, etc.
The step of calculating the position of the telecentric point 2000 specifically includes: the position of the telecentric point 2000 is calculated by acquiring the actual displacement or the actual angle of all the universal axes of motion 11 from the encoders provided at all the universal axes of motion 11 of the universal robot 1.
Specifically, the general motion axis 11 is arranged in such a manner that it includes a rotation axis and a linear axis, and accordingly, the displacement variation thereof includes an angular displacement and a linear displacement, that is, an actual angle of feedback and an actual distance of feedback; the actual angle corresponds to an angle encoder that obtains a displacement change of the rotation axis when the general-purpose movement axis 11 is the rotation axis, and the actual distance corresponds to a distance encoder that obtains a displacement change of the linear axis when the general-purpose movement axis 11 is the linear axis.
In addition, before step S23, that is, before the step of controlling the instrument robot 2 to pass through the telecentric point 2000 and enter the patient to perform the operation, the method further includes: the total instrument shaft speed of the instrument robot 2 is obtained from the desired cartesian speed mapping of the end of the instrument robot 2 by means of the inverse of the jacobian matrix.
The device shaft speed comprises a device physical shaft speed corresponding to a physical shaft and a device virtual shaft speed corresponding to a virtual shaft, and the motion of the virtual shaft is formed by the motion of each shaft of the universal robot 1 around the telecentric point 2000 in a linkage way.
Specifically, after the step of mapping the total instrument shaft speeds of the instrument robot 2, it further includes: the total universal axis speeds of the universal robot 1 are obtained from the instrument virtual axis speed map by means of the inverse matrix of the jacobian matrix.
The first step: usingCalculating the speed of each axis of the instrument robot 2, wherein +.>Represents the joint velocity (n-dimensional vector, instrument robot axis number n=6), j of the instrument robot 2 -1 An inverse matrix of jacobian matrix corresponding to instrument robot 2 configuration is represented, v represents the user desired instrument end cartesian velocity (6-dimensional vector), v= [ v ] x ,v y ,v z ,ω x ,ω y ,ω z ]Finally calculated joint speed of the instrument robot 2 +.>。
And a second step of: usingCalculating a speed of each axis of the general-purpose robot 1, wherein +.>Represents the velocities of the joints of the general-purpose robot 1 (n-dimensional vectors, general-purpose robot axes n=5, 6, 7 …), J-1 represents the inverse matrix of the jacobian matrix corresponding to the general-purpose robot 1 configuration, V represents the target velocity of the telecentric point (6-dimensional vector),heart point->Speed, telecentric point->Speed, telecentric point->Speed, telecentric point->Speed->Wherein->Is calculated in the first step. Finally, the joint speed of the universal robot 1 is calculated>
In this embodiment, telecentric point 2000 establishes the flow:
1. before the tab 24 is attached, the robot joints are free of rotational angle and in a free drag mode.
2. A punch 24 is inserted through the surgical site opening.
3. Dragging each shaft pulls the card holder 23 at the bottom of the linear guide to a position near the card 24.
4. After the sensor detects that the connection is established, the control system calculates the position of the telecentric point 2000 by inputting the actual angle or the actual distance of each joint encoder into the robot positive kinematics model. The control system constrains the angles of rotation of the various joints of the robot, where the universal robot 1 can only move around the telecentric point 2000 through which the card 24 passes, but where the instrument is not controlled to pass through the telecentric point 2000.
5. The surgical instrument 22 and the instrument holder 25 are connected, and the instrument is controlled by the linear guide to enter the human body through the telecentric point 2000.
6. The implementation control method comprises the following steps: the desired Cartesian velocities of the instrument tip are mapped onto the six shaft velocities of the instrument robot 2 by the inverse of the jacobian matrix, at which time the target velocities of the four motors and the target velocities of the orthogonal virtual shaft 200, i.e., the two virtual shafts, are obtained. The target speeds of the orthogonal virtual axes 200 are mapped to the speeds of the physical axes of the universal robot 1 through the inverse matrix of the jacobian matrix, and then the target speed control instructions of all motors can be obtained.
Finally, after step S23, further including: the control instrument robot 2 is again taken out of the target object through the telecentric point 2000, wherein the target object corresponds to the patient 'S body in the real surgery, and step S23 is specifically to take out the control instrument robot 2 from the patient' S body through the telecentric point 2000 again.
In this embodiment, telecentric point 2000 loses the flow:
1. the instrument is withdrawn (pulled out) straight along the straight guide.
2. Separating the card holder 23 and the card 24.
3. Freely dragging each joint of the robot to the empty area.
The surgical robot system actually consists of two independent robots at the control algorithm level, and each robot has a control target. One controlling the position and attitude of the instrument tip in the body and the other controlling the linear guide to move about the telecentric point 2000. The controller may be two independent controllers or one controller, which should fall within the scope of the present embodiment; the distal end of the universal robot 1 does not move with the telescopic movement of the instrument. The controller of the universal robot 1 in this configuration is not responsible for controlling the position and attitude of the distal end of the surgical instrument 22, only controlling the linear guide to move about the telecentric point 2000; the position and attitude control of the distal end of the surgical instrument 22 is contained in a control model of the instrument robot 2.
It should be noted that in this specification relational terms such as first and second are used solely to distinguish one entity from another entity without necessarily requiring or implying any actual such relationship or order between such entities.
The surgical robot provided by the present invention is described in detail above. The principles and embodiments of the present invention have been described herein with reference to specific examples, the description of which is intended only to facilitate an understanding of the method of the present invention and its core ideas. It should be noted that it will be apparent to those skilled in the art that various modifications and adaptations of the invention can be made without departing from the principles of the invention and these modifications and adaptations are intended to be within the scope of the invention as defined in the following claims.
