CN201492456U - Hydraulic locking power mechanism of surgical robot-arm joint - Google Patents
Hydraulic locking power mechanism of surgical robot-arm joint Download PDFInfo
- Publication number
- CN201492456U CN201492456U CN2009202306001U CN200920230600U CN201492456U CN 201492456 U CN201492456 U CN 201492456U CN 2009202306001 U CN2009202306001 U CN 2009202306001U CN 200920230600 U CN200920230600 U CN 200920230600U CN 201492456 U CN201492456 U CN 201492456U
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- mechanical arm
- joint
- hydraulic
- gripper shoe
- power mechanism
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Abstract
The utility model discloses a hydraulic locking power mechanism of a surgical robot-arm joint, which comprises a traction mechanism, a pressure lifting-releasing mechanism and a locking force generator, wherein the traction mechanism is arranged on the ground and fixedly connected with the piston top rod of the pressure lifting-releasing mechanism through a wire; the traction mechanism comprises a pedal which is connected with the wire; the pressure lifting-releasing mechanism comprises a cylinder; the support plate of the cylinder is fixedly connected with a lifting upright; the center shaft of the pressure lifting-releasing mechanism and the axis of the lifting upright are vertical; the locking force generator and the pressure lifting-releasing mechanism are both symmetrical structures and coaxial and are tightly locked by a loop nut at the periphery of the locking force generator. The hydraulic locking power mechanism of the surgical robot-arm joint provides a joint locking hydraulic power source and ensures that all the joints are rigidly fixed according to the joint angles after kinematics calculating when the robot arm is not driven by a motor, thus leading the robot arm to be used as the surgical needle positioning and supporting device.
Description
Technical field
This utility model relates to a kind of hydraulic locking mechanism, especially relates to a kind of mechanical arm for surgical joint locking power mechanism, belongs to technical field of medical instruments.
Background technology
Recently, the minimally invasive surgery mechanical arm technology of computer, medical surgery technology and medical robot three combination has become one of international forward position research focus of numerous scholars and scientific research institution's concern.The development of the multidisciplinary crossing domain that this is novel is considered to a kind of significant progress of surgical intervention means, and the research and development dynamics of domestic medical apparatus and instruments is increasing.At present, for passive (no motor-driven) the localized mechanical arm that punctures, can be seldom in clinical practice, one of them major reason is not find suitable joint locking mechanism of operation mechanical arm and locking driving device as yet.Particularly, also do not find based on hydraulically powered joint retaining mechanism for the joint locking of the mechanical arm of small-sized, light and high rigidity.
The utility model content
Technical problem to be solved in the utility model provides a kind of joint of mechanical arm locking power mechanism, so that locking hydraulic power supply in joint to be provided, guarantee that mechanical arm is under no motor-driven situation, joint angles after resolving according to kinesiology, each joint can rigidly fix, thereby mechanical arm can be located and bracing or strutting arrangement as the surgical operation puncture.
For solving the problems of the technologies described above, this utility model provides a kind of hydraulic locking power mechanism of mechanical arm joint for surgery, comprise haulage gear and buck mechanism, also comprise the coupling mechanism force generator, described haulage gear is arranged at ground, piston mandril by steel wire and buck mechanism connects firmly, described haulage gear riding boogie board, and riding boogie board and steel wire link; Described buck mechanism comprises cylindrical shell, and the gripper shoe and the lifting support of described cylindrical shell connect firmly; The central shaft of described buck mechanism and the axis of lifting support are vertical direction; Described coupling mechanism force generator and buck mechanism is symmetrical structure and the two is coaxial, and the kink nut locking by coupling mechanism force generator periphery.
Described haulage gear comprises riding boogie board, handle, steel wire rope, support plate assembly and base plate, and its function is a haulage cable, controls the flexible of steel wire rope.Described steel wire penetrating is arranged at the opening nut of riding boogie board central bottom, and an end and fastening cover connect firmly, and the piston mandril of the other end and buck mechanism connects firmly; Described gripper shoe assembly comprises epipleural and two perpendicular side plate, and the gripper shoe assembly connects firmly by screw and base plate; Riding boogie board one end links with the riding boogie board pin that is fixed on the perpendicular side plate of gripper shoe assembly, and be that turning cylinder rotates with the riding boogie board pin axis, handle one end connects with the handle support bar is rotatable, the handle support bar is connected by screw with base plate, the handle push rod welds mutually with handle, and the handle push rod freely contacts with riding boogie board.
