CN203468741U - Flexible cystoscope operation auxiliary manipulator - Google Patents
Flexible cystoscope operation auxiliary manipulator Download PDFInfo
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- CN203468741U CN203468741U CN201320482576.7U CN201320482576U CN203468741U CN 203468741 U CN203468741 U CN 203468741U CN 201320482576 U CN201320482576 U CN 201320482576U CN 203468741 U CN203468741 U CN 203468741U
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Abstract
The utility model discloses a flexible cystoscope operation auxiliary manipulator which comprises a base, a vertical up-and-down mechanical arm, a horizontal left-and-right mechanical arm, a front-and-back telescopic mechanical arm, a flexible cystoscope clamping device, an up-and-down dimension drive motor, a left-and-right dimension drive motor, a front-and-back dimension drive motor, a rotary shaft dimension drive motor and a flexible cystoscope drive plate dimension drive motor. The flexible cystoscope operation auxiliary manipulator solves the problems that in the prior art, precise and multidirectional manipulation of a flexible device can not be achieved, complex operation situations can not be handled, the matching effect of an existing manipulator and the flexible device is poor and hands of doctors vibrate in operations, and has the advantages of being simple in structure, low in manufacturing cost, suitable for flexible cystoscope operations, capable of handling the complex operation situations and achieving five-dimensional moving of flexible cystoscope, good in use effect and the like.
Description
Technical field
This utility model relates to medical device technology, is a kind of for soft lens operation auxiliary manipulator specifically.
Background technology
Along with soft lens technological progress, the operation of ureter soft lens becomes the main operation of intracavity Urology Surgery gradually, compare with traditional ureterscopy, ureter soft lens has the bendable mirror body of high suppleness, bending freely, dexterous convenient, can enter into urinary bladder channel ureteric orifice to the through renal pelvis of ureter and each renal calices from human body natural's passage urethra.Owing to having perfusion and service aisle, ureter soft lens can be processed kidney aggregation system various diseases, as calculus, and tumor.Not only comparatively safe, and therapeutic effect is remarkable, with respect to underwent percutaneous renal-scope treatment method, have safer, damage little, recover the advantage such as fast.In the tumor of renal pelvis of diagnosing and treatment is difficult to make a definite diagnosis, renal calculus, proximal ureteral calculus, there is the advantage that other equipment are incomparable and replace.Specific as follows:
1) check non-blind area: this is also the most outstanding advantage of soft lens.Because mirror body is soft, and mirror body head end can upwards be bent downwardly very wide-angle, accomplishes not fail to pinpoint a disease in diagnosis, and can see the blind area that hard mirror be can't see.
2) damage little: due to mirror body soft (similar to catheter), caliber thin (<6Fr), under anesthesia, direct-view is gently inserted and substantially can not caused damage to urethra, bladder, ureter etc.With respect to hard mirror, soft lens is more easily accepted by patient.
3) visual field is relatively clear: soft lens damage is little, can reduce to greatest extent damaging hematuria to the impact of observing, thereby guarantees to get a clear view.In addition, soft lens belongs to electronic digital imaging, has high image resolution ratio, can the more early stage and small pathological changes of clear discovery, and disease is effectively treated in early days, improved patient's curative effect.Soft lens can also reach computer by digitized image by image capturing system, and even online realizes synchronous remote medical consultation with specialists.
4) to position require low: patient can check in calculi position, dorsal position and lateral position, is particularly suitable for putting the patient (as lower limb malformation, serious arthritis and hemiplegic patient etc.) of calculi position and internal organs clinostatism.
5) can check urethra, bladder simultaneously, ureter, renal pelvis and the whole urinary tract system of each renal calices: and hard mirror is to accomplish.
But when doing the operation of ureter soft lens, for safety is entered mirror, find renal calices mouth, when particularly row kidney stone is performed the operation, need to rely on X-ray to irradiate location, it is larger that surgical doctor is subject to radiation amount, for this reason, how to reduce the radiation that doctor is subject to, realize soft lens accurately, stable position, avoid that doctor's prolonged operations is tired and to cause hand tremor moving be instant problem.
