CN202313715U - Mechanical arm arrangement structure for minimally-invasive-surgery robot - Google Patents
Mechanical arm arrangement structure for minimally-invasive-surgery robot Download PDFInfo
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- CN202313715U CN202313715U CN2011203296409U CN201120329640U CN202313715U CN 202313715 U CN202313715 U CN 202313715U CN 2011203296409 U CN2011203296409 U CN 2011203296409U CN 201120329640 U CN201120329640 U CN 201120329640U CN 202313715 U CN202313715 U CN 202313715U
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Abstract
A mechanical arm arrangement structure for a minimally-invasive-surgery robot comprises a main operating end part, an accessary operating end part, a passive adjusting arm and an active operating arm combination, wherein the main operating end part and the accessary operating end part are connected front and back into a whole by a stand column, and a slider sliding up and down is arranged on the front end surface of the stand column; the passive adjusting arm comprises a first connecting rod and a second connecting rod; the active operating arm combination comprises an active arm support platform, at least three active arm seats and at least three active operating arms; and the at least three same active operating arms are respectively in rotating connection with the at least three active arm seats. The mechanical arm arrangement structure has the beneficial effects as follows: as a main operating end and an accessary operating end are integrated into a whole, the robot is more convenient to move; as the main operating arms are supported and adjusted, the overall volume of the robot is reduced, and the utilization rate of a space in an operating room is enhanced; and the space in the operating room is saved, and the robot can be moved rapidly without a special operating room.
Description
Technical field
This utility model relates to micro-wound surgical operation armarium technical field, and it assists the doctor to implement the Minimally Invasive Surgery operation, is a kind of micro-wound operation robot mechanical arm arrangements structure.
Background technology
Be that the minimally invasive surgery of representative is described as 20th century medical sciencies to one of significant contribution of human civilization with the peritoneoscope, in the Minimally Invasive Surgery operating process, the doctor utilizes elongated operation tool to be insinuated into the operation that undergos surgery in the body through the miniature incision of human body surface.It is compared with traditional open surgery has advantages such as operative incision is little, amount of bleeding is few, scar after the operation is little, recovery time is fast, and this misery that makes patient suffer significantly reduces; Therefore minimally invasive surgery is widely used in clinical operation.Yet when Minimally Invasive Surgery had brought many interests for patient, but the operation to the doctor had brought a series of difficulties, as: 1) owing to the restriction of body surface aperture, the degree of freedom of instrument is reduced to four, and motility reduces greatly; 2) doctor's direction of operating and desired in the opposite direction, inaccurate coordination; 3) doctor can only obtain surgical scene information, the sensation on the lack of depth direction through the two dimensional image on the monitor; 4) shake of doctor's hand may be amplified by elongated operation tool, and operation is caused harmful effect; 5) lack force feeling.Therefore, the doctor must have been trained for a long time and can carry out the Minimally Invasive Surgery operation, and even so, Minimally Invasive Surgery also only is applied among the relatively simple operation process of operation at present.Therefore, in the Minimally Invasive Surgery field, press for the ability that a kind of robot system is extended the doctor,, the doctor can be operated by easier completion Minimally Invasive Surgery so that overcome above-mentioned shortcoming.At present, the minimally invasive surgical operation robot system that can use clinically has only Da Vinci system and Zeus system, but the shortcoming of aspect such as that they all have is bulky, cost an arm and a leg.All carried out the research of minimally invasive surgical operation robot in the world in succession like the U.S., France, Germany, Britain, Poland, Japan, Korea S and other places; And a series of model machines have been produced; But these model machines are mostly identical with the mechanism that has existed or similar, lack novelty.China still is in the starting stage aspect robotic assisted surgery, the robot system that has existed can only play assist location in operation process, can not be applied to clinical operation.Therefore develop the novel minimally invasive surgical operation robot system that a cover has independent intellectual property right and very important meaning is arranged filling up the blank of China in this field.
