CN1775488A - Modular orthopedic robot for auxiliary intra medullary nail far-end locking - Google Patents
Modular orthopedic robot for auxiliary intra medullary nail far-end locking Download PDFInfo
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- CN1775488A CN1775488A CNA200510134734XA CN200510134734A CN1775488A CN 1775488 A CN1775488 A CN 1775488A CN A200510134734X A CNA200510134734X A CN A200510134734XA CN 200510134734 A CN200510134734 A CN 200510134734A CN 1775488 A CN1775488 A CN 1775488A
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Abstract
The present invention discloses a modulized orthopedic robot used for distal fixation of auxiliary intramedullary nail. It includes the following main components: vertical motion joint A, vertical motion joint B, horizontal motion joint LA, horizontal motion joint B, base seat, connecting plate A, connecting plate B, guide joint A, guide joint B and four step-by-step motors. Said invention also provides their connection mode and its operation method and application field.
Description
Technical field
The present invention relates to a kind of therapeutic medical robot device, specifically, be meant a kind of adopt miniaturization, modularized design, have the modular orthopedic robot that is used for auxiliary intra medullary nail far-end locking of flame single closed loop parallel-connection structure.
Background technology
At present, the treatment of bone surgery turns to the micro-wound surgical operation treatment from traditional closed reduction, and the intramedullary nail internal fixation becomes the first-selected art formula of treatment long bone fracture just gradually as a kind of typical micro-wound surgical operation.In the surgical procedure intramedullary nail is implanted in the ossis of folding bone, respectively with the screw locking, played the effect of fixing fracture at near-end and far-end, this Minimally Invasive Surgery is less to patient's damage, good fixing effect, help the recovery of patient's postoperative.This Minimally Invasive Surgery requires to finish the locking of intramedullary nail under closure state, can finish by means of mechanical sight (intramedullary nail manufacturer provides) for the locking of proximal orifice; And remote stomidium is because distance is gone into a little far, and intramedullary nail has certain deformation in insertion after the ossis, so the locking of remote stomidium always is the difficult point of carrying out this operation.The doctor only by means of the perspective of C type arm X-ray, finishes intra medullary nail far-end locking in traditional operation, not only needs to be exposed to for a long time under the X-ray radiation, and for doctor's experience and skill higher requirement is arranged.
Summary of the invention
The purpose of this invention is to provide a kind of modular orthopedic robot that is used for auxiliary intra medullary nail far-end locking, this modular orthopedic robot is formed flame single closed loop parallel robot structure by two plane of movement, its base is a silent flatform, the line of two guiding articulation centers is moving platforms, and the side chain between dynamic and static platform is in series by the horizontal movement joint and the joint that moves both vertically.Modular orthopedic robot of the present invention has solved the navigation of finishing operation pathway by the biplane locate mode in limited operative space, auxiliary doctor finishes intra medullary nail far-end hole lock operation.
The present invention is a kind of modular orthopedic robot that is used for auxiliary intra medullary nail far-end locking, is made of the joint A that moves both vertically, the joint B that moves both vertically, horizontal movement joint A, horizontal movement joint B, base, connecting plate A, connecting plate B, guiding joint A, guiding joint B and four stepper motors.The joint A that moves both vertically is identical with the structure of the joint B that moves both vertically, and parallel to each other being fixedly mounted on the base; Horizontal movement joint A is identical with the structure of horizontal movement joint B, and horizontal movement joint A is installed on the joint A that moves both vertically, and horizontal movement joint B is installed on the joint B that moves both vertically; Connecting plate A is identical with the structure of connecting plate B, and parallel to each other being fixedly mounted on being connected on the position of move both vertically the joint A and the joint B that moves both vertically; Guiding joint A is identical with the structure of guiding joint B, and guiding joint A is installed on the A of horizontal movement joint, and guiding joint B is installed on the B of horizontal movement joint; Base is a quadrangle; The output shaft of four stepper motors is connected by the self-driven leading screw of shaft coupling and each respectively.
Described modular orthopedic robot, its horizontal movement joint A series connection constitute a plane of movement on the output of joint A that moves both vertically; Horizontal movement joint B series connection constitutes another plane of movement on the output of joint B that moves both vertically; These two plane of movement that are parallel to each other are formed flame single closed loop parallel robot structure.
Stepper motor of the present invention drives leading screw and rotates, thereby the slide block on move both vertically the joint A and the joint B that moves both vertically is moved up and down with leading screw, and the slide block on horizontal movement joint A and the horizontal movement joint B seesaws with leading screw.
