CN201135461Y - Micro-wound operation robot based on endoscopic - Google Patents
Micro-wound operation robot based on endoscopic Download PDFInfo
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- CN201135461Y CN201135461Y CNU2007201275327U CN200720127532U CN201135461Y CN 201135461 Y CN201135461 Y CN 201135461Y CN U2007201275327 U CNU2007201275327 U CN U2007201275327U CN 200720127532 U CN200720127532 U CN 200720127532U CN 201135461 Y CN201135461 Y CN 201135461Y
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Abstract
The utility model discloses an endoscope-based minimally invasive surgery robot. The minimally invasive surgery robot adopts a plane-joint type structure and accomplishes the adjustment of position and posture through a double four-connecting rod mechanism in a new lead screw transmission way, fingers are arranged at the most front end of the minimally invasive surgery robot, the fingers are connected with a circular arc-shaped movable joint mechanism for fixing through a pin, and then are connected with an arc-shaped guide rail rotating joint mechanism, a joint mechanism with straight-line motion, a small arm rotating joint mechanism and a position adjusting joint mechanism in sequence through pins to form a minimally invasive surgery robot. The minimally invasive surgery robot is mainly applied to the endoscope-based surgical operation, and can substitute the chief surgeon to accomplish complex operations, such as blood vessel dissection, small wound closing and shearing.
Description
Technical field
This utility model relates to the parts of used armarium in a kind of endo-surgical.
Background technology
Phase early 1990s, the development of medical surgery robot has obtained tremendous development, and a collection of achievement in research is in the news in succession.The medical surgery robot compares with the mankind: robot have accurate positioning, stable, dexterity is strong, working range greatly, characteristics such as Keep away from radioactive and infection not.The medical surgery robot not only can assist a physician and finish the accurate location of operative site, the feedback of the vibration of solution surgeon hand, fatigue, muscle nerve, and can realize the minimal damage of performing the operation, improve the precision and the quality of medical diagnosis on disease, operative treatment, increase the operation safety coefficient, shorten treatment time, reduce medical treatment cost.
As a kind of important micro-wound surgical operation, endoscope's (endoscope optical, fibre optic endoscopes) operation has obtained developing rapidly in recent years.Fujinon electronic video endoscope operation except that have the conventional endoscope operation wound little, can alleviate patient suffering, post-operative recovery fast, help reducing the characteristics such as medical treatment cost, also have picture clear, be convenient to image and preserve and transmission characteristics such as remote medical consultation with specialists and teaching.
When conventional endoscope is widely used, the experts and scholars of various countries are also constantly transforming endoscope, mainly comprise the transformation of two aspects: be endoscope on the one hand with passive intervention, utilize robotics, make the initiatively endoscope of walking into its this, realize ACTIVE CONTROL and, can carry scope by complicated tract to the avoidance of obstacle; Be in traditional endoscope, to utilize robotics on the other hand, increase the robotic assisted surgery system, improved the stability of endoscope in performing the operation and slowed down the labor intensity of doctor in the operation process.
Up to now, Leonardo da Vinci system and the Zeus system that has obtained U.S. FDA authentication is the Minimally Invasive Surgery canonical system.At the microsurgery robot system aspects, Tokyo Univ Japan has realized remote operation by the internet net, and has implemented the experiment of 1mm vascular suture beyond 700km, but this system can not the esthesis feedback information in doctor's operating process.The medical robot of domestic independent research mainly is at the surgery location, as the department of cerebral surgery placed machine robot system of BJ University of Aeronautics ﹠ Astronautics and Navy General Hospital joint development.But in these achievements, robot system all can not realize the complicated operation operation, as sewing up and knotting.
Goal of the invention
The purpose of this utility model be to overcome in endoscope's Minimally Invasive Surgery exist can't realize sewing up in the tube chamber, deficiency such as part internal organs excision difficulty and provide a kind of based on the micro-wound operation robot endoscope under, major functions such as when realization has endoscope's function now, having increased the stitching function, strengthened cutting, grinding and excision thing excrete.