The utility model content
The purpose of this utility model provides a kind of micro-wound operation robot mechanical arm arrangements structure, and it can overcome existing commercialization minimally invasive robot system mechanics arm and arrange the shortcoming big, that adjustment is complicated that takes up room.
For realizing above-mentioned purpose, this utility model is taked following two technical schemes:
First technical scheme:
A kind of micro-wound operation robot mechanical arm arrangements structure is characterized in that: it includes main operation end parts (1), part (2), passive adjustment arm (21), active operation arm combination (22) from the operating side;
Described main operation end parts is provided with the slide block (31) that slides up and down with part becomes one through being connected before and after the column (3) from the operating side on the front end face of this column;
Described passive adjustment arm 21 comprises first connecting rod (211), second connecting rod (212); One end of this first connecting rod (211) is installed on the described slide block (31) through first rotary joint (2111) perpendicular to the ground rotatably; One end of second connecting rod (212) links to each other with the other end rotation of first connecting rod (211) through second rotary joint (2112) perpendicular to the ground, and the other end of this second connecting rod (212) is rotatedly connected through the 3rd rotary joint (2113) perpendicular to the ground master arm brace table (220) with active operation arm combination (22);
Described first rotary joint (2111), second rotary joint (2112), the 3rd rotary joint (2113) inside all are equipped with band-type brake;
Described active operation arm combination (22) comprises master arm brace table (220), at least three initiatively arm seat (221), at least three active operation arms (222); These at least three active arm seats (221) are installed on the master arm brace table (220) through at least three the 4th rotary joint (2114) uniform distribution perpendicular to the ground and rotation respectively, and these at least three identical master arms (222) are rotatably connected with at least three active arm seats (221) respectively;
Described the 3rd rotary joint (2113) is located at master arm brace table (220) one middle side parts, and described the 4th rotary joint (2114) is located at master arm brace table (220) opposite side.
Above-mentioned at least three active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and are positioned at intermediary active operation arm clamping endoscope (224).
In the embodiment of this utility model, described active operation arm combination (22) comprises four initiatively arm seat (221), four active operation arms (222); These four active arm seats (221) are installed on the master arm brace table (220) through four the 4th rotary joint (2114) uniform distribution perpendicular to the ground and rotation respectively, and these four identical master arms (222) are rotatably connected with four active arm seats (221) respectively.
Above-mentioned four active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and are positioned at an intermediary active operation arm clamping endoscope (224).
In the embodiment of this utility model, described active operation arm combination (22) comprises five initiatively arm seat (221), five active operation arms (222); These five active arm seats (221) are installed on the master arm brace table (220) through five the 4th rotary joint uniform distribution perpendicular to the ground and rotation respectively, and these five identical master arms (222) are rotatably connected with five active arm seats (221) respectively.
Above-mentioned five active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and are positioned at an intermediary active operation arm clamping endoscope (224).
Second technical scheme:
A kind of micro-wound operation robot mechanical arm arrangements structure is characterized in that: it includes main operation end parts (1), part (2), passive adjustment arm (21), active operation arm combination (22) from the operating side;
Described main operation end parts is provided with the slide block (31) that slides up and down with part becomes one through being connected before and after the column (3) from the operating side on the front end face of this column;
Described passive adjustment arm (21) includes first connecting rod (211); One end of this first connecting rod (211) is installed on the described slide block (31) through first rotary joint (2111) perpendicular to the ground rotatably, and the other end of this first connecting rod (211) is rotatedly connected through the 3rd rotary joint (2113) perpendicular to the ground master arm brace table (220) with active operation arm combination (22);
Described first rotary joint (2111), the 3rd rotary joint (2113) inside all are equipped with band-type brake;
Described active operation arm combination (22) comprises master arm brace table (220), at least three initiatively arm seat (221), at least three active operation arms (222); These at least three active arm seats (221) are installed on the master arm brace table (220) through at least three the 4th rotary joint (2114) uniform distribution perpendicular to the ground and rotation respectively, and these at least three identical master arms (222) are rotatably connected with at least three active arm seats (221) respectively;
Described the 3rd rotary joint (2113) is located at master arm brace table (220) one middle side parts, and described the 4th rotary joint (2114) is located at master arm brace table (220) opposite side.