In recent years, many in the invention of medical robot and mechanical hand and application both at home and abroad, comparative maturity have Leonardo da Vinci (DaVinci) system, Zeus system, Aesop (AESOP) 3000 medical surgery operating robots etc.
Leonardo da Vinci (DaVinci) system is mainly by doctor's control station (Surgeon Console); The other mechanical arm tower (Patient Cart) of bed and a high-precision 3D HD visual system (Vision Cart) that four mutual arms of 7 degree of freedom are housed forms.By means of high technology equipments such as high definition three-dimensional imaging, the control of multi-joint arm automatization and the transmission of optical cable signal, make it possess the advantages such as three-dimensional high definition visual area, arm non-jitter, camera lens are fixed, range of activity is wide, apparatus degree of excursion is large, and changed patient and stood in the other traditional mode operating of operating-table, before being sitting in control station by operator doctor, complete whole process of operation, meet base of principle of human engineering, be more suitable in long-time complicated operation.This system is widely used in department of general surgery, Urology Surgery, gynecological laparoscopic operation.
ZEUS robotic surgical system is made by Computer Motion company, in Europe, can use, ZEUS system and Leonardesque device are similar, and it has a computer workstation, video display units, joystick (for the surgical unit of installing on mobile operating-table).ZEUS system is only approved for medical treatment test in the U.S. at present, and German doctor has been used this system to carry out coronary heart disease bypass surgery.
Aesop (AESOP) 3000 robot systems are by Computer Motion company in issue in 1994, and AESOP is that the First that FDA approval is used can be for the robot of operating room assisting operation.AESOP is more simply too much than Leonardo da Vinci system and ZEUS system, and AESOP is a mechanical arm substantially, for doctor, locates endoscope---the surgery photographing unit in a kind of patient body of insertion.Pedal or sound software is for doctor's position cameras, and this proceeds operation with regard to allowing doctor's hands be available.AESOP provides several endoscopies control form, comprises that voice are controlled, manually location and manually control.
In prior art, there is following technical problem:
(1), existing mechanical hand is generally used for rigid apparatus and controls, and controlling flexible instrument, as soft lens aspect exists certain limitation;
(2), the motion mode of existing machinery hands and method of clamping easily cause the damage of flexible instrument;
(3), existing mechanical hand cannot be realized accurately multi-faceted controlling of flexible instrument;
(4) if, operation manual operation, doctor's hands has shake.
Utility model content
The purpose of this utility model is to overcome the deficiency that above prior art exists, and a kind of simple in structure, low cost is provided, is applicable to soft lens operation, can tackle complicated surgery situation, soft lens realizes that five maintenance and operations are moved and result of use is good for the soft lens auxiliary manipulator of performing the operation.
In order to achieve the above object, this utility model is by the following technical solutions: a kind of for soft lens operation auxiliary manipulator, and comprise base, vertically upper and lower mechanical arm, level left and right mechanical arm, elastic mechanical arm, soft lens clamper, tie up drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors up and down, wherein, vertically upper and lower mechanical arm is provided with the first leading screw and the first feed screw nut, the first feed screw nut is connected with the first slide block, tie up up and down drive motors and drive the first leading screw rotation, drive the first slide block to slide, in the mechanical arm of level left and right, be provided with the second leading screw and the second feed screw nut, the second feed screw nut is connected with the second slide block, left and right dimension drive motors drives the second leading screw to drive the second slide block to slide, the first slide block of vertically upper and lower mechanical arm is connected with the second slide block of vertically upper and lower mechanical arm, elastic mechanical arm is provided with the 3rd leading screw and the 3rd feed screw nut, the 3rd feed screw nut is connected with the 3rd slide block, front and back dimension drive motors drives the 3rd leading screw to drive the 3rd slide block to slide, the 3rd slide block of elastic mechanical arm is connected with vertically upper and lower mechanical arm one end, the affixed rotating shaft dimension of elastic mechanical arm one end surfaces drive motors, rotating shaft dimension drive motors and soft lens slewing equipment one end are rotationally connected, the soft lens slewing equipment other end connects soft lens clamper, soft lens clamper is connected with soft lens driver plate dimension drive motors, tie up up and down drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors are connected with controller respectively.