During work, afterburning to B point and A point respectively by riding boogie board and handle, haulage cable moves downward; When release handle or riding boogie board,, must draw the riding boogie board that is connected with steel wire rope and move upward because the spring of the other end will recover deformation.Because the restriction of gripper shoe assembly top side plate is arranged, and the riding boogie board stroke has top dead centre, its lower dead center is the contact point of riding boogie board and base plate, thereby makes steel wire rope get back to the origin-location, has realized the stretching and the contraction of steel wire rope.
In this utility model, described buck mechanism comprises spring and spring base, piston mandril, cylindrical shell, gripper shoe and lifting support.Described cylindrical shell is opened aperture in the middle of the bottom, and spring base is close to the cylindrical shell bottom surface, and spring is installed on it; Piston mandril is positioned at plane on the spring, and it and steel wire rope connect firmly, and can move up and down in hydraulic cylinder seat interstitial hole.The top dead centre of push rod is the lower surface of hydraulic cylinder seat, its lower dead center is the spring base upper surface, in fact the stroke of push rod has determined the decrement of spring, spring, spring base and piston mandril are all coaxial with cylindrical shell, the boss in the cylindrical shell outside is connected with gripper shoe, the right side of gripper shoe has the screwed hole with the cylindrical shell axis parallel, and lifting support passes this screwed hole and is fixed in the screwed hole.Described lifting support is provided with rotational pin, can make the lifting support rotation for the rotational pin reinforcing, can realize that mechanical arm joint hydraulic locking power mechanism integral body moves up and down, and changes the mechanical arm work space with this.
In this utility model, described coupling mechanism force generator comprises joint shaft, hydraulic cylinder, hydraulic cylinder seat, hydraulic piston, first cone of friction, second cone of friction and kink nut.Described joint shaft is installed in the middle of the hydraulic cylinder, middle part at joint shaft, by interior snap ring, outer snap ring and snap ring seat joint shaft and hydraulic cylinder are axially being connected firmly, supporting swivel nut and hydraulic cylinder lower end is that screw thread connects firmly, support swivel nut in the lower end open semicircle shape groove radially, this semi-circular groove cooperates installation with alignment pin, hydraulic cylinder is fixed at the rigging position of circumferencial direction and hydraulic cylinder seat.Joint shaft is a hollow structure, is used to provide the oil circuit of hydraulic oil.Having two through holes with the axis normal direction of joint shaft is symmetric, be convenient to hydraulic oil and flow to the joint shaft outside.Below joint shaft 1 outside, snap ring seat, be disposed with sealing shroud one, stop collar, sealing shroud two, first cone of friction and second cone of friction, below the outside, joint shaft bottom, second cone of friction, be provided with locating ring, effusive hydraulic oil arrives the sealing shroud one and the lower seal cover two on stop collar top through stop collar.Two cone of friction are being installed below sealing shroud, and they fit in together, see on the whole, have formed the cylinder of a hollow, and described two cone of friction all have narrow groove along its axis direction, are subjected to can radially shrinking after the axial thrust.Two cone of friction are subjected to being installed on the restriction of the locating ring on the joint shaft along the downward displacement of axis direction.Hydraulic piston places in the joint shaft, when moving upward, the oil circuit internal volume reduces, make hydraulic oil between sealing shroud one and sealing shroud two, produce pressure, promote sealing shroud two and compress first cone of friction and second cone of friction, make joint shaft and hydraulic cylinder in circumferential locking, so just realized the locking in joint.
When foot to the pedal reinforcing, when perhaps giving riding boogie board afterburning by handle, haulage cable moves downward, and steel wire rope and piston mandril connect firmly, and piston mandril compresses energy-stored spring downwards, spring shrinks, piston mandril is followed and is moved down, and the piston of hydraulic system is moved vertically downward, and the mechanical arm internal volume increases, interior drops, thus make each joints open of mechanical arm.When foot leaves pedal (or hands disengaging handle), because the resilience of energy-stored spring moves upward piston mandril, the piston of hydraulic system moves vertically upward, compressor mechanical arm cavity volume, and the intrinsic pressure increase of hydraulic system, thus make the joint locking.The locking torque of hydraulic machinery shoulder joint so just is provided, thereby has realized joint of mechanical arm locking and unclamp control.