Described at least three active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and are positioned at intermediary active operation arm clamping endoscope (224).
In this utility model embodiment, described active operation arm combination (22) comprises four initiatively arm seat (221), four active operation arms (222); These four active arm seats (221) are installed on the master arm brace table (220) through four the 4th rotary joint (2114) uniform distribution perpendicular to the ground and rotation respectively, and these four identical master arms (222) are rotatably connected with four active arm seats (221) respectively; Described four active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and are positioned at an intermediary active operation arm clamping endoscope (224).
In this utility model embodiment, described active operation arm combination (22) comprises five initiatively arm seat (221), five active operation arms (222); These five active arm seats (221) are installed on the master arm brace table (220) through five the 4th rotary joint uniform distribution perpendicular to the ground and rotation respectively, and these five identical master arms (222) are rotatably connected with five active arm seats (221) respectively; Described five active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and are positioned at an intermediary active operation arm clamping endoscope (224).
The difference of above-mentioned second technical scheme and first technical scheme is that first connecting rod (211) is only arranged, and does not have second connecting rod (212).So further simplified structure reduces usage space, to satisfy instructions for use.
This utility model compared with prior art has following beneficial effect:
This utility model with the main operation end of robot with become one from the operating side, robot shifted become convenient, and reduced the quantity of machinery, electric interfaces;
2. this utility model is realized support and adjustment to a plurality of active operation arms by single column, single passive mechanical arm, has reduced the overall volume of robot, has improved utilization of space in the operating room;
3. this utility model is compared with the existing scheme that mechanical arm is fixed on operating room ceiling or the operation table, has not only saved the space of operating room, but has also had the advantage of fast moving, does not need special operating room.
Description of drawings
Fig. 1 is the main assembly sketch map of this utility model;
Fig. 2 is the schematic top plan view of this utility model;
Fig. 3 is the composition sketch map of this utility model main operation end;
Fig. 4 is the composition sketch map of the active operation arm combination of this utility model;
Fig. 5-the 1st, sketch map when this utility model active operation arm is combined as four active operation arms;
Fig. 5-the 2nd, sketch map when this utility model active operation arm is combined as five active operation arms;
Fig. 5-the 3rd, the sketch map of the passive adjustment arm of second kind of technical scheme of this utility model;
The occupation mode sketch map of this utility model when robot was positioned over patient's one side when Fig. 6 was operation;
Fig. 7 is the occupation mode sketch map of this utility model when when operation, robot was positioned over patient's side;
Drawing reference numeral wherein:
1-main operation end parts; 2-is part from the operating side; The 3-column; 4-doctor; Patient 5-;
The 10-monitor; The 11-main manipulator; The 12-arm support; The 13-foot switch; The 14-control chamber;
The 15-master operating station;
The passive adjustment arm of 21-; The combination of 22-active operation arm; The 211-first connecting rod; The 212-second connecting rod;
220-master arm brace table; 221-is arm seat initiatively; 222-active operation arm; The 223-operation tool;
224-endoscope;
2111-first rotary joint; 2112-second rotary joint; 2113-the 3rd rotary joint;
2114-the 4th rotary joint;
The 31-slide block;
The specific embodiment
Below in conjunction with the specific embodiment micro-wound operation robot mechanical arm arrangements mode of this utility model is made detailed description.
Fig. 1, Fig. 2 are the general illustration of the novel minimally invasive robot mechanical arm arrangements of this utility model mode.By column 3, be installed on the said column 3 main operation end parts 1 and from the operating side part 2 form.