Preferably, described soft lens slewing equipment is " L " shape turning cylinder.
Preferably, described drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and the soft lens driver plate dimension drive motors tieed up is up and down motor or servomotor.
Preferably, described soft lens clamper comprises soft lens clamper body, soft lens clamping movable block, soft lens driver plate fixed card, the first adjustment screw and the second adjustment screw; Wherein, soft lens driver plate dimension drive motors passes soft lens clamper body and is fixed on soft lens clamper body, axle and the soft lens driver plate fixed card of soft lens driver plate dimension drive motors are rotationally connected, and soft lens clamping movable block is provided with the first adjustment screw, and soft lens driver plate fixed card is provided with the second adjustment screw.
For the ease of mobile and fixing operation, described base is travelling carriage, travelling carriage inside is provided with some installation positions, on travelling carriage side plate, offer cable through hole, travelling carriage bottom is provided with 1 above brake block caster, travelling carriage bottom is equipped with jack device or height adjustable fixed feet, in operation process, castor is risen, and guarantees that travelling carriage fixes.
An implementation method for soft lens operation auxiliary manipulator, comprises the following steps:
(1), when mechanical hand need to be done while vertically moving up and down, controller is controlled and is tieed up up and down drive motors, tie up up and down drive motors and drive the first leading screw rotation on vertically upper and lower mechanical arm, the first leading screw drives the first slide block to slide, and the motion of the first slide block is made vertically soft lens clamper to move up and down;
(2), when mechanical hand need to be done horizontal side-to-side movement, controller is controlled left and right dimension drive motors, left and right dimension drive motors drives the second leading screw rotation on the mechanical arm of level left and right, and the second leading screw drives the second slide block to slide, and the motion of the second slide block makes soft lens clamper do horizontal side-to-side movement;
(3), when mechanical hand need to be done elastic motion, controller is tieed up drive motors before and after controlling, front and back dimension drive motors drives the 3rd leading screw rotation on elastic mechanical arm, and the 3rd leading screw drives the 3rd slide block to slide, and the motion of the 3rd slide block makes soft lens clamper do elastic motion;
(4), when mechanical hand need to be done rotating shaft campaign, controller is controlled rotating shaft dimension drive motors, rotating shaft dimension drive motors drives the rotation of soft lens slewing equipment, thereby makes soft lens clamper do rotating shaft campaign;
(5), when mechanical hand, need to do driver plate when motion, controller is controlled soft lens driver plate dimension drive motors, and soft lens driver plate dimension drive motors drives the rotation of soft lens driver plate fixed card, thereby makes soft lens clamper do driver plate motion.
When carry out simultaneously described step (4) and (5), soft lens clamper drives soft lens to do soft lens front and back and bends motion.
Controller in described step (1)～(5) is the control operation platform of tape input equipment.
This utility model, with respect to prior art, has following advantage and effect:
1, this utility model adopted comprise base, vertically upper and lower mechanical arm, level left and right mechanical arm, elastic mechanical arm, soft lens clamper, tie up drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors up and down, there is simple in structure, low cost, be applicable to soft lens operation, can tackle complicated surgery situation, soft lens realizes that five maintenance and operations are moved and the feature such as result of use is good.
2, this utility model can pass through soft lens slewing equipment, soft lens driver plate fixed card, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors, realizes the control in the wrong of soft lens front and back, to tackle complicated surgery situation.
4, the drive motors of dimension up and down in this utility model, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors, first set each motor position corner accuracy, then by the continuous small control of each motor of signal controlling.
5, this utility model replaces doctor's artificial hand operation, and mechanical hand stability is high, prevents shake, avoids dangerous, has improved successful surgery probability.
6, this utility model, by controlling each electric machine rotation, moves thereby realize five maintenance and operations, and flexibly, without operation dead angle, result of use is good in motion.