Summary of the invention
In order to overcome deficiency of the prior art, technical problem to be solved in the utility model provides a kind of surgical operation robot based on endoscope, adopt plane-joint type structure, have 8+1 degree of freedom, comprise moving both vertically and the manual adjustment joint motions of horizontal direction of vertical direction, three degree of freedom is realized position adjustment, and three degree of freedom is realized the attitude adjustment, adds an open and close movement.Position and attitude-adjusting system are finished by double-four link mechanism, and attitude remains unchanged when being used to guarantee the change in location of robot.Double-four link mechanism adopts the novel silk kind of drive, has both simplified volume, has alleviated weight again, has satisfied little, the lightweight characteristics of medical robot volume.
In order to solve the problems of the technologies described above, the purpose of this utility model can realize by following technical scheme:
Based on the micro-wound operation robot under the endoscope, adjusting articulation mechanism by circular motion articulation mechanism, arc-shaped guide rail rotary joint mechanism, rectilinear motion articulation mechanism, forearm rotary joint mechanism, the vertical direction position of foremost finger and the fixed finger that sets gradually forms.
Finger foremost includes body that outer sleeve 39 and inner sleeve 38 constitute, is arranged on the 6th motor 54 in the body inner sleeve tail end, the 7th motor 57 in the body outer sleeve tail end, first stop on the body outer sleeve; The 7th motor output end is provided with apparatus rotary joint mechanism, by set gradually second initiatively flange 56, drive block, be fixed on the inner baffle ring in the body inner sleeve tail end outside, and be locked in the outer baffle ring 41 in the body inner sleeve front end outside, the gather steel ball 37 between inner baffle ring and body outer sleeve and the steel ball 37 that gathers between outer baffle ring and body outer sleeve constitute, the second active flange is provided with second stop; 38 are provided with boss in the body inner sleeve, block the stay pipe 44 that is stretched out by the inner sleeve front end; The stay pipe front end is provided with the apparatus quick-changing mechanism, constitute by setting gradually the compression spring 46, support column 51, the finger tip replacing instrument 48 that are against on the back-up block 45, it is scalpel, operation tweezers, surgical scissors or electricity TURP scalpel with fixed attention that finger tip is changed instrument 48, be provided with the groove that is mutually 60～120 degree of two connections, the length of groove is 30～50mm on the base plate; Tail end is provided with the 6th motor 54 of spacer sleeve, its outfan is provided with device opening and closing mechanism, by be successively set on first in the stay pipe 44 initiatively flange 40, torsionspring 49, steel ball 37, driven pipe, screw rod 43, second bearing pin 52, be socketed in back-up block 45, first bearing pin 50, overcoat on second bearing pin be fixed on the stay pipe in the cover bearing and the inner screw sheath that are fixed on the driven pipe constituted; Inner screw sheath is provided with groove, and first bearing pin 50 and second bearing pin 52 pass groove and be fixed on the stay pipe 44.
The circular motion articulation mechanism of fixed finger 58, it is characterized in that the 3rd motor 19 and the lock ring 14 of holding finger are arranged on the gripper shoe 15, gripper shoe 15 is connected with the slide block of arc-shaped guide rail 16, the guide rail of arc-shaped guide rail 16 is connected with arc-shaped guide rail support 17 by tooth fan 18, the 3rd motor shaft 19 is provided with pinion 20, pinion 20 and 18 engagements of tooth fan.
Arc-shaped guide rail rotary joint mechanism, it is characterized in that force transducer 21 is fixedly set between arc-shaped guide rail support 17 and the rotation power transmission shaft 22, rotation power transmission shaft outer cover is equipped with spacer 25, the end is set with bearing, the rotation power transmission shaft 22 that passes axis of rotation bearing 24 is connected with the axle of the 4th motor 29 with rotation shaft coupling slide block 27 by rotation shaft coupling 26, axis of rotation bearing 24 is fixed with rotation bearing cap 23, the four motors 29 and links by spinning motor support 28 and the axis of rotation bearing 24 that is fixed on the oblique slide unit 31.