Claims (8)
1. The utility model provides a surgical robot, its characterized in that includes master hand, slave hand and slave hand controller, slave hand include general robot (1) and with instrument robot (2) that general robot (1) links to each other, instrument robot (2) are used for controlling the terminal position and the gesture of apparatus, instrument robot (2) include the straight line axle, the straight line axle includes straight line guide and slider, and the apparatus seat is located the slider, install the apparatus on the apparatus seat, general robot (1) can drive instrument robot (2) motion, slave hand controller adopts the mode of controlling respectively general robot (1) with instrument robot (2), slave hand controller is used for:
acquiring the hand action speed of an operator at the main hand;
controlling the motion of the slave hand according to the hand motion speed:
when the instrument is inserted, the universal robot (1) is controlled to be static, and the instrument robot (2) drives the instrument to enter a target object through a telecentric point (2000);
obtaining all instrument shaft speeds of the instrument robot (2) according to an instrument Cartesian speed mapping at the tail end of the instrument robot (2) through an inverse matrix of the jacobian matrix, wherein the instrument shaft speeds comprise instrument physical shaft speeds corresponding to physical shafts and instrument virtual shaft speeds corresponding to virtual shafts; obtaining all universal shaft speeds of the universal robot (1) according to the mapping of the virtual shaft speeds of the instruments through an inverse matrix of the jacobian matrix;
after the instrument is inserted, the universal robot (1) is linked with the linear guide part to move around the telecentric point (2000) based on the universal shaft speed, and the instrument robot (2) is in telescopic movement based on the instrument shaft speed, so that the tail end of the instrument robot (2) is enabled to finish setting operation.
2. A surgical robot as claimed in claim 1, wherein the hand motion speed comprises a cartesian translational speed and a cartesian rotational speed.
3. The surgical robot of claim 1, further comprising a master hand controller, wherein the hand motion speed is filtered and magnification processed after being collected by the master hand controller and sent to the slave hand controller for control of the slave hand.
4. A surgical robot as claimed in any one of claims 1 to 3, wherein the slave hand controller is configured to cause the instrument robot (2) to perform telescopic movement based on the instrument shaft speed before the step of the universal robot (1) moving the linear guide around the telecentric point (2000) based on the universal shaft speed in linkage therewith:
the telecentricity point is established (2000).
5. The surgical robot of claim 4, wherein the slave hand controller is configured to, in the step of establishing the telecentricity (2000):
dragging a stamping card seat (23) of the instrument robot (2) to a stamping card (24) which is opened and inserted at the target position, and connecting the stamping card seat (23) and the stamping card (24);
the position of the telecentric point (2000) is calculated.
6. The surgical robot of claim 5, wherein the slave hand controller is configured to, in the step of calculating the position of the telecentric point (2000):
according to encoders arranged at all universal motion axes (11) of the universal robot (1), acquiring actual displacement or actual angles of all the universal motion axes (11), and calculating the position of the telecentric point (2000).
7. A surgical robot as claimed in any one of claims 1 to 3, wherein the slave hand controller is adapted to, after the step of terminating the instrument robot (2) to perform a setting operation:
controlling the instrument robot (2) to drive the instrument to be taken out of the target object through the telecentric point (2000).
8. A surgical robot as claimed in any one of claims 1 to 3, wherein the slave hand controller is configured to control the linear guide to drive the instrument through the slider block into the target object through the telecentric point (2000) during the telescopic movement of the instrument robot (2) based on the instrument shaft speed in the course of the universal robot (1) moving the linear guide around the telecentric point (2000) based on the universal shaft speed.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011246738.8A CN114452003B (en) | 2020-11-10 | 2020-11-10 | Surgical robot |
| PCT/CN2021/128053 WO2022100480A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
| EP21891007.3A EP4245238A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
| US18/035,947 US20240016559A1 (en) | 2020-11-10 | 2021-11-02 | Control method for location and orientation of surgical robot end, and control method for surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011246738.8A CN114452003B (en) | 2020-11-10 | 2020-11-10 | Surgical robot |
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| CN114452003A CN114452003A (en) | 2022-05-10 |
| CN114452003B true CN114452003B (en) | 2024-03-12 |
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| CN108042162A (en) * | 2017-12-21 | 2018-05-18 | 微创（上海）医疗机器人有限公司 | surgical robot system and its surgical instrument |
| CN108056823A (en) * | 2017-12-27 | 2018-05-22 | 微创（上海）医疗机器人有限公司 | Operating robot terminal |
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| CN110893118A (en) * | 2018-09-12 | 2020-03-20 | 微创（上海）医疗机器人有限公司 | Surgical robot system and method for controlling movement of robot arm |
| CN209734151U (en) * | 2018-10-09 | 2019-12-06 | 成都博恩思医学机器人有限公司 | Drive control system of surgical robot |
| CN111345894A (en) * | 2018-12-21 | 2020-06-30 | 微创（上海）医疗机器人有限公司 | Mechanical arm and surgical robot |
| CN110236685A (en) * | 2019-06-18 | 2019-09-17 | 西安交通大学 | A kind of slave manipulator arm for laser ablation Minimally Invasive Surgery |
| CN110464468A (en) * | 2019-09-10 | 2019-11-19 | 深圳市精锋医疗科技有限公司 | The control method of operating robot and its end instrument, control device |
| CN111214291A (en) * | 2020-01-23 | 2020-06-02 | 诺创智能医疗科技(杭州)有限公司 | Operation arm and operation robot |
| CN211723419U (en) * | 2020-01-23 | 2020-10-23 | 诺创智能医疗科技(杭州)有限公司 | Operation arm and operation robot |
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