Accompanying drawing explanation
Fig. 1 is a kind of overall structure schematic diagram for soft lens operation auxiliary manipulator;
Fig. 2 is vertically upper and lower mechanical arm, level left and right mechanical arm, elastic mechanical arm place structural representation in this utility model;
Fig. 3 is the syndeton schematic diagram of elastic mechanical arm and soft lens clamper in this utility model;
Fig. 4 is the syndeton schematic diagram of soft lens clamper and soft lens in this utility model;
Fig. 5 is the structural representation of soft lens clamper in this utility model.
Number in the figure and title are as follows:
| 1 | |
2 | Vertically upper and lower mechanical arm |
| 3 | Level left and right |
4 | Elastic |
| 5 | |
6 | Tie up up and down drive motors |
| 7 | Left and right |
8 | Front and back |
| 9 | Rotating shaft |
10 | Soft lens driver plate |
| 11 | The first leading |
12 | The first |
| 13 | The |
14 | The second leading |
| 15 | The second |
16 | The |
| 17 | The 3rd leading |
18 | The 3rd |
| 19 | The |
20 | Soft |
| 21 | Soft |
22 | Soft lens clamping |
| 23 | Soft lens driver plate |
24 | First adjusts |
| 25 | Second adjusts screw | 26 | Caster |
| 27 | Soft lens | ? | ? |
The specific embodiment
For ease of it will be appreciated by those skilled in the art that the utility model is described in further detail below in conjunction with drawings and Examples.
Embodiment 1:
As shown in Fig. 1～5, for a soft lens operation auxiliary manipulator, comprise base 1, vertically upper and lower mechanical arm 2, level left and right mechanical arm 3, elastic mechanical arm 4, soft lens clamper 5, tie up drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 up and down, wherein, as shown in Figure 2, vertically upper and lower mechanical arm 2 is provided with the first leading screw 11 and the first feed screw nut 12, the first feed screw nut 12 is connected with the first slide block 13, tie up up and down drive motors 6 and drive the first leading screw 11 rotations, drive the first slide block 13 to slide, in level left and right mechanical arm 3, be provided with the second leading screw 14 and the second feed screw nut 15, the second feed screw nut 15 is connected with the second slide block 16, left and right dimension drive motors 7 drives the second leading screw 14 to drive the second slide block 16 to slide, the first slide block 13 is connected with the second slide block 16, elastic mechanical arm 4 is provided with the 3rd leading screw 17 and the 3rd feed screw nut 18, the 3rd feed screw nut 18 is connected with the 3rd slide block 19, front and back dimension drive motors 8 drives the 3rd leading screws 17 to drive the 3rd slide blocks 18 to slide, the 3rd slide block 18 is connected with vertically upper and lower mechanical arm 2 one end, the affixed rotating shaft dimension of elastic mechanical arm 4 one end surfaces drive motors 9, rotating shaft dimension drive motors 9 is rotationally connected with soft lens slewing equipment 20 one end, soft lens slewing equipment 20 other ends connect soft lens clamper 5, soft lens clamper 5 is connected with soft lens driver plate dimension drive motors 10, tie up up and down drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 are connected with controller respectively, vertically upper and lower mechanical arm 2, level left and right mechanical arm 3, elastic mechanical arm 4 can any connected mode form rectangular coordinate system motion.
Soft lens slewing equipment 20 in the present embodiment is " L " shape turning cylinder, tie up up and down drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 and be motor, controller is the control operation platform of tape input equipment.
As shown in Figure 4,5, soft lens clamper 5 comprises soft lens clamper body 21, soft lens clamping movable block 22, soft lens driver plate fixed card 23, the first adjustment screw 24 and the second adjustment screw 25; Wherein, soft lens driver plate dimension drive motors 10 passes soft lens clamper body 5 and is fixed on soft lens clamper body 5, axle and the soft lens driver plate fixed card 23 of soft lens driver plate dimension drive motors 10 are rotationally connected, soft lens clamping movable block 22 is provided with the first adjustment screw 24, and soft lens driver plate fixed card 23 is provided with the second adjustment screw 25.
Base 1 in the present embodiment is travelling carriage, travelling carriage inside is provided with some installation positions, on travelling carriage side plate, offer cable through hole, travelling carriage bottom is provided with 1 above brake block caster 26, travelling carriage bottom is equipped with jack device, in operation process, castor 26 is risen, guarantee that travelling carriage fixes.