The beneficial effect that this utility model reached:
Hydraulic locking power mechanism of mechanical arm joint for surgery of the present utility model, utilize haulage gear, buck mechanism and coupling mechanism force generator, locking hydraulic power supply in joint is provided, guaranteed that mechanical arm is under no motor-driven situation, joint angles after resolving according to kinesiology, each joint can rigidly fix, thereby mechanical arm can be located and bracing or strutting arrangement as the surgical operation puncture.
Description of drawings
Fig. 1 is the buck mechanism and the coupling mechanism force generator sketch map of hydraulic locking power mechanism of mechanical arm joint for surgery;
Fig. 2 is the haulage gear sketch map of hydraulic locking power mechanism of mechanical arm joint for surgery.
In the drawings: 1. joint shaft 2. retaining ring seats 3. interior snap ring 4. outer snap ring 5. sealing shrouds 16. stop collars 7. sealing shrouds 2 8. cone of friction 1 9. cone of friction 2 10. cylindrical shells 11. hydraulic cylinders 12. hydraulic pistons 13. locating rings 14. kink nuts 15. support swivel nut 16. alignment pins 17. hydraulic cylinder seats 18. piston mandrils 19. acorn nuts 20. round nuts one 21. round nuts 2 22. rotational pins 23. lifting supports 24. gripper shoes 25. screws 26. springs 27. spring base 28a, 28b. positioning sleeve 29. steel wires overlap 32. fastenings of 30. steel wire ropes, 31. opening nuts and overlap 33. riding boogie board pins, 34. gripper shoe assemblies, 35. base plates, 36. support bars, 37. handle push rods, 38. handles, 39. riding boogie boards
The specific embodiment
Below in conjunction with accompanying drawing this utility model is further described.
Fig. 1 is the buck mechanism and the coupling mechanism force generator sketch map of hydraulic locking power mechanism of mechanical arm joint for surgery; Fig. 2 is the haulage gear sketch map of hydraulic locking power mechanism of mechanical arm joint for surgery.
This utility model provides a kind of hydraulic locking power mechanism of mechanical arm joint for surgery, comprise haulage gear 40 and buck mechanism 41, also comprise coupling mechanism force generator 42, described haulage gear 40 is arranged at ground, connect firmly by the piston mandril 18 of steel 30 with buck mechanism 41, described haulage gear 40 comprises riding boogie board 39, and riding boogie board 39 links with steel wire 30; Described buck mechanism comprises cylindrical shell 10, and the gripper shoe 24 and the lifting support 23 of described cylindrical shell 10 connect firmly; The central shaft of described buck mechanism 41 and the axis of lifting support 23 are vertical direction; Described coupling mechanism force generator 42 is symmetrical structure with buck mechanism 41 and the two is coaxial, and locks by the kink nut 14 of coupling mechanism force generator 42 peripheries.
Described haulage gear comprises riding boogie board 39, handle 38, steel wire rope 30, support plate assembly 34 and base plate 35, and its function is a haulage cable 30, controls the flexible of steel wire rope 30.Described steel wire rope 30 passes opening nut 31, one ends and the fastening cover 32 that are arranged at riding boogie board 39 central bottom and connects firmly, and the piston mandril 18 of the other end and buck mechanism connects firmly; Gripper shoe assembly 34 is welded (another piece how can be one) by epipleural and two perpendicular side plate, and connects firmly by screw and base plate 35; Riding boogie board 39 1 ends link with the riding boogie board pin 33 that is fixed on the perpendicular side plate of gripper shoe assembly 34, and are that turning cylinder rotates with the riding boogie board pin axis.Handle 38 1 ends and handle support bar 36 rotates and connects, and handle support bar 36 and base plate 35 are connected by screw, and handle push rod 37 welds mutually with handle 38, and handle push rod 37 freely contacts with riding boogie board 39.
Described opening nut 31 cooperates for screwed hole with riding boogie board 39.
Described steel wire rope 30 outer surfaces are with steel wire cover 29, are provided with the first positioning sleeve 28a at upper panel place, steel wire rope 30 outer surfaces near the gripper shoe assembly, and the guiding of steel wire rope 30 and location are realized by positioning sleeve and steel wire cover 29.Another important function of the first positioning sleeve 28a is to prevent that steel wire rope is worn in long-term drawing process or is cut off.
The epipleural contact surface of described first positioning sleeve 28a and gripper shoe assembly 34 is a sphere.