The advantage of modular orthopedic robot of the present invention is: (1) frame for movement adopts miniaturization, modularized design, helps dismounting and assembling, also is convenient to the frame for movement sterilization that carries out disinfection; (2) it is more accurate that the biplane detent mechanism makes intra medullary nail far-end hole lock operation, rationally; (3) compact conformation, advantage such as easy and simple to handle, with low cost.
Description of drawings
Fig. 1 is the overall structure figure of orthopedic robot of the present invention.
Fig. 2 A is the structure chart of joint A of moving both vertically.
Fig. 2 B is the structure chart of vertical slipper.
Fig. 2 C is the structure chart of snap close.
Fig. 3 A is the structure chart of horizontal movement joint A.
Fig. 3 B is the structure chart of cross sliding clock.
Fig. 4 is the structure chart of guiding joint A.
Among the figure: 1. joint A 101. skeletons 103. Connection Blocks move both vertically
104. snap close 105. stepper motors 106. optical axis B 107. leading screws 108. optical axis A
Connect position B 114. joint pins 115. jam plates 116. jam plate posts 109. connect position A 110.
117. draw-in groove 120. vertical slipper A 121. optical axis hole A 122. lead screw hole 123. optical axis hole B
124. snap close 125. grooves 126. convex surface ends 127. installing holes
2. horizontal movement joint A 201. skeletons 205. stepper motors 206. optical axis B
207. leading screw 208. optical axis A 220. cross sliding clocks 221. optical axis hole A 222. lead screw hole
223. optical axis hole B 224. installing holes 225. convex surfaces
3. joint A 301.U shape socket joint 302. guide cylinders 303. through holes 304. pin-and-holes lead
The joint B 305. the axis of guide 4. bases 5. connecting plate A 6. connecting plate B 7. move both vertically
703. Connection Block 720. vertical slipper B 8. horizontal movement joint B 9. guiding joint B
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
The present invention is a kind of modular orthopedic robot that is used for auxiliary intra medullary nail far-end locking, is made of the joint A1 that moves both vertically, the joint B7 that moves both vertically, horizontal movement joint A2, horizontal movement joint B8, base 4, connecting plate A5, connecting plate B6, guiding joint A3, guiding joint B9 and four stepper motors.See also shown in the accompanying drawing, the annexation of each device describes by following statement:
The joint A1 that moves both vertically is identical with the structure of the joint B7 that moves both vertically, and parallel to each other being fixedly mounted on the base 4;
Horizontal movement joint A2 is identical with the structure of horizontal movement joint B8, and horizontal movement joint A2 is installed on the joint A1 that moves both vertically, and horizontal movement joint B8 is installed on the joint B7 that moves both vertically;
Connecting plate A5 is identical with the structure of connecting plate B6, and parallel to each other being fixedly mounted on being connected on the position of move both vertically the joint A1 and the joint B7 that moves both vertically; Wherein, the end of connecting plate A5 is fixedly mounted on by screw on the connection position A109 of the joint A1 that moves both vertically, and the other end of connecting plate A5 is fixedly mounted on the connection position of the joint B7 that moves both vertically by screw; The end of connecting plate B6 is fixedly mounted on by screw on the connection position A110 of the joint A1 that moves both vertically, and the other end of connecting plate B6 is fixedly mounted on the connection position of the joint B7 that moves both vertically by screw;
Guiding joint A3 is identical with the structure of guiding joint B9, and guiding joint A3 is installed on the A2 of horizontal movement joint, and guiding joint B9 is installed on the B8 of horizontal movement joint; The line of centres of guiding joint A3 and guiding joint B9 constitutes the space line path of intra medullary nail far-end locking.
Base 4 is a quadrangle.
The output shaft of four stepper motors is connected by the self-driven leading screw of shaft coupling and each respectively; In the present invention, the operating current of stepper motor is 1.5A, it drives leading screw and rotates, thereby the slide block on move both vertically the joint A1 and the joint B7 that moves both vertically is moved up and down with leading screw, and the slide block on horizontal movement joint A2 and the horizontal movement joint B8 seesaws with leading screw.