The composition signal of main operation end parts 1 is as shown in Figure 3; It provides the operation technique platform for the doctor; Main operation end parts 1 comprises the master operating station 15 that is fixedly installed in column 3 back sides, is installed on the monitor 10 of master operating station 15 tops and is installed on master operating station 15 forward two cover main manipulators 11.Operative doctor can be operated main manipulator 11 according to the inner surgical scene information of patient body that described monitor 10 is provided, and realizes the control to the part 2 from the operating side.Described main manipulator 11 can adopt the granted patent (patent No.: 200910305576.8 or the patent No.: structure 200810154364.X).On master operating station 15, also be designed with arm support 12, in the operation, when the doctor operates main manipulator 11, forearm placed on the described arm support 12, can effectively reduce fatigue that operation causes.In addition, also be provided with a plurality of foot switchs 13, can be used to robot is carried out different setting (as starting, stop etc.) in the bottom of master operating station 15.
The signal of the composition of part 2 is like Fig. 2, shown in Figure 4 from the operating side.Comprise through leading screw-guide rail structure from operating side part 2 being installed on the slide block 31 on the column 3, slide block 31 can move up and down on column 3 along described leading screw-guide rail structure under motor-driven.One end of first connecting rod 211 is installed on the described slide block 31 through first rotary joint 2111 perpendicular to the ground rotatably; One end of second connecting rod 212 links to each other with the other end rotation of first connecting rod 211 through second rotary joint 2112 perpendicular to the ground, and the other end of second connecting rod 212 is rotatedly connected through the 3rd rotary joint 2113 perpendicular to the ground and active operation arm combination 22.Described slide block 31, first connecting rod 211, second connecting rod 212 and first rotary joint 2111, second rotary joint 2112, the 3rd rotary joint 2113 have constituted the passive adjustment arm 21 of this utility model.Described first rotary joint 2111, second rotary joint 2112, the 3rd rotary joint 2113 inside all are equipped with band-type brake, make two parts that constitute rotary joint when no dynamic excitation, can not relatively rotate; When the doctor need adjust passive adjustment arm 21, it was electric each band-type brake to be got through dynamic excitation, and then can relatively rotate between each rotary joint, realized the manual adjustment to passive adjustment arm 21.The pose that act as before operation active operation arm combination 22 of passive adjustment arm 21 carries out rapid adjustment, and each joint is locked in the operation process, does not participate in operation technique.The passive adjustment arm 21 of this utility model only is made up of a mechanical arm; Different with the scheme of a plurality of mechanical arms of employing in the existing technology; Can reduce the volume of robot to a great extent, and can improve the efficient of adjusting before the art, and then practice thrift the overall time of operation.
Active operation arm combination 22; Comprise master arm brace table 220; Three active arm seats 221 are installed on the master arm brace table 220 through three the 4th rotary joint 2114 uniform distribution perpendicular to the ground and rotation respectively, and the structure of this rotary joint 2114 is consistent with the same described rotary joint of effect, manual adjustment in being used for carrying out among a small circle to three active operation arms 222; When preventing operation process, active behaviour organizes arm 222 and interferes at the volley.Do to be separately installed with three identical active operation arms 222 on 221 operation but the active operation arm clamping operation tool 223 that wherein is positioned at both sides undergos surgery at three master arms; Be used for clamping endoscope 224 and be positioned at intermediary active operation arm, to obtain the intravital surgical scene information of patient, this information can offer the doctor through described monitor 10.Active operation arm 222 and operation tool 223 are parts of actual participation operation technique; The doctor operates main manipulator 11 according to the intravital scene information of patient that monitor 11 is provided; The control system of this operation in being installed on control chamber 14 is converted into the signal of telecommunication; And then control active operation arm 222 and operation tool 223 each IA motor movement, realize the desired operation technique of doctor.Active operation arm 222 can adopt granted patent, and (patent No.: structure 200810152765.1), operation tool 223 can adopt the granted patent (patent No.: structure 200710056701.7); The detailed structure of said control system is formed and is realized that principle does not belong to the category of this utility model.