During work, afterburning to B point and A point respectively by riding boogie board 39 and handle 38, haulage cable 30 moves downward; When release handle 38 or riding boogie board 39,, must draw the riding boogie board 39 that is connected with steel wire rope and move upward because the spring of the other end will recover deformation.Because the restriction of gripper shoe assembly top side plate is arranged, and the riding boogie board stroke has top dead centre, its lower dead center is the contact point of riding boogie board and base plate, thereby makes steel wire rope get back to the origin-location, has realized the stretching and the contraction of steel wire rope.
In this utility model, described buck mechanism comprises spring 26 and spring base 27, piston mandril 18, cylindrical shell 10, gripper shoe 24 and lifting support 23.Open aperture in the middle of described cylindrical shell 10 bottoms, spring base 27 is close to cylindrical shell 10 bottom surfaces, and spring 26 is installed on it; Piston mandril 18 is positioned at plane on the spring 26, and it and steel wire rope 30 connect firmly, and can move up and down in hydraulic cylinder seat interstitial hole.The top dead centre of piston mandril 18 is lower surfaces of hydraulic cylinder seat, its lower dead center is the spring base upper surface, in fact the stroke of piston mandril has determined the decrement of spring, spring 26, spring base 27 and piston mandril 18 are all coaxial with cylindrical shell 10, the boss in cylindrical shell 10 outsides is connected with gripper shoe, the right side of gripper shoe 27 has the screwed hole with cylindrical shell 10 axis parallels, and lifting support 23 passes this screwed hole and is fixed in the screwed hole.Described lifting support 23 is provided with rotational pin 22, can make the lifting support rotation for the rotational pin reinforcing, can realize that mechanical arm joint hydraulic locking power mechanism integral body moves up and down, and changes the mechanical arm work space with this.
Near cylindrical shell 10 bottoms the second positioning sleeve 28b and steel wire cover 29 are installed at steel wire rope 30 outer surfaces, positioning sleeve and steel wire have overlapped guiding and positioning action.
The boss in described cylindrical shell 10 outsides can be connected by screw with gripper shoe.
Described lifting support upper end is equipped with acorn nut 19 and round nut 1, and round nut 2 21 is installed near gripper shoe 24 bottom surfaces in its lower end, and lifting support and gripper shoe are fixing by round nut 1 and round nut 2 21.
Described aperture bottom surface is a sphere, and described sphere matches with the second positioning sleeve 28b.
In this utility model, described coupling mechanism force generator comprises joint shaft 1, hydraulic cylinder 11, hydraulic cylinder seat 17, hydraulic piston 12, first cone of friction 8, second cone of friction 9 and kink nut 14.Described joint shaft 1 is installed in the middle of the hydraulic cylinder 11, middle part at joint shaft 1, by interior snap ring 3, outer snap ring 4 and snap ring seat 2 joint shaft 1 and hydraulic cylinder 11 are axially being connected firmly, supporting swivel nut 15 is that screw thread connects firmly with hydraulic cylinder 11 lower ends, support swivel nut 15 in the lower end open semicircle shape groove radially, this semi-circular groove cooperates installation with alignment pin 16, and hydraulic cylinder 11 is fixed at the rigging position of circumferencial direction and hydraulic cylinder seat 17.Joint shaft 1 is a hollow structure, is used to provide the oil circuit of hydraulic oil.Having two through holes with the axis normal direction of joint shaft 1 is symmetric, be convenient to hydraulic oil and flow to the joint shaft outside.Below joint shaft 1 outside, snap ring seat 2, be disposed with sealing shroud 1, stop collar 6, sealing shroud 27, first cone of friction 8 and second cone of friction 9, below the outside, joint shaft 1 bottom, second cone of friction 9, be provided with locating ring 13, effusive hydraulic oil arrives the sealing shroud one and the lower seal cover two on stop collar 6 tops through stop collar 6.Two cone of friction are being installed below sealing shroud 2, and they fit in together, see on the whole, have formed the cylinder of a hollow, and described two cone of friction all have narrow groove along its axis direction, are subjected to can radially shrinking after the axial thrust.Two cone of friction are subjected to being installed on the restriction of the locating ring 13 on the joint shaft along the downward displacement of axis direction.Hydraulic piston places in the joint shaft, when moving upward, the oil circuit internal volume reduces, make hydraulic oil between sealing shroud one and sealing shroud two, produce pressure, promote sealing shroud two and compress first cone of friction 8 and second cone of friction 9, make joint shaft 1 and hydraulic cylinder in circumferential locking, so just realized the locking in joint.
More than each architectural feature can be present in this utility model in any combination way.