See also shown in Fig. 2 A, Fig. 2 B and Fig. 2 C, the described joint A1 that moves both vertically is made of skeleton 101, Connection Block 103, optical axis A108, optical axis B106, leading screw 107, vertical slipper A120 and stepper motor 105; Described vertical slipper A120 is provided with the groove 125 of skeleton 201 installations of the flat movable joint A2 that supplies water, on the end of groove 125 screwed hole 127 is arranged, and the joint pin 114 of snap close 104 is installed in the screwed hole 127; Its convex surface end 126 is provided with optical axis hole A123, lead screw hole 122 and optical axis hole B121 (seeing also shown in Fig. 2 B); Described skeleton 101 is the machining integral piece, skeleton 101 middle parts are the U-shaped cavity, the convex surface end 126 of vertical slipper A120 is fastened in the U-shaped cavity, optical axis A108, leading screw 107 and optical axis B106 pass the optical axis hole A123 on the vertical slipper A120 respectively, be installed in the U-shaped cavity at skeleton 101 middle parts behind lead screw hole 122 and the optical axis hole B121, leading screw 107 is placed on the centre of optical axis A108 and optical axis B106, the optical axis A108 motion that in the A123 of optical axis hole, is slidingly matched, the optical axis B106 motion that in the B121 of optical axis hole, is slidingly matched, leading screw 107 is in the motion of lead screw hole 122 screw-internal thread fit, and leading screw 107 1 ends are connected with stepper motor 105 output shafts that are installed in skeleton 101 upper surfaces by shaft coupling; Skeleton 101 lower surfaces are connected with Connection Block 103 by screw, and snap close 104 is installed on the Connection Block 103; Skeleton 101 is provided with connection position A109 with threaded hole and is connected a position B110, connects position A109 and is connected a B110 upward to cooperate with screwed hole by screw connecting plate A5 and connecting plate B6 are installed in parallel on it; Described snap close is made of joint pin 114 and jam plate 115, and joint pin 114 is installed in the screwed hole of jam plate 115 1 ends, and the other end of jam plate 115 is jam plate posts 116, and the center of jam plate 115 is provided with draw-in groove 117 (seeing also shown in Fig. 2 C); Snap close among the present invention is that run-on point is moved with joint pin 114, by draw-in groove 117 chuckings.
See also shown in Fig. 3 A, Fig. 3 B, described horizontal movement joint A2 is made of skeleton 201, optical axis A208, leading screw 207, optical axis B206, cross sliding clock 220 and stepper motor 205; Described cross sliding clock 220 is provided with optical axis hole A221, lead screw hole 222, optical axis hole B223 and is used to install the installing hole 224 of the axis of guide 305 of guiding joint A3, the installing hole of installing hole 224 and fixed installation guiding joint A3 (not marking icon among Fig. 3 B, promptly in the hole on installing hole 224 both sides) is located on the convex surface end 225; Described skeleton 201 is the machining integral piece, skeleton 201 middle parts are the U-shaped cavity, cross sliding clock 220 is fastened in the U-shaped cavity, optical axis A208, leading screw 207 and optical axis B206 pass the optical axis hole A221 on the cross sliding clock 220 respectively, be installed in the U-shaped cavity at skeleton 101 middle parts behind lead screw hole 222 and the optical axis hole B223, leading screw 207 is placed on the centre of optical axis A208 and optical axis B206, the optical axis A208 motion that in the A221 of optical axis hole, is slidingly matched, the optical axis B206 motion that in the B223 of optical axis hole, is slidingly matched, leading screw 207 is in the motion of lead screw hole 222 screw-internal thread fit, and leading screw 207 1 ends are connected with stepper motor 205 output shafts that are installed in skeleton 201 end faces by shaft coupling;
See also shown in Figure 4ly, described guiding joint A3 is made of U-shaped socket joint 301, the axis of guide 305 and guide cylinder 302, and guide cylinder 302 is installed in the U-shaped socket joint 301; The center of described guide cylinder 302 is provided with through hole 303; One end of the described axis of guide 305 is by being threaded in the lower end of U-shaped socket joint 301, and the other end is installed in the installing hole 224 of cross sliding clock 220; Be respectively equipped with pin-and-hole 304 on two sides of described U-shaped socket joint 301.Guiding joint A3 among the present invention rotates around the axis of the axis of guide 305, and guide cylinder 302 rotates around the pin that passes pin-and-hole 304 on the U-shaped socket joint 301.