The rectilinear motion articulation mechanism is characterized in that being made up of the 5th motor 30, oblique slide unit 31 and oblique slide unit support 8;
Forearm rotary joint mechanism, it is characterized in that first forearm, 9 one ends are connected with oblique slide unit support 8 by the first arm front rotary shaft in the first forearm rotary joint mechanism, the other end by the first arm after rotating shaft be connected with transition frame 13, be respectively arranged with wire wheel in the first forearm front rotary shaft and the back rotating shaft, its two ends are provided with bearing, two wire wheels are connected by steel wire, and second motor is arranged on the transition frame 13; Second forearm, 11 1 ends link to each other with big arm 2 by rotating shaft behind second arm in the second forearm rotary joint mechanism, the other end is connected with transition frame 13 by the second arm front rotary shaft, be respectively arranged with wire wheel in the second forearm front rotary shaft and the back rotating shaft, its two ends are provided with bearing, two wire wheels connect by steel wire, gripper shoe is fixed on the wire wheel, and simply supported slab is provided with the top and withstands on column bolt on the gripper shoe; Behind the first arm front rotary shaft or the first arm behind rotating shaft or the second arm front rotary shaft or second arm rotating shaft by bearing, rotating shaft lid and circlip for shaft axial restraint; The big arm that is provided with first motor in the big arm rotary joint mechanism by big arm after rotating shaft be connected with big arm support, the positioning disk that is provided with bearing pin is connected with arm support greatly by screw; Bearing pin is provided with bearing and sleeve, and end is provided with nut.
Articulation mechanism is adjusted in the vertical direction position, it is characterized in that the 6th motor 54 is by vertical shaft coupling, vertical slipper is connected with vertical turn-screw, be fixed on the vertical support frame, vertical support frame is fixed in vertical base plate, vertical turn-screw two ends are set with bearing and pass the vertical axis bearing that is fixed in vertical base plate, vertical axis bearing end is fixed with vertical bearing cap, vertical base plate is connected with the vertical guide rail plate by guide rail slide block and guide rail, vertical transmission nut is fixed on the vertical guide rail plate by vertical adjusting pad, and it moves both vertically and realizes with screw thread transmission between the vertical turn-screw by the vertical transmission nut that is installed on the vertical guide rail plate.
Described first motor or second motor or the 3rd motor or the 7th motor or the 8th motor are stepper motor, and described the 4th motor or the 5th motor or the 6th motor are servomotor.
Of the present utility model compared with prior art have following beneficial effect based on the micro-wound operation robot under the endoscope:
1, mechanism is an articulated type coordinate structure, has 8+1 degree of freedom, can finish various operation techniques, the operation light and flexible;
2, the employing of double-four link mechanism keeps stablizing constant when making the operating attitude of robot change in the operating position, realized the relatively independent of position and attitude;
3, adopt silk drive mechanism mode, both reduced the spatial volume of mechanism, alleviated the weight of mechanism again;
4, adopt the slant rail structure of adjustable angle, make the robot operating angle more near the operative doctor operating attitude;
5, coarse adjustment mechanism can locate fast, and fine-tuning mechanism makes robot have accurate performance accuracy;
6, the design of serial end-of-arm tooling such as scalpel, scissors, tweezers, electricity coagulate electric knife etc. and can make essential surgical techniques such as micro-wound operation robot is finished incision, cuts off, separated, hemostasis, knotting, stitching.