According to the different surgery type, the active operation arm of this utility model arrangement combination 22 can have multiple design form, and Fig. 5-1 shows by four active operation arms 222 and is integrated in the same master arm brace table embodiment in 220 last times; Fig. 5-2 shows by five active operation arms 222 and is integrated in the same master arm brace table embodiment in 220 last times.Certainly, according to the actual operation demand, active operation arm 222 other multiple arrangement can also be arranged.Equally, passive adjustment arm 21 also has multiple design form, and Fig. 5-3 shows the situation that passive adjustment arm only has a first connecting rod to constitute.
Fig. 6, Fig. 7 show the practical application sketch map that utilizes this utility model to carry out auxiliary Minimally Invasive Surgery operation.Operative doctor 4 is sitting in main operation end parts 1 place described main manipulator 11 is operated, and the active operation arm 222 of control part 2 from the operating side and operation tool 223 motions are realized the operative treatment to patient 5.Situation when Fig. 6 is arranged in patient's one side for robot, and the situation that Fig. 7 shows robot when being arranged in patient's side.Can find out, utilize the arrangement of this utility model, can significantly reduce robot and take the space in the operating room, can improve utilization of space in the operating room, this also is the sharpest edges of this utility model with respect to prior art.
More than this utility model and embodiment thereof are described, this description does not have restricted, also one of the embodiment of this utility model just shown in the accompanying drawing, practical structure is not limited thereto.So; If those skilled in the art is enlightened by it; Under the situation that does not break away from this utility model creation aim; The transmission, driving device and the connected mode that adopt other form all should belong to the protection domain of this utility model without creationary design frame mode and the embodiment similar with the technical scheme of this utility model.
Claims (2)
1. micro-wound operation robot mechanical arm arrangements structure is characterized in that: it includes main operation end parts (1), part (2), passive adjustment arm (21), active operation arm combination (22) from the operating side;
Described main operation end parts is provided with the slide block (31) that slides up and down with part becomes one through being connected before and after the column (3) from the operating side on the front end face of this column;
Described passive adjustment arm 21 comprises first connecting rod (211), second connecting rod (212); One end of this first connecting rod (211) is installed on the described slide block (31) through first rotary joint (2111) perpendicular to the ground rotatably; One end of second connecting rod (212) links to each other with the other end rotation of first connecting rod (211) through second rotary joint (2112) perpendicular to the ground, and the other end of this second connecting rod (212) is rotatedly connected through the 3rd rotary joint (2113) perpendicular to the ground master arm brace table (220) with active operation arm combination (22);
Described first rotary joint (2111), second rotary joint (2112), the 3rd rotary joint (2113) inside all are equipped with band-type brake;
Described active operation arm combination (22) comprises master arm brace table (220), at least three initiatively arm seat (221), at least three active operation arms (222); These at least three active arm seats (221) are installed on the master arm brace table (220) through at least three the 4th rotary joint (2114) uniform distribution perpendicular to the ground and rotation respectively, and these at least three identical master arms (222) are rotatably connected with at least three active arm seats (221) respectively;
Described the 3rd rotary joint (2113) is located at master arm brace table (220) one middle side parts, and described the 4th rotary joint (2114) is located at master arm brace table (220) opposite side.
2. micro-wound operation robot mechanical arm arrangements structure according to claim 1; It is characterized in that: described at least three active operation arms (222); Wherein, Be positioned at active operation arm (222) the clamping operation tool (223) of both sides, and be positioned at intermediary active operation arm clamping endoscope (224).
3. micro-wound operation robot mechanical arm arrangements structure according to claim 1 is characterized in that: described active operation arm combination (22) comprises four initiatively arm seat (221), four active operation arms (222); These four active arm seats (221) are installed on the master arm brace table (220) through four the 4th rotary joint (2114) uniform distribution perpendicular to the ground and rotation respectively, and these four identical master arms (222) are rotatably connected with four active arm seats (221) respectively.