In the present invention, horizontal movement joint A2 series connection constitutes a plane of movement on the output of joint A1 that moves both vertically; Horizontal movement joint B8 series connection constitutes another plane of movement on the output of joint B7 that moves both vertically; These two plane of movement that are parallel to each other are formed flame single closed loop parallel robot structure.The base 4 of modular orthopedic robot is a silent flatform, the line of centres in two guiding joints (guiding joint A3 and guiding joint B9) is a moving platform, two side chains are arranged between dynamic and static platform, and wherein, a side chain is made of the horizontal movement joint A2 and the joint A1 series connection that moves both vertically; Another side chain is made of the horizontal movement joint B8 and the joint B7 series connection that moves both vertically.The output of modular orthopedic robot of the present invention is a straight line path, is the operation pathway that passes the intra medullary nail far-end hole when using in the intramedullary nail internal fixation operation.Therefore, modular orthopedic robot of the present invention can be used for guiding the doctor to finish far-end locking operation in the intramedullary nail internal fixation operation.
The modular orthopedic robot that is used for auxiliary intra medullary nail far-end locking of the present invention, be clinical demand and surgical environments at the intramedullary nail operation, with practicality and applicability is basic starting point, in conjunction with the biplane positioning principle, adopt miniaturization, idea of modular, the auxiliary robot of orthopedic surgery of exploitation.The present invention has fully utilized multi-door subject technologies such as Machine Design, theory of mechanisms, robotics, has solved the problem of path navigation in the intramedullary nail internal fixation operation.This robot both provided reliable and stable surgical navigational method for intra medullary nail far-end locking, can simply dismantle and assemble again, be convenient to sterilization operation, and have compact conformation, advantage such as easy and simple to handle, with low cost, be adapted at carrying out under the national conditions of China the popularization of clinical practice.
Claims (6)
1, a kind of modular orthopedic robot that is used for auxiliary intra medullary nail far-end locking, it is characterized in that: constitute by the joint A (1) that moves both vertically, the joint B (7) that moves both vertically, horizontal movement joint A (2), horizontal movement joint B (8), base (4), connecting plate A (5), connecting plate B (6), guiding joint A (3), guiding joint B (9) and four stepper motors
The joint A (1) that moves both vertically is identical with the structure of the joint B (7) that moves both vertically, and parallel to each other being fixedly mounted on the base (4);
Horizontal movement joint A (2) is identical with the structure of horizontal movement joint B (8), and horizontal movement joint A (2) is installed on the joint A (1) that moves both vertically, and horizontal movement joint B (8) is installed on the joint B (7) that moves both vertically;
Connecting plate A (5) is identical with the structure of connecting plate B (6), and parallel to each other being fixedly mounted on being connected on the position of move both vertically the joint A (1) and the joint B (7) that moves both vertically; Wherein, the end of connecting plate A (5) is fixedly mounted on by screw on the connection position A (109) of the joint A (1) that moves both vertically, and the other end of connecting plate A (5) is fixedly mounted on the connection position of the joint B (7) that moves both vertically by screw; The end of connecting plate B (6) is fixedly mounted on by screw on the connection position B (110) of the joint A (1) that moves both vertically, and the other end of connecting plate B (6) is fixedly mounted on the connection position of the joint B (7) that moves both vertically by screw;
Guiding joint A (3) is identical with the structure of guiding joint B (9), and guiding joint A (3) is installed on the horizontal movement joint A (2), and guiding joint B (9) is installed on the horizontal movement joint B (8);
Base (4) is a quadrangle;
The output shaft of four stepper motors is connected by the self-driven leading screw of shaft coupling and each respectively;