When foot to riding boogie board 39 reinforcings, when perhaps giving riding boogie board 39 reinforcings by handle 38, haulage cable 30 moves downward, and steel wire rope 30 connects firmly with piston mandril 18, and piston mandril compresses energy-stored spring 26 downwards, spring 26 shrinks, piston mandril is followed and is moved down, and the piston of hydraulic system is moved vertically downward, and the mechanical arm internal volume increases, interior drops, thus make each joints open of mechanical arm.When foot leaves pedal (or hands disengaging handle), because the resilience of energy-stored spring moves upward piston mandril, the piston of hydraulic system moves vertically upward, compressor mechanical arm cavity volume, and the intrinsic pressure increase of hydraulic system, thus make the joint locking.The locking torque of hydraulic machinery shoulder joint so just is provided, thereby has realized joint of mechanical arm locking and unclamp control.
Hydraulic locking power mechanism of mechanical arm joint for surgery of the present utility model can make the pressure of mechanical arm for surgical inner chamber hydraulic oil reach 8-12Mpa; Its two, after the release, the pressure of mechanical arm inner chamber hydraulic oil is no more than 0.2Mpa, and the mechanical arm operating pressure is 8Mpa, mechanical arm safety relatively in operation process; Its three, the mechanical arm actuating unit makes each joint lock simultaneously and unclamp simultaneously; The 4th, little, the compact conformation of this mechanical arm joint hydraulic locking power mechanism volume; The 5th, use riding boogie board and two kinds of control modes of handle, simple to operation; The 6th, hydraulic locking power mechanism of mechanical arm joint for surgery can separate at any time with mechanical arm, is convenient to install, safeguard and carry; In addition, by some structural parameters of simple modification hydraulic locking power mechanism of mechanical arm joint for surgery, can provide the driving force of different stage.This utility model can be used for designing the various joints retaining mechanism of mechanical arm for surgical, also can be applied to other hydraulic locking apparatus.
Below schematically this utility model embodiment is set forth, this elaboration does not have limitation.Shown in the accompanying drawing also is basic embodiment of the present utility model, and practical structure is not limited thereto.So; if those skilled in the art or research worker are enlightened by it; under the situation that does not break away from this utility model creation aim; adopt other similar topological structure, other similar joint locking driving device; perhaps just change the rod member size; design the version similar without creationary, all should belong to protection domain of the present utility model to this technical scheme.
Claims (10)
1. hydraulic locking power mechanism of mechanical arm joint for surgery, comprise haulage gear (40) and buck mechanism (41), it is characterized in that: also comprise coupling mechanism force generator (42), described haulage gear (40) is arranged at ground, connect firmly by the piston mandril (18) of steel wire (30) with buck mechanism (41), described haulage gear (40) comprises riding boogie board (39), and riding boogie board (39) links with steel wire (30); Described buck mechanism comprises cylindrical shell (10), and the gripper shoe (24) of described cylindrical shell (10) connects firmly with lifting support (23); The axis of the central shaft of described buck mechanism (41) and lifting support (23) is vertical direction; Described coupling mechanism force generator (42) is symmetrical structure with buck mechanism (41) and the two is coaxial, and by peripheral kink nut (14) locking of coupling mechanism force generator (42).
2. hydraulic locking power mechanism of mechanical arm joint for surgery according to claim 1, it is characterized in that: described haulage gear also comprises handle (38), support plate assembly (34) and base plate (35), described steel wire rope (30) passes the opening nut (31) that is arranged at riding boogie board (39) central bottom, and an end and fastening cover (32) connect firmly; Described gripper shoe assembly (34) comprises epipleural and two perpendicular side plate, and gripper shoe assembly (34) connects firmly by screw and base plate (35); Riding boogie board (39) one ends link with the riding boogie board pin (33) that is fixed on the perpendicular side plate of gripper shoe assembly (34); Handle (38) one ends connect with handle support bar (36) is rotatable, and handle support bar (36) is connected by screw with base plate (35), and handle push rod (37) welds mutually with handle (38), and handle push rod (37) freely contacts with riding boogie board (39).
3. hydraulic locking power mechanism of mechanical arm joint for surgery according to claim 2 is characterized in that: described opening nut (31) cooperates for screwed hole with riding boogie board (39).
4. hydraulic locking power mechanism of mechanical arm joint for surgery according to claim 2, it is characterized in that: described steel wire rope (30) outer surface is with steel wire cover (29), is provided with first positioning sleeve (28a) at upper panel place, steel wire rope (30) outer surface near the gripper shoe assembly.