4. micro-wound operation robot mechanical arm arrangements structure according to claim 3; It is characterized in that: described four active operation arms (222); Wherein, Be positioned at active operation arm (222) the clamping operation tool (223) of both sides, and be positioned at an intermediary active operation arm clamping endoscope (224).
5. micro-wound operation robot mechanical arm arrangements structure according to claim 1 is characterized in that: described active operation arm combination (22) comprises five initiatively arm seat (221), five active operation arms (222); These five active arm seats (221) are installed on the master arm brace table (220) through five the 4th rotary joint uniform distribution perpendicular to the ground and rotation respectively, and these five identical master arms (222) are rotatably connected with five active arm seats (221) respectively.
6. micro-wound operation robot mechanical arm arrangements structure according to claim 5; It is characterized in that: described five active operation arms (222); Wherein, Be positioned at active operation arm (222) the clamping operation tool (223) of both sides, and be positioned at an intermediary active operation arm clamping endoscope (224).
7. micro-wound operation robot mechanical arm arrangements structure is characterized in that: it includes main operation end parts (1), part (2), passive adjustment arm (21), active operation arm combination (22) from the operating side;
Described main operation end parts is provided with the slide block (31) that slides up and down with part becomes one through being connected before and after the column (3) from the operating side on the front end face of this column;
Described passive adjustment arm (21) includes first connecting rod (211); One end of this first connecting rod (211) is installed on the described slide block (31) through first rotary joint (2111) perpendicular to the ground rotatably, and the other end of this first connecting rod (211) is rotatedly connected through the 3rd rotary joint (2113) perpendicular to the ground master arm brace table (220) with active operation arm combination (22);
Described first rotary joint (2111), the 3rd rotary joint (2113) inside all are equipped with band-type brake;
Described active operation arm combination (22) comprises master arm brace table (220), at least three initiatively arm seat (221), at least three active operation arms (222); These at least three active arm seats (221) are installed on the master arm brace table (220) through at least three the 4th rotary joint (2114) uniform distribution perpendicular to the ground and rotation respectively, and these at least three identical master arms (222) are rotatably connected with at least three active arm seats (221) respectively;
Described the 3rd rotary joint (2113) is located at master arm brace table (220) one middle side parts, and described the 4th rotary joint (2114) is located at master arm brace table (220) opposite side.
8. micro-wound operation robot mechanical arm arrangements structure according to claim 7; It is characterized in that: described at least three active operation arms (222); Wherein, Be positioned at active operation arm (222) the clamping operation tool (223) of both sides, and be positioned at intermediary active operation arm clamping endoscope (224).
9. micro-wound operation robot mechanical arm arrangements structure according to claim 7 is characterized in that: described active operation arm combination (22) comprises four initiatively arm seat (221), four active operation arms (222); These four active arm seats (221) are installed on the master arm brace table (220) through four the 4th rotary joint (2114) uniform distribution perpendicular to the ground and rotation respectively, and these four identical master arms (222) are rotatably connected with four active arm seats (221) respectively; Described four active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and are positioned at an intermediary active operation arm clamping endoscope (224).