Description of drawings
Fig. 1 is the structural representation of secondary manipulator of surgery operation robot of the present utility model;
Fig. 2 is a silk drive mechanism sketch map of the present utility model;
Fig. 3 is an attitude adjustment member structural representation of the present utility model;
Fig. 4 is the structural representation of finger of the present utility model;
Reference numeral:
The oblique slide unit 32-of the oblique slide unit support of big arm 3-first joint 4-second joint 5-the 4th joint 6-the 5th joint 7-arc-shaped guide rail 8-of the 1-first motor 2-9-first forearm 10-, the second motor 11-second forearm 12-the 3rd joint 13-transition frame 14-lock ring 15-gripper shoe 16-arc-shaped guide rail 17-arc-shaped guide rail support 18-tooth fan 19-the 3rd motor 20-pinion 21-force transducer 22-rotation power transmission shaft 23-rotation bearing cap 24-axis of rotation bearing 25-spacer 26-rotation shaft coupling 27-rotation shaft coupling slide block 28-spinning motor support 29-the 4th motor 30-the 5th motor 31-counter flange 37- steel ball 33,34,35,36,53-screw 38-inner sleeve 39-outer sleeve 40-first initiatively flange 41-outer baffle ring 42-round nut 43-screw rod 44-stay pipe 45-back-up block 46-compression spring 47-spring housing 48-finger tip changes initiatively flange 57-the 7th motor 58-finger of the instrument 49-torsionspring 50-first bearing pin 51-support column 52-second bearing pin 54-the 6th motor 55-spacer sleeve 56-second
The specific embodiment
Describe in further detail based on the micro-wound operation robot under the endoscope of the present utility model below in conjunction with accompanying drawing and instantiation.
In Fig. 1,2, double-four link mechanism is realized by the silk transmission.Described double-four link mechanism comprises first joint 3, the second joint 4 that is connected second forearm and transition frame that connect the big arm and second forearm, be connected second motor 10 and transition frame the 3rd joint 12, be connected the transition frame and first forearm the 4th joint 5, be connected the 5th joint 6 of first forearm and oblique slide unit support.
In Fig. 3, the finger circular motion articulation mechanism of attitude adjustment member is an initiatively joint, and the motion in joint is to be provided by step-by-step movement the 3rd motor 19, realizes by pinion and rack.The 3rd motor 19 is installed on the gripper shoe 15 with the lock ring 14 of holding finger, and gripper shoe 15 is fixed together with the slide block of arc-shaped guide rail 16, and can be free to slide on arc-shaped guide rail; The guide rail of arc-shaped guide rail 16 is fixing with arc-shaped guide rail support 17 by tooth fan 18: the 3rd motor 19 is fixed on the gripper shoe 15, and pinion 20 is contained on 19 in the 3rd motor, can fan on 18 at tooth and freely roll.Circular motion is that the axle of the 3rd motor 19 moves on arc-shaped guide rail 16 by pinion 20 and tooth fan 18 drive gripper shoes 15, thereby realizes the motion of finger circular arc.
The arc-shaped guide rail rotary joint mechanism of attitude adjustment member is an initiatively joint, and the motion in joint is to be provided by step-by-step movement the 4th motor 29, realizes by Bearning mechanism.The 4th motor 29 is connected with axis of rotation bearing 24 by spinning motor support 28, and axis of rotation bearing 24 is fixed on the oblique slide unit 31; Bearing is contained in the axis of rotation bearing 24, and bearing inside is supported by rotation power transmission shaft 22, and the axial location of bearing is by spacer 25,23 restrictions of rotation bearing cap; Rotation power transmission shaft 22 is connected and fixed with arc-shaped guide rail support 17; Rotation bearing cap 23 is fixed on the axis of rotation bearing 24, and spacer 25 places between two bearings in the axis of rotation bearing 24; Rotation power transmission shaft 22 is connected with the axle of the 4th motor 29 with rotation shaft coupling slide block 27 by rotation shaft coupling 26.The transmission that rotatablely moves is by two rotation shaft couplings 26 and rotation shaft coupling slide block 27 rotatablely moving of motor shaft to be passed to rotation power transmission shaft 22, and rotation power transmission shaft 22 is connected with arc track support 17, drives the entire front end parts and is rotated motion.
The slant rail rectilinear motion articulation mechanism of attitude adjustment member is an initiatively joint, and the motion in joint is to be provided by step-by-step movement the 5th motor 30, and the ball screw framework that carries by oblique slide unit 31 is realized.What realize these joint motions mainly is to drive oblique slide unit 31 by the 5th motor 30, because the high-precision motion of its leading screw that carries and slide block realizes the accurate motion of oblique slide unit, realizes rectilinear motion thereby drive two joints, whole front.