The described joint A (1) that moves both vertically is made of skeleton (101), Connection Block (103), optical axis A (108), optical axis B (106), leading screw (107), vertical slipper A (120) and stepper motor (105); Described vertical slipper A (120) is provided with the groove (125) of skeleton (201) installation of the flat movable joint A (2) that supplies water, and screwed hole (127) is arranged on the end of groove (125), and the joint pin (114) of snap close (104) is installed in the screwed hole (127); Its convex surface end (126) is provided with optical axis hole A (123), lead screw hole (122) and optical axis hole B (121); Described skeleton (101) is the machining integral piece, skeleton (101) middle part is the U-shaped cavity, the convex surface end (126) of vertical slipper A (120) is fastened in the U-shaped cavity, optical axis A (108), leading screw (107) and optical axis B (106) pass the optical axis hole A (123) on the vertical slipper A (120) respectively, be installed in behind lead screw hole (122) and the optical axis hole B (121) in the U-shaped cavity at skeleton (101) middle part, leading screw (107) is placed on the centre of optical axis A (108) and optical axis B (106), optical axis A (108) motion that in optical axis hole A (123), is slidingly matched, optical axis B (106) motion that in optical axis hole B (121), is slidingly matched, leading screw (107) is in the motion of lead screw hole (122) screw-internal thread fit, and leading screw (107) one ends are connected with stepper motor (105) output shaft that is installed in skeleton (101) upper surface by shaft coupling; Skeleton (101) lower surface is connected with Connection Block (103) by screw, and snap close (104) is installed on the Connection Block (103); Skeleton (101) is provided with connection position A (109) with threaded hole and is connected a position B (110), connects position A (109) and is connected a B (110) upward to cooperate with screwed hole by screw connecting plate A (5) and connecting plate B (6) are installed in parallel on it; Described snap close (104,124) is made of joint pin (114) and jam plate (115), and joint pin (114) is installed in the screwed hole of jam plate (115) one ends, and the other end of jam plate (115) is jam plate post (116), and the center of jam plate (115) is provided with draw-in groove (117);
Described horizontal movement joint A (2) is made of skeleton (201), optical axis A (208), leading screw (207), optical axis B (206), cross sliding clock (220) and stepper motor (205); Described cross sliding clock (220) is provided with optical axis hole A (221), lead screw hole (222), optical axis hole B (223) and is used for installing the installing hole (224) of the axis of guide (305) of guiding joint A (3); Described skeleton (201) is the machining integral piece, skeleton (201) middle part is the U-shaped cavity, cross sliding clock (220) is fastened in the U-shaped cavity, optical axis A (208), leading screw (207) and optical axis B (206) pass the optical axis hole A (221) on the cross sliding clock (220) respectively, be installed in behind lead screw hole (222) and the optical axis hole B (223) in the U-shaped cavity at skeleton (101) middle part, leading screw (207) is placed on the centre of optical axis A (208) and optical axis B (206), optical axis A (208) motion that in optical axis hole A (221), is slidingly matched, optical axis B (206) motion that in optical axis hole B (223), is slidingly matched, leading screw (207) is in the motion of lead screw hole (222) screw-internal thread fit, and leading screw (207) one ends are connected with stepper motor (205) output shaft that is installed in skeleton (201) end face by shaft coupling;
Described guiding joint A (3) is made of U-shaped socket joint (301), the axis of guide (305) and guide cylinder (302), and guide cylinder (302) is installed in the U-shaped socket joint (301); The center of described guide cylinder (302) is provided with through hole (303); One end of the described axis of guide (305) is by being threaded in the lower end of U-shaped socket joint (301), and the other end is installed in the installing hole (224) of cross sliding clock (220); Be respectively equipped with pin-and-hole (304) on two sides of described U-shaped socket joint (301).
2, modular orthopedic robot according to claim 1 is characterized in that: horizontal movement joint A (2) series connection constitutes a plane of movement on the output of joint A (1) that moves both vertically; Horizontal movement joint B (8) series connection constitutes another plane of movement on the output of joint B (7) that moves both vertically; These two plane of movement that are parallel to each other are formed flame single closed loop parallel robot structure.
3, modular orthopedic robot according to claim 1 is characterized in that: the line of centres of guiding joint A (3) and guiding joint B (9) constitutes the space line path of intra medullary nail far-end locking.
4, modular orthopedic robot according to claim 1 is characterized in that: guiding joint A (3) rotates around the axis of the axis of guide (305), and guide cylinder (302) is around passing the pin rotation that U-shaped socket joint (301) goes up pin-and-hole (304).
5, modular orthopedic robot according to claim 1 is characterized in that: snap close is a run-on point with joint pin (114).