An implementation method for soft lens operation auxiliary manipulator, comprises the following steps:
(1), when mechanical hand need to be done while vertically moving up and down, controller is controlled and is tieed up up and down drive motors 6, tie up up and down drive motors 6 and drive the first leading screw 11 rotations on vertically upper and lower mechanical arm 2, the first leading screw 11 drives the first slide blocks 13 to slide, and the motion of the first slide block 13 is made vertically soft lens clamper 5 to move up and down;
(2), when mechanical hand need to be done horizontal side-to-side movement, controller is controlled left and right dimension drive motors 7, left and right dimension drive motors 7 drives the second leading screw 14 rotations on level left and right mechanical arm 3, the second leading screw 14 drives the second slide block 16 to slide, and the motion of the second slide block 16 makes soft lens clamper 5 do horizontal side-to-side movement;
(3), when mechanical hand need to be done elastic motion, controller is tieed up drive motors 8 before and after controlling, front and back dimension drive motors 8 drives the 3rd leading screw 17 rotations on elastic mechanical arm 4, the 3rd leading screw 17 drives the 3rd slide block 19 to slide, and the motion of the 3rd slide block 19 makes soft lens clamper 5 do elastic motion;
(4), when mechanical hand need to be done rotating shaft campaign, controller is controlled rotating shaft dimension drive motors 9, rotating shaft dimension drive motors 9 drives 20 rotations of soft lens slewing equipments, thereby makes soft lens clamper 5 do rotating shaft campaign;
(5), when mechanical hand, need to do driver plate when motion, controller is controlled soft lens driver plate dimension drive motors 10, and soft lens driver plate dimension drive motors 10 drives 23 rotations of soft lens driver plate fixed cards, thereby makes soft lens clamper 5 do driver plate motion.
When carry out simultaneously described step (4) and (5), soft lens clamper 5 drives soft lens 27 to do soft lens front and back and bends motion.
Controller in described step (1)～(5) is the control operation platform of tape input equipment.
Above-mentioned control method can be used in the middle of the scientific research prosthese of operation or non-medical object, and the concrete control method of the present embodiment acts on prosthese.During concrete practical application, can proceed as follows:
First by soft lens 27, by ureter, guide urethra, the ureter that sheath enters prosthese, and send into renal pelvis, then soft lens handle is placed and is fixed on soft lens clamper 5 by manual type as requested.At the upper demonstration of touch screen (thering is demonstration image function) soft lens, enter the whole process of kidney aggregation system, comprise renal pelvis, upper small cup, middle small cup, inferior calyx, and kidney aggregation system is observed; By the corresponding function button of clicking on control operation platform touch screen, open the excitation device transmitting holmium laser of controlling holmium laser; In operation, by control operation platform, open the flow velocity of priming petock and hydraulic pressure control equipment priming petock to increase the definition in the visual field; When entering kidney aggregation system, open control X-ray exposure device and carry out X-ray irradiation to determine the position of soft lens 27; In operation, by touch screen, check at any time kidney aggregation system, carry out X-ray irradiation to determine the physical location of soft lens simultaneously.According to soft lens surgical protocols, the operating grip on operation control operation platform, or the upper corresponding function button of point touching screen, upper and lower, all around motion of the arm of operating machine, the rotation of mechanical hand and gyration.Meanwhile, according to practical situation, can control the brake block caster 26 of travelling carriage, carry out brake hard, and then control upper and lower, all around, rotation and the gyration of soft lens 27, adjust soft lens 27 positions and state.