Finger of the present utility model can use number of patent application 03100038 disclosed finger, also can use the following stated finger.In Fig. 4, include body that outer sleeve 39 and inner sleeve 38 constitute, be arranged on the 6th motor 54 in the body inner sleeve tail end, be fixed on the 7th motor 57 of body outer sleeve tail end, and be positioned at first stop on the body outer sleeve by counter flange 32; Described the 7th motor 57 outfans be provided with set gradually second initiatively flange 56, drive block, be fixed on the inner baffle ring in the body inner sleeve 38 tail ends outside, and be locked in the apparatus rotating mechanism that the outer baffle ring 41 in the body inner sleeve 38 front ends outside, the gather steel ball 37 between inner baffle ring and body outer sleeve and the steel ball 37 between outer baffle ring and body outer sleeve of gathering are constituted by round nut 42; Be provided with boss in the described body inner sleeve 38, block the stay pipe 44 that stretches out by inner sleeve 38 front ends; The outfan of described the 7th motor 57 is provided with stay pipe 44, by itself and set gradually first initiatively flange 40, torsionspring 49, steel ball 37, screw rod 43, second bearing pin 52, be socketed in back-up block 45 on second bearing pin 52 and first bearing pin 50, overcoat is fixed on the stay pipe 44, interior cover is fixed in the device opening and closing mechanism that bearing and inner screw sheath constituted on the driven pipe; First bearing pin 50 and second bearing pin 52 pass groove and are fixed on the stay pipe 44; Described stay pipe 44 front ends are provided with the apparatus quick-changing mechanism, are made of the compression spring 46, support column 51, the finger tip replacing instrument 48 that are against on the back-up block that set gradually.
Operating robot of the present utility model is mainly used in the Minimally Invasive Surgery under the endoscope, and operating robot of the present utility model can substitute operating doctor and finish complicated operation techniques such as peeling off, sew up, cut off.
More than be schematically to the description of this utility model and embodiment thereof, do not have restricted.So, if those of ordinary skill in the art is enlightened by it, under the situation that does not break away from this utility model creation aim, make other embodiment, all should belong to protection domain of the present utility model.
Claims (7)
1, a kind of micro-wound operation robot based on endoscope, it is characterized in that, adopt plane one joint type structure, double-four link mechanism with the silk kind of drive comes completing place and attitude adjustment, micro-wound operation robot is finger foremost, finger is connected with the circular motion articulation mechanism of fixing its effect by bearing pin, connects arc-shaped guide rail rotary joint mechanism, rectilinear motion articulation mechanism, forearm rotary joint mechanism, vertical direction position adjustment articulation mechanism composition micro-wound operation robot with bearing pin successively thereafter.
2, micro-wound operation robot according to claim 1, described finger include body that outer sleeve (39) and inner sleeve (38) constitute, be arranged on the 6th motor (54) in the body inner sleeve tail end, the 7th motor (57) in the body outer sleeve tail end, first stop on the body outer sleeve;
The 7th motor output end is provided with apparatus rotary joint mechanism, by set gradually second initiatively flange (56), drive block, be fixed on the inner baffle ring in the body inner sleeve tail end outside, and be locked in the outer baffle ring (41) in the body inner sleeve front end outside, the gather steel ball (37) between inner baffle ring and body outer sleeve and the steel ball (37) that gathers between outer baffle ring and body outer sleeve constitute, the second active flange is provided with second stop; The body inner sleeve is provided with boss in (38), blocks the stay pipe (44) that is stretched out by the inner sleeve front end; The stay pipe front end is provided with the apparatus quick-changing mechanism, change instrument (48) formation by setting gradually the compression spring (46), support column (51), the finger tip that are against on the back-up block (45), it is that scalpel, operation tweezers, surgical scissors or electricity coagulate the TURP scalpel that finger tip is changed instrument (48), be provided with the groove that is mutually 60～120 degree of two connections, the length of groove is 30～50mm on the base plate;
Tail end is provided with the 6th motor (54) of spacer sleeve, its outfan is provided with device opening and closing mechanism, by be successively set on first in the stay pipe (44) initiatively flange (40), torsionspring (49), steel ball (37), driven pipe, screw rod (43), second bearing pin (52), be socketed in back-up block (45), first bearing pin (50), overcoat on second bearing pin be fixed on the stay pipe in the cover bearing and the inner screw sheath that are fixed on the driven pipe constituted; Inner screw sheath is provided with groove, and first bearing pin (50) passes groove with second bearing pin (52) and is fixed in stay pipe (44).
