CN115399887B - 手术机器人用多自由度稳手装置及其稳固方法 - Google Patents
手术机器人用多自由度稳手装置及其稳固方法 Download PDFInfo
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- CN115399887B CN115399887B CN202210886560.6A CN202210886560A CN115399887B CN 115399887 B CN115399887 B CN 115399887B CN 202210886560 A CN202210886560 A CN 202210886560A CN 115399887 B CN115399887 B CN 115399887B
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- 230000000087 stabilizing effect Effects 0.000 title claims abstract description 40
- 238000000034 method Methods 0.000 title abstract description 26
- 230000033001 locomotion Effects 0.000 claims abstract description 28
- 239000000523 sample Substances 0.000 claims description 14
- 238000005452 bending Methods 0.000 claims description 3
- 230000006641 stabilisation Effects 0.000 claims 3
- 238000011105 stabilization Methods 0.000 claims 3
- 238000009966 trimming Methods 0.000 claims 1
- 238000002604 ultrasonography Methods 0.000 claims 1
- 210000002307 prostate Anatomy 0.000 abstract description 7
- 238000001514 detection method Methods 0.000 description 10
- 238000001574 biopsy Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 3
- 238000013016 damping Methods 0.000 description 3
- 238000002324 minimally invasive surgery Methods 0.000 description 2
- 230000002035 prolonged effect Effects 0.000 description 2
- 238000011298 ablation treatment Methods 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 210000001519 tissue Anatomy 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
-
- 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
- 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
- A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
- A61B8/42—Details of probe positioning or probe attachment to the patient
- A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
-
- 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
- A61B2017/3413—Needle locating or guiding means guided by ultrasound
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Animal Behavior & Ethology (AREA)
- Pathology (AREA)
- Robotics (AREA)
- Biophysics (AREA)
- Physics & Mathematics (AREA)
- Radiology & Medical Imaging (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
Abstract
Description
Claims (4)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202210886560.6A CN115399887B (zh) | 2022-07-26 | 2022-07-26 | 手术机器人用多自由度稳手装置及其稳固方法 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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CN202210886560.6A CN115399887B (zh) | 2022-07-26 | 2022-07-26 | 手术机器人用多自由度稳手装置及其稳固方法 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN115399887A CN115399887A (zh) | 2022-11-29 |
CN115399887B true CN115399887B (zh) | 2024-07-30 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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CN202210886560.6A Active CN115399887B (zh) | 2022-07-26 | 2022-07-26 | 手术机器人用多自由度稳手装置及其稳固方法 |
Country Status (1)
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CN (1) | CN115399887B (zh) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109965949A (zh) * | 2019-03-29 | 2019-07-05 | 南京航空航天大学 | 一种用于磁共振成像仪内部的六自由度针刺机器人 |
CN215458161U (zh) * | 2021-08-16 | 2022-01-11 | 赣南医学院第一附属医院 | 一种手术床旁超声探头固定支架 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN111437011B (zh) * | 2020-03-30 | 2021-04-13 | 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 |
CN114209400A (zh) * | 2021-12-13 | 2022-03-22 | 天津科技大学 | 一种超声图像导航的前列腺穿刺手术机器人 |
CN114617615A (zh) * | 2022-02-17 | 2022-06-14 | 磅客策(上海)智能医疗科技有限公司 | 手术机器人导航系统及其导航方法 |
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2022
- 2022-07-26 CN CN202210886560.6A patent/CN115399887B/zh active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN109965949A (zh) * | 2019-03-29 | 2019-07-05 | 南京航空航天大学 | 一种用于磁共振成像仪内部的六自由度针刺机器人 |
CN215458161U (zh) * | 2021-08-16 | 2022-01-11 | 赣南医学院第一附属医院 | 一种手术床旁超声探头固定支架 |
Also Published As
Publication number | Publication date |
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CN115399887A (zh) | 2022-11-29 |
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Legal Events
Date | Code | Title | Description |
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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 | ||
EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20221129 Assignee: Shanghai Bangyingce Technology Co.,Ltd. Assignor: LB Ke Ce (Shanghai) Intelligent Medical Technology Co.,Ltd. Contract record no.: X2024980014992 Denomination of invention: Multi degree of freedom hand stabilization device and its stabilization method for surgical robots Granted publication date: 20240730 License type: Common License Record date: 20240913 |
|
PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Multi degree of freedom hand stabilization device and its stabilization method for surgical robots Granted publication date: 20240730 Pledgee: China Construction Bank Corporation Shanghai Songjiang Branch Pledgor: LB Ke Ce (Shanghai) Intelligent Medical Technology Co.,Ltd. Registration number: Y2024980039218 |