The present embodiment and embodiment 1 difference are: tie up up and down drive motors 6, left and right dimension drive motors 7, front and back dimension drive motors 8, rotating shaft dimension drive motors 9 and soft lens driver plate dimension drive motors 10 and be servomotor, travelling carriage bottom is equipped with height adjustable fixed feet.During concrete operations, first by soft lens, by ureter, guide urethra, the ureter that sheath enters prosthese, and send into renal pelvis, then soft lens handle is placed and is fixed on soft lens clamper by manual type as requested.At the upper demonstration of touch screen (thering is demonstration image function) soft lens, enter the whole process of kidney aggregation system, comprise renal pelvis, upper small cup, middle small cup, inferior calyx, and kidney aggregation system is observed; By the corresponding function button of clicking on control operation platform touch screen, open the excitation device transmitting holmium laser of controlling holmium laser; In operation, by control operation platform, open the flow velocity of priming petock and hydraulic pressure control equipment priming petock to increase the definition in the visual field; When entering kidney aggregation system, open control X-ray exposure device and carry out X-ray irradiation to determine the position of soft lens; By control operation platform, open control high-pressure contrast equipment and carry out radiography; In operation, by touch screen, check at any time kidney aggregation system, carry out X-ray irradiation to determine the physical location of soft lens simultaneously.According to soft lens surgical protocols, operating grip on operation control operation platform, or the upper corresponding function button of point touching screen, upper and lower, all around motion of the arm of operating machine, the rotation of mechanical hand and gyration, simultaneously, according to practical situation, can control the brake block caster of travelling carriage, carry out brake hard, and then control upper and lower, all around, rotation and the gyration of soft lens 27, adjust soft lens 27 positions and state.
The above-mentioned specific embodiment is preferred embodiment of the present utility model; can not limit this utility model; other any change that does not deviate from the technical solution of the utility model and make or other equivalent substitute mode, within being included in protection domain of the present utility model.
Claims (5)
1. for a soft lens operation auxiliary manipulator, it is characterized in that: comprise base, vertically upper and lower mechanical arm, level left and right mechanical arm, elastic mechanical arm, soft lens clamper, tie up drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors up and down, wherein, vertically upper and lower mechanical arm is provided with the first leading screw and the first feed screw nut, the first feed screw nut is connected with the first slide block, tie up up and down drive motors and drive the first leading screw rotation, drive the first slide block to slide, in the mechanical arm of level left and right, be provided with the second leading screw and the second feed screw nut, the second feed screw nut is connected with the second slide block, left and right dimension drive motors drives the second leading screw to drive the second slide block to slide, the first slide block of vertically upper and lower mechanical arm is connected with the second slide block of vertically upper and lower mechanical arm, elastic mechanical arm is provided with the 3rd leading screw and the 3rd feed screw nut, the 3rd feed screw nut is connected with the 3rd slide block, front and back dimension drive motors drives the 3rd leading screw to drive the 3rd slide block to slide, the 3rd slide block of elastic mechanical arm is connected with vertically upper and lower mechanical arm one end, the affixed rotating shaft dimension of elastic mechanical arm one end surfaces drive motors, rotating shaft dimension drive motors and soft lens slewing equipment one end are rotationally connected, the soft lens slewing equipment other end connects soft lens clamper, soft lens clamper is connected with soft lens driver plate dimension drive motors, tie up up and down drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and soft lens driver plate dimension drive motors are connected with controller respectively.
2. according to claim 1 for soft lens operation auxiliary manipulator, it is characterized in that: described soft lens slewing equipment is " L " shape turning cylinder.
3. according to claim 1 for soft lens operation auxiliary manipulator, it is characterized in that: described drive motors, left and right dimension drive motors, front and back dimension drive motors, rotating shaft dimension drive motors and the soft lens driver plate dimension drive motors tieed up is up and down motor or servomotor.
4. according to claim 1 for soft lens operation auxiliary manipulator, it is characterized in that: described soft lens clamper comprises soft lens clamper body, soft lens clamping movable block, soft lens driver plate fixed card, the first adjustment screw and the second adjustment screw; Wherein, soft lens driver plate dimension drive motors passes soft lens clamper body and is fixed on soft lens clamper body, axle and the soft lens driver plate fixed card of soft lens driver plate dimension drive motors are rotationally connected, and soft lens clamping movable block is provided with the first adjustment screw, and soft lens driver plate fixed card is provided with the second adjustment screw.