5. hydraulic locking power mechanism of mechanical arm joint for surgery according to claim 4 is characterized in that: described first positioning sleeve (28a) is a sphere with the epipleural contact surface of gripper shoe assembly (34).
6. hydraulic locking power mechanism of mechanical arm joint for surgery according to claim 1 and 2, it is characterized in that: described buck mechanism also comprises spring (26) and spring base (27), described cylindrical shell (10) is opened aperture in the middle of the bottom, spring base (27) is close to cylindrical shell (10) bottom surface, and spring (26) is installed on it; Piston mandril (18) is positioned at spring (26) and goes up the plane, spring (26), spring base (27) and piston mandril (18) are all coaxial with cylindrical shell (10), the boss in cylindrical shell (10) outside is connected with gripper shoe (24), the right side of gripper shoe (24) has the screwed hole with cylindrical shell (10) axis parallel, and lifting support (23) passes this screwed hole and is fixed in the screwed hole; Described lifting support (23) is provided with rotational pin (22).
7. hydraulic locking power mechanism of mechanical arm joint for surgery according to claim 6 is characterized in that: near cylindrical shell (10) bottom second positioning sleeve (28b) is installed at steel wire rope (30) outer surface.
8. hydraulic locking power mechanism of mechanical arm joint for surgery according to claim 6 is characterized in that: the boss in described cylindrical shell (10) outside is connected by screw with gripper shoe (24).
9. hydraulic locking power mechanism of mechanical arm joint for surgery according to claim 6, it is characterized in that: described lifting support upper end is equipped with acorn nut (19) and round nut one (20), round nut two (21) is installed near gripper shoe (24) bottom surface in its lower end, and lifting support (23) and gripper shoe (24) are fixing by round nut one (20) and round nut two (21).
10. according to claim 1-5 or each described hydraulic locking power mechanism of mechanical arm joint for surgery of 7-9, it is characterized in that: described coupling mechanism force generator comprises joint shaft (1), hydraulic cylinder (11), hydraulic cylinder seat (17), hydraulic piston (12), first cone of friction (8), second cone of friction (9) and kink nut (14), described joint shaft (1) is installed in the middle of the hydraulic cylinder (11), middle part in joint shaft (1), by interior snap ring (3), outer snap ring (4) and snap ring seat (2) are axially connecting firmly joint shaft (1) and hydraulic cylinder (11), supporting swivel nut (15) is that screw thread connects firmly with hydraulic cylinder (11) lower end, support swivel nut (15) in the lower end open semicircle shape groove radially, this semi-circular groove cooperates installation with alignment pin (16), described joint shaft (1) is a hollow structure, having two through holes with the axis normal direction of joint shaft (1) is symmetric, in joint shaft (1) outside, the below of snap ring seat (2) is disposed with sealing shroud one (5), stop collar (6), sealing shroud two (7), first cone of friction (8) and second cone of friction (9), in the outside, joint shaft (1) bottom, the below of second cone of friction (9) is provided with locating ring (13), and described first cone of friction (8) and second cone of friction (9) all have narrow groove along its axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202306001U CN201492456U (en) | 2009-08-24 | 2009-08-24 | Hydraulic locking power mechanism of surgical robot-arm joint |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009202306001U CN201492456U (en) | 2009-08-24 | 2009-08-24 | Hydraulic locking power mechanism of surgical robot-arm joint |
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| Publication Number | Publication Date |
|---|---|
| CN201492456U true CN201492456U (en) | 2010-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009202306001U Expired - Lifetime CN201492456U (en) | 2009-08-24 | 2009-08-24 | Hydraulic locking power mechanism of surgical robot-arm joint |
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| CN (1) | CN201492456U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102715955A (en) * | 2012-06-11 | 2012-10-10 | 北京航空航天大学 | Hydraulic and servo-motor hybrid-drive system for medical robot |
| US9610101B2 (en) | 2012-06-11 | 2017-04-04 | Lihai Zhang | Long-bone fracture-reduction robot |
-
2009
- 2009-08-24 CN CN2009202306001U patent/CN201492456U/en not_active Expired - Lifetime
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102715955A (en) * | 2012-06-11 | 2012-10-10 | 北京航空航天大学 | Hydraulic and servo-motor hybrid-drive system for medical robot |
| US9610101B2 (en) | 2012-06-11 | 2017-04-04 | Lihai Zhang | Long-bone fracture-reduction robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20100602 Effective date of abandoning: 20090824 |