CN114469286A - 小型化穿刺机器人 - Google Patents
小型化穿刺机器人 Download PDFInfo
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- CN114469286A CN114469286A CN202210340194.4A CN202210340194A CN114469286A CN 114469286 A CN114469286 A CN 114469286A CN 202210340194 A CN202210340194 A CN 202210340194A CN 114469286 A CN114469286 A CN 114469286A
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- linear motion
- motion mechanism
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- driving
- puncture needle
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B10/00—Other methods or instruments for diagnosis, e.g. instruments for taking a cell sample, for biopsy, for vaccination diagnosis; Sex determination; Ovulation-period determination; Throat striking implements
- A61B10/02—Instruments for taking cell samples or for biopsy
-
- 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
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Abstract
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Claims (10)
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CN202210340194.4A CN114469286B (zh) | 2022-04-02 | 2022-04-02 | 小型化穿刺机器人 |
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CN202210340194.4A CN114469286B (zh) | 2022-04-02 | 2022-04-02 | 小型化穿刺机器人 |
Publications (2)
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CN114469286A true CN114469286A (zh) | 2022-05-13 |
CN114469286B CN114469286B (zh) | 2022-07-01 |
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CN202210340194.4A Active CN114469286B (zh) | 2022-04-02 | 2022-04-02 | 小型化穿刺机器人 |
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Citations (24)
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US6264087B1 (en) * | 1999-07-12 | 2001-07-24 | Powermed, Inc. | Expanding parallel jaw device for use with an electromechanical driver device |
US20070151389A1 (en) * | 2005-12-20 | 2007-07-05 | Giuseppe Prisco | Medical robotic system with programmably controlled constraints on error dynamics |
EP2216069A1 (en) * | 2009-02-06 | 2010-08-11 | VistaMed R & D Ltd. | Catheter introducer |
CN101933841A (zh) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | 双极坐标四自由度并联机器人 |
WO2013046962A1 (ja) * | 2011-09-27 | 2013-04-04 | テルモ株式会社 | 穿刺装置 |
GB201404065D0 (en) * | 2014-03-07 | 2014-04-23 | Cambridge Medical Robotics Ltd | Surgical arm |
CN104173107A (zh) * | 2013-05-24 | 2014-12-03 | 徐智锋 | 一种穿刺针引导装置和穿刺架 |
US20150039009A1 (en) * | 2012-03-23 | 2015-02-05 | Mitsubishi Pencil Company, Limited | Puncture device |
US20150126851A1 (en) * | 2013-11-06 | 2015-05-07 | Rayence Co., Ltd. | Biopsy needle guiding apparatus for stereotactic biopsy, imaging apparatus having the same and biopsy method using the same |
CN105193478A (zh) * | 2015-10-20 | 2015-12-30 | 天津大学 | 基于丝传动的具有远端运动中心的穿刺装置 |
CN204976631U (zh) * | 2015-07-28 | 2016-01-20 | 广西凯纵机械制造有限公司 | 一种六自由度八杆串并联喷涂机器人 |
CN107411821A (zh) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | 五自由度柔性穿刺机器人 |
CN107773306A (zh) * | 2017-09-26 | 2018-03-09 | 山东科技大学 | 一种五自由度前列腺针刺手术机器人 |
CN107775632A (zh) * | 2017-09-07 | 2018-03-09 | 山东科技大学 | 一种前臂静脉穿刺机器人 |
CN107773305A (zh) * | 2017-09-11 | 2018-03-09 | 山东科技大学 | 一种四自由度肿瘤穿刺辅助机器人 |
US20180116737A1 (en) * | 2016-11-03 | 2018-05-03 | Verb Surgical Inc. | Tool driver with linear drives for use in robotic surgery |
CN108836485A (zh) * | 2018-07-13 | 2018-11-20 | 江苏集萃智能制造技术研究所有限公司 | 一种用于椎体成形手术的医疗机器人 |
CN110856660A (zh) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | 手术机器人及其穿刺机构 |
WO2020135758A1 (zh) * | 2018-12-28 | 2020-07-02 | 北京术锐技术有限公司 | 一种柔性穿刺针装置 |
CN111436976A (zh) * | 2020-04-28 | 2020-07-24 | 北京理工大学 | 固定穿刺针的装置 |
CN111437011A (zh) * | 2020-03-30 | 2020-07-24 | 中国科学院深圳先进技术研究院 | 一种穿刺手术机器人系统 |