5. according to claim 1 for soft lens operation auxiliary manipulator, it is characterized in that: described base is travelling carriage, travelling carriage inside is provided with some installation positions, on travelling carriage side plate, offer cable through hole, travelling carriage bottom is provided with 1 above brake block caster, and travelling carriage bottom is equipped with jack device or height-adjustable fixed feet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320482576.7U CN203468741U (en) | 2013-08-07 | 2013-08-07 | Flexible cystoscope operation auxiliary manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320482576.7U CN203468741U (en) | 2013-08-07 | 2013-08-07 | Flexible cystoscope operation auxiliary manipulator |
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| Publication Number | Publication Date |
|---|---|
| CN203468741U true CN203468741U (en) | 2014-03-12 |
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| CN201320482576.7U Withdrawn - After Issue CN203468741U (en) | 2013-08-07 | 2013-08-07 | Flexible cystoscope operation auxiliary manipulator |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103356294A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Auxiliary mechanical arm for soft lens operation and method for achieving same |
| CN106821502A (en) * | 2017-03-24 | 2017-06-13 | 西安交通大学 | A kind of urological surgery Special operation mechanism |
| CN106890028A (en) * | 2017-03-24 | 2017-06-27 | 西安交通大学 | A kind of action bars for urological surgery remote control |
| CN107280765A (en) * | 2017-06-16 | 2017-10-24 | 北京理工大学 | A kind of puncture needle retaining release device of CT guided percutaneous transthoracic lung biopsies robot |
| CN109077778A (en) * | 2018-08-09 | 2018-12-25 | 天津大学 | Flexible ureteroscope delivery device and the surgical instrument for using it |
| CN110385704A (en) * | 2018-04-20 | 2019-10-29 | 广州赫伽力智能科技有限公司 | A kind of robot displacement yarn grabbing robot device |
| CN110585608A (en) * | 2019-10-10 | 2019-12-20 | 冷宁 | Clinical radiotherapy device that location was sheltered from |
| CN112704563A (en) * | 2020-12-25 | 2021-04-27 | 天津市第三中心医院 | Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife |
-
2013
- 2013-08-07 CN CN201320482576.7U patent/CN203468741U/en not_active Withdrawn - After Issue
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103356294A (en) * | 2013-08-07 | 2013-10-23 | 吴开俊 | Auxiliary mechanical arm for soft lens operation and method for achieving same |
| CN103356294B (en) * | 2013-08-07 | 2015-05-20 | 吴开俊 | Auxiliary mechanical arm for soft lens operation |
| CN106821502B (en) * | 2017-03-24 | 2019-05-24 | 西安交通大学 | A kind of urological surgery Special operation mechanism |
| CN106890028A (en) * | 2017-03-24 | 2017-06-27 | 西安交通大学 | A kind of action bars for urological surgery remote control |
| CN106821502A (en) * | 2017-03-24 | 2017-06-13 | 西安交通大学 | A kind of urological surgery Special operation mechanism |
| CN106890028B (en) * | 2017-03-24 | 2019-10-11 | 西安交通大学 | A kind of operating stick for urological surgery remote control |
| CN107280765A (en) * | 2017-06-16 | 2017-10-24 | 北京理工大学 | A kind of puncture needle retaining release device of CT guided percutaneous transthoracic lung biopsies robot |
| CN110385704A (en) * | 2018-04-20 | 2019-10-29 | 广州赫伽力智能科技有限公司 | A kind of robot displacement yarn grabbing robot device |
| CN109077778A (en) * | 2018-08-09 | 2018-12-25 | 天津大学 | Flexible ureteroscope delivery device and the surgical instrument for using it |
| CN109077778B (en) * | 2018-08-09 | 2020-12-01 | 天津大学 | Ureter soft lens pushing mechanism and surgical instrument using same |
| CN110585608A (en) * | 2019-10-10 | 2019-12-20 | 冷宁 | Clinical radiotherapy device that location was sheltered from |
| CN110585608B (en) * | 2019-10-10 | 2021-07-13 | 兰卫光 | Clinical radiotherapy device that location was sheltered from |
| CN112704563A (en) * | 2020-12-25 | 2021-04-27 | 天津市第三中心医院 | Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife |
| CN112704563B (en) * | 2020-12-25 | 2022-04-01 | 天津市第三中心医院 | Remote ultrasonic operation simulation system for hepatobiliary surgery based on ultrasonic knife |
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