6, modular orthopedic robot according to claim 1 is characterized in that: the operating current of four stepper motors is 1.5A.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200510134734XA CN1775488A (en) | 2005-12-21 | 2005-12-21 | Modular orthopedic robot for auxiliary intra medullary nail far-end locking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA200510134734XA CN1775488A (en) | 2005-12-21 | 2005-12-21 | Modular orthopedic robot for auxiliary intra medullary nail far-end locking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1775488A true CN1775488A (en) | 2006-05-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNA200510134734XA Withdrawn CN1775488A (en) | 2005-12-21 | 2005-12-21 | Modular orthopedic robot for auxiliary intra medullary nail far-end locking |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101933841A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Four degree-of-freedom parallel robot with bipolar coordinate |
| CN101933840A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Three-drive four degree-of-freedom parallel robot with bipolar coordinate |
| CN101933842A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Dipolar coordinate four free degrees parallel robot based on dual-worm |
| CN101559597B (en) * | 2009-05-12 | 2011-04-20 | 哈尔滨工程大学 | Multifunctional gantry type seven-shaft industrial robot |
| WO2011063715A1 (en) * | 2009-11-26 | 2011-06-03 | 北京天智航技术有限公司 | Orthopaedic robot navigation apparatus and positioning system |
| CN102697543A (en) * | 2012-06-11 | 2012-10-03 | 中国人民解放军总医院 | Long bone resetting robot in series-parallel connection |
| CN102756753A (en) * | 2012-07-18 | 2012-10-31 | 奇瑞汽车股份有限公司 | Steering wheel based on steer-by-wire and brake-by-wire |
| CN103654960A (en) * | 2013-10-18 | 2014-03-26 | 江苏艾迪尔医疗科技股份有限公司 | Robot for minimally invasive orthopedic surgery |
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| CN103815970A (en) * | 2014-02-19 | 2014-05-28 | 北京天智航医疗科技股份有限公司 | Orthopaedic robot guide needle positioner, navigation unit and positioning system |
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| CN101559597B (en) * | 2009-05-12 | 2011-04-20 | 哈尔滨工程大学 | Multifunctional gantry type seven-shaft industrial robot |
| WO2011063715A1 (en) * | 2009-11-26 | 2011-06-03 | 北京天智航技术有限公司 | Orthopaedic robot navigation apparatus and positioning system |
| CN101933840A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Three-drive four degree-of-freedom parallel robot with bipolar coordinate |
| CN101933842A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Dipolar coordinate four free degrees parallel robot based on dual-worm |
| CN101933841B (en) * | 2010-08-30 | 2012-07-04 | 昆山市工业技术研究院有限责任公司 | Four degree-of-freedom parallel robot with bipolar coordinate |
| CN101933840B (en) * | 2010-08-30 | 2012-07-25 | 昆山市工业技术研究院有限责任公司 | Three-drive four degree-of-freedom parallel robot with bipolar coordinate |
| CN101933841A (en) * | 2010-08-30 | 2011-01-05 | 昆山市工业技术研究院有限责任公司 | Four degree-of-freedom parallel robot with bipolar coordinate |
| CN101933842B (en) * | 2010-08-30 | 2013-01-02 | 昆山市工业技术研究院有限责任公司 | Dipolar coordinate four free degrees parallel robot based on dual-worm |
| CN102697543B (en) * | 2012-06-11 | 2014-04-09 | 中国人民解放军总医院 | Long bone resetting robot in series-parallel connection |
| CN102697543A (en) * | 2012-06-11 | 2012-10-03 | 中国人民解放军总医院 | Long bone resetting robot in series-parallel connection |
| CN102756753A (en) * | 2012-07-18 | 2012-10-31 | 奇瑞汽车股份有限公司 | Steering wheel based on steer-by-wire and brake-by-wire |
| CN103654960A (en) * | 2013-10-18 | 2014-03-26 | 江苏艾迪尔医疗科技股份有限公司 | Robot for minimally invasive orthopedic surgery |
| CN103735321A (en) * | 2014-01-29 | 2014-04-23 | 北京德康健医药科技有限公司 | Electric drill positioning and holding mechanism used in computer-navigated artificial cochlea implantation |
| CN103735321B (en) * | 2014-01-29 | 2015-08-19 | 北京德康健医药科技有限公司 | For the electric drill location handle sturcture in computer navigation artificial cochlear implant |
| CN103815970A (en) * | 2014-02-19 | 2014-05-28 | 北京天智航医疗科技股份有限公司 | Orthopaedic robot guide needle positioner, navigation unit and positioning system |
| CN105534597A (en) * | 2016-01-29 | 2016-05-04 | 哈尔滨理工大学 | Friction wheel TRUS image navigation driving device and method |
| CN105832399A (en) * | 2016-05-27 | 2016-08-10 | 遵义医学院附属医院 | Locating and aligning device aided for traction of appendicular skeleton |
| CN105832399B (en) * | 2016-05-27 | 2018-05-08 | 遵义医学院附属医院 | A kind of appendicular skeleton draws auxiliary positioning sighting device |
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