CN211355608U (zh) * | 2019-07-01 | 2020-08-28 | 中奕智创医疗科技有限公司 | 针刺角度调整机构 |
CN112336426A (zh) * | 2020-11-05 | 2021-02-09 | 北京理工大学 | 快速释放型穿刺针导向装置 |
WO2022065582A1 (ko) * | 2020-09-24 | 2022-03-31 | 주식회사 아티큐 | 신체 자동 침습 장치 및 그 제어 방법 |
-
2022
- 2022-04-02 CN CN202210340194.4A patent/CN114469286B/zh active Active
Patent Citations (24)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6264087B1 (en) * | 1999-07-12 | 2001-07-24 | Powermed, Inc. | Expanding parallel jaw device for use with an electromechanical driver device |
US20070151389A1 (en) * | 2005-12-20 | 2007-07-05 | Giuseppe Prisco | Medical robotic system with programmably controlled constraints on error dynamics |
EP2216069A1 (en) * | 2009-02-06 | 2010-08-11 | VistaMed R & D Ltd. | Catheter introducer |
CN101933841A (zh) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | 双极坐标四自由度并联机器人 |
WO2013046962A1 (ja) * | 2011-09-27 | 2013-04-04 | テルモ株式会社 | 穿刺装置 |
US20150039009A1 (en) * | 2012-03-23 | 2015-02-05 | Mitsubishi Pencil Company, Limited | Puncture device |
CN104173107A (zh) * | 2013-05-24 | 2014-12-03 | 徐智锋 | 一种穿刺针引导装置和穿刺架 |
US20150126851A1 (en) * | 2013-11-06 | 2015-05-07 | Rayence Co., Ltd. | Biopsy needle guiding apparatus for stereotactic biopsy, imaging apparatus having the same and biopsy method using the same |
GB201404065D0 (en) * | 2014-03-07 | 2014-04-23 | Cambridge Medical Robotics Ltd | Surgical arm |
CN204976631U (zh) * | 2015-07-28 | 2016-01-20 | 广西凯纵机械制造有限公司 | 一种六自由度八杆串并联喷涂机器人 |
CN105193478A (zh) * | 2015-10-20 | 2015-12-30 | 天津大学 | 基于丝传动的具有远端运动中心的穿刺装置 |
US20180116737A1 (en) * | 2016-11-03 | 2018-05-03 | Verb Surgical Inc. | Tool driver with linear drives for use in robotic surgery |
CN107411821A (zh) * | 2017-08-28 | 2017-12-01 | 哈尔滨理工大学 | 五自由度柔性穿刺机器人 |
CN107775632A (zh) * | 2017-09-07 | 2018-03-09 | 山东科技大学 | 一种前臂静脉穿刺机器人 |
CN107773305A (zh) * | 2017-09-11 | 2018-03-09 | 山东科技大学 | 一种四自由度肿瘤穿刺辅助机器人 |
CN107773306A (zh) * | 2017-09-26 | 2018-03-09 | 山东科技大学 | 一种五自由度前列腺针刺手术机器人 |
CN108836485A (zh) * | 2018-07-13 | 2018-11-20 | 江苏集萃智能制造技术研究所有限公司 | 一种用于椎体成形手术的医疗机器人 |
CN110856660A (zh) * | 2018-08-23 | 2020-03-03 | 武汉联影智融医疗科技有限公司 | 手术机器人及其穿刺机构 |
WO2020135758A1 (zh) * | 2018-12-28 | 2020-07-02 | 北京术锐技术有限公司 | 一种柔性穿刺针装置 |
CN211355608U (zh) * | 2019-07-01 | 2020-08-28 | 中奕智创医疗科技有限公司 | 针刺角度调整机构 |
CN111437011A (zh) * | 2020-03-30 | 2020-07-24 | 中国科学院深圳先进技术研究院 | 一种穿刺手术机器人系统 |
CN111436976A (zh) * | 2020-04-28 | 2020-07-24 | 北京理工大学 | 固定穿刺针的装置 |
WO2022065582A1 (ko) * | 2020-09-24 | 2022-03-31 | 주식회사 아티큐 | 신체 자동 침습 장치 및 그 제어 방법 |
CN112336426A (zh) * | 2020-11-05 | 2021-02-09 | 北京理工大学 | 快速释放型穿刺针导向装置 |
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Effective date of registration: 20230105 Address after: Room 105-75274, No. 6, Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province, 519000 (centralized office area) Patentee after: True Health (Zhuhai) Medical Technology Co.,Ltd. Address before: 100192 Room 308, floor 3, building 2, Tiandi Linfeng, No. 1, yongtaizhuang North Road, Haidian District, Beijing Patentee before: ZHENJIANKANG (BEIJING) MEDICAL TECHNOLOGY Co.,Ltd. |
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Effective date of registration: 20230914 Address after: Room 806, Research Headquarters Building, Guangdong Macao Cooperative Traditional Chinese Medicine Technology Industrial Park, No. 1 Doukou Road, Hengqin New District, Zhuhai City, Guangdong Province, 519000 Patentee after: True Health (Guangdong Hengqin) Medical Technology Co.,Ltd. Address before: Room 105-75274, No. 6, Baohua Road, Hengqin New District, Zhuhai City, Guangdong Province, 519000 (centralized office area) Patentee before: True Health (Zhuhai) Medical Technology Co.,Ltd. |