3, micro-wound operation robot according to claim 1, it is characterized in that, the circular motion articulation mechanism structure of described fixed finger (58) is: the 3rd motor (19) is arranged on the gripper shoe (15) with the lock ring (14) of holding finger, gripper shoe (15) is connected with the slide block of arc-shaped guide rail (16), the guide rail of arc-shaped guide rail is connected with arc-shaped guide rail support (17) by tooth fan (18), the 3rd motor (19) axle is provided with pinion (20), pinion (20) and tooth fan (18) engagement.
4, micro-wound operation robot according to claim 1, it is characterized in that, described arc-shaped guide rail rotary joint mechanism structure is: force transducer (21) is fixedly set between arc-shaped guide rail support (17) and the rotation power transmission shaft (22), rotation power transmission shaft outer cover is equipped with spacer (25), the end is set with bearing, the rotation power transmission shaft (22) that passes axis of rotation bearing (24) is connected with the axle of the 4th motor (29) with rotation shaft coupling slide block (27) by rotation shaft coupling (26), axis of rotation bearing (24) is fixed with rotation bearing cap (23), and the 4th motor (29) links by spinning motor support (28) and the axis of rotation bearing (24) that is fixed on the oblique slide unit (31).
5, micro-wound operation robot according to claim 1 is characterized in that, described rectilinear motion articulation mechanism is made up of the 5th motor (30), oblique slide unit (31) and oblique slide unit support (8).
6, micro-wound operation robot according to claim 1, it is characterized in that described forearm rotary joint mechanism structure is: first forearm (9) one ends are connected with oblique slide unit support (8) by the first arm front rotary shaft in the first forearm rotary joint mechanism, the other end by the first arm after rotating shaft be connected with transition frame (13), be respectively arranged with wire wheel in the first forearm front rotary shaft and the back rotating shaft, its two ends are provided with bearing, two wire wheels are connected by steel wire, and second motor is arranged on the transition frame (13); Second forearm (11) one ends link to each other with big arm (2) by rotating shaft behind second arm in the second forearm rotary joint mechanism, the other end is connected with transition frame (13) by the second arm front rotary shaft, be respectively arranged with wire wheel in the second forearm front rotary shaft and the back rotating shaft, its two ends are provided with bearing, two wire wheels connect by steel wire, gripper shoe is fixed on the wire wheel, and simply supported slab is provided with the top and withstands on column bolt on the gripper shoe; Behind the first arm front rotary shaft or the first arm behind rotating shaft or the second arm front rotary shaft or second arm rotating shaft by bearing, rotating shaft lid and circlip for shaft axial restraint; The big arm that is provided with first motor in the big arm rotary joint mechanism by big arm after rotating shaft be connected with big arm support, the positioning disk that is provided with bearing pin is connected with arm support greatly by screw; Bearing pin is provided with bearing and sleeve, and end is provided with nut.