10. micro-wound operation robot mechanical arm arrangements structure according to claim 7 is characterized in that: described active operation arm combination (22) comprises five initiatively arm seat (221), five active operation arms (222); These five active arm seats (221) are installed on the master arm brace table (220) through five the 4th rotary joint uniform distribution perpendicular to the ground and rotation respectively, and these five identical master arms (222) are rotatably connected with five active arm seats (221) respectively; Described five active operation arms (222) wherein, are positioned at active operation arm (222) the clamping operation tool (223) of both sides, and are positioned at an intermediary active operation arm clamping endoscope (224).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN2011203296409U CN202313715U (en) | 2011-09-05 | 2011-09-05 | Mechanical arm arrangement structure for minimally-invasive-surgery robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203296409U CN202313715U (en) | 2011-09-05 | 2011-09-05 | Mechanical arm arrangement structure for minimally-invasive-surgery robot |
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| CN202313715U true CN202313715U (en) | 2012-07-11 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| CN103876834A (en) * | 2012-12-19 | 2014-06-25 | 燕山大学 | Positioning mechanical arm |
| CN105147393A (en) * | 2015-08-19 | 2015-12-16 | 哈尔滨工业大学 | Minimally invasive robot mirror-holding mechanical arm |
| CN107397590A (en) * | 2017-07-21 | 2017-11-28 | 中国人民解放军第二军医大学第二附属医院 | A kind of mechanical arm for spinal operation |
| CN108366838A (en) * | 2015-10-16 | 2018-08-03 | 医疗显微器具股份公司 | Robotic surgery component |
| CN109091238A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | Split type Minimally Invasive Surgery instrument auxiliary system |
| WO2019024794A1 (en) * | 2017-07-31 | 2019-02-07 | 成都博恩思医学机器人有限公司 | Surgical robot |
| CN110772322A (en) * | 2019-09-16 | 2020-02-11 | 北京明宣生物技术有限公司 | Robot active bracket for assisting minimally invasive surgery |
| CN112353361A (en) * | 2020-09-21 | 2021-02-12 | 南京速锋医疗科技有限公司 | 3D (three-dimensional) pleuroperitoneal cavity mirror system based on master-slave integrated intelligent mirror holding robot |
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2011
- 2011-09-05 CN CN2011203296409U patent/CN202313715U/en not_active Expired - Lifetime
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102973317A (en) * | 2011-09-05 | 2013-03-20 | 周宁新 | Arrangement structure for mechanical arm of minimally invasive surgery robot |
| CN103876834A (en) * | 2012-12-19 | 2014-06-25 | 燕山大学 | Positioning mechanical arm |
| CN103876834B (en) * | 2012-12-19 | 2015-11-18 | 燕山大学 | Localization machine mechanical arm |
| CN105147393A (en) * | 2015-08-19 | 2015-12-16 | 哈尔滨工业大学 | Minimally invasive robot mirror-holding mechanical arm |
| CN105147393B (en) * | 2015-08-19 | 2017-06-20 | 哈尔滨工业大学 | A kind of minimally invasive robot holds mirror mechanical arm |
| CN108366838A (en) * | 2015-10-16 | 2018-08-03 | 医疗显微器具股份公司 | Robotic surgery component |
| CN108366838B (en) * | 2015-10-16 | 2021-06-11 | 医疗显微器具股份公司 | Robotic surgical assembly |
| CN109091238A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | Split type Minimally Invasive Surgery instrument auxiliary system |
| CN109091237A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | Minimally Invasive Surgery instrument auxiliary system |
| CN109091238B (en) * | 2017-06-21 | 2020-07-07 | 山东威高手术机器人有限公司 | Split type minimally invasive surgical instrument auxiliary system |
| CN109091237B (en) * | 2017-06-21 | 2020-08-04 | 山东威高手术机器人有限公司 | Minimally invasive surgical instrument auxiliary system |
| CN107397590A (en) * | 2017-07-21 | 2017-11-28 | 中国人民解放军第二军医大学第二附属医院 | A kind of mechanical arm for spinal operation |
| WO2019024794A1 (en) * | 2017-07-31 | 2019-02-07 | 成都博恩思医学机器人有限公司 | Surgical robot |
| CN110772322A (en) * | 2019-09-16 | 2020-02-11 | 北京明宣生物技术有限公司 | Robot active bracket for assisting minimally invasive surgery |
| CN112353361A (en) * | 2020-09-21 | 2021-02-12 | 南京速锋医疗科技有限公司 | 3D (three-dimensional) pleuroperitoneal cavity mirror system based on master-slave integrated intelligent mirror holding robot |
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