7, micro-wound operation robot according to claim 1, it is characterized in that described vertical direction position adjustment articulation mechanism structure is: the 6th motor (54) is by vertical shaft coupling, vertical slipper is connected with vertical turn-screw, be fixed on the vertical support frame, vertical support frame is fixed in vertical base plate, vertical turn-screw two ends are set with bearing and pass the vertical axis bearing that is fixed in vertical base plate, vertical axis bearing end is fixed with vertical bearing cap, vertical base plate is connected with the vertical guide rail plate by guide rail slide block and guide rail, and it moves both vertically and realizes with screw thread transmission between the vertical turn-screw by the vertical transmission nut that fixedly is loaded on vertical adjusting pad on the vertical guide rail plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201275327U CN201135461Y (en) | 2007-08-07 | 2007-08-07 | Micro-wound operation robot based on endoscopic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007201275327U CN201135461Y (en) | 2007-08-07 | 2007-08-07 | Micro-wound operation robot based on endoscopic |
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| CN201135461Y true CN201135461Y (en) | 2008-10-22 |
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| CNU2007201275327U Expired - Lifetime CN201135461Y (en) | 2007-08-07 | 2007-08-07 | Micro-wound operation robot based on endoscopic |
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Cited By (12)
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| CN101744656A (en) * | 2008-12-11 | 2010-06-23 | 张春霖 | Minimally invasive spine surgical robot against nerve injuries |
| CN102058436A (en) * | 2011-01-10 | 2011-05-18 | 天津大学 | Locking device for surgical robot quick replacement mechanism |
| CN101708129B (en) * | 2009-11-04 | 2012-05-09 | 温州医学院 | Remote-control apparatus for alimentary tract endoscope interventional treatment |
| WO2015161677A1 (en) * | 2014-04-22 | 2015-10-29 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems |
| CN106371374A (en) * | 2016-11-07 | 2017-02-01 | 福州幻科机电科技有限公司 | Intelligent control circuit system for minimally invasive endoscopic four-freedom-degree locator |
| CN106388950A (en) * | 2016-10-21 | 2017-02-15 | 福州幻科机电科技有限公司 | Minimally-invasive endoscope four-degree-of-freedom positioning device |
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| CN101744656B (en) * | 2008-12-11 | 2014-04-16 | 张春霖 | Minimally invasive spine surgical robot against nerve injuries |
| CN101708129B (en) * | 2009-11-04 | 2012-05-09 | 温州医学院 | Remote-control apparatus for alimentary tract endoscope interventional treatment |
| CN102058436A (en) * | 2011-01-10 | 2011-05-18 | 天津大学 | Locking device for surgical robot quick replacement mechanism |
| CN102058436B (en) * | 2011-01-10 | 2012-05-09 | 天津大学 | Locking device for surgical robot quick replacement mechanism |
| US9895200B2 (en) | 2014-04-22 | 2018-02-20 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
| US10123845B2 (en) | 2014-04-22 | 2018-11-13 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
| US11801099B2 (en) | 2014-04-22 | 2023-10-31 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
| US9724168B2 (en) | 2014-04-22 | 2017-08-08 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
| US9855108B2 (en) | 2014-04-22 | 2018-01-02 | Bio-Medical Engineering (HK) Limited | Robotic devices and systems for performing single incision procedures and natural orifice translumenal endoscopic surgical procedures, and methods of configuring robotic devices and systems |
| WO2015161677A1 (en) * | 2014-04-22 | 2015-10-29 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems |
| US9999474B2 (en) | 2014-04-22 | 2018-06-19 | Bio-Medical Engineering (HK) Limited | Single access surgical robotic devices and systems, and methods of configuring single access surgical robotic devices and systems |
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| CN106388950B (en) * | 2016-10-21 | 2023-06-20 | 创业黑马(江苏)科技有限公司 | Four-degree-of-freedom positioning machine for minimally invasive endoscope |
| CN106388950A (en) * | 2016-10-21 | 2017-02-15 | 福州幻科机电科技有限公司 | Minimally-invasive endoscope four-degree-of-freedom positioning device |
| CN106371374A (en) * | 2016-11-07 | 2017-02-01 | 福州幻科机电科技有限公司 | Intelligent control circuit system for minimally invasive endoscopic four-freedom-degree locator |
| CN111772800A (en) * | 2020-07-13 | 2020-10-16 | 安徽航天生物科技股份有限公司 | Whole rotary mechanism of endoscope of flexible endoscope operation robot system |
| CN113855251A (en) * | 2021-10-12 | 2021-12-31 | 浙江理工大学 | Multi-degree-of-freedom minimally invasive surgical instrument |
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