CN205459039U - Principal and subordinate intervenes surgery robot from end operating means - Google Patents
Principal and subordinate intervenes surgery robot from end operating means Download PDFInfo
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- CN205459039U CN205459039U CN201620161473.4U CN201620161473U CN205459039U CN 205459039 U CN205459039 U CN 205459039U CN 201620161473 U CN201620161473 U CN 201620161473U CN 205459039 U CN205459039 U CN 205459039U
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- linear bearing
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Abstract
The utility model discloses a principal and subordinate intervenes surgery robot from end operating means belongs to the mechanical manufacturing technology field. It includes moving platform, casing, body, telescopic machanism, locking switching mechanism, seal wire, the casing install on moving platform's base, body assembly in the casing, telescopic machanism one end and casing link firmly, the other end links firmly with the operating table, locking switching mechanism figure be 2, set up respectively in the outside of casing with telescopic machanism. The utility model discloses an optimal design from end body, telescopic machanism, locking switching mechanism, solved that the seal wire propelling movement is crooked, inconvenience is measured, is installed and removed to propelling movement power difficultly, the seal wire presss from both sides and tightly relaxs uncontrollable scheduling problem when switching, have rational in infrastructure, manufacturing simple, the convenient advantage of control.
Description
Technical field
This utility model belongs to machinery manufacturing technology field, specifically, relates to a kind of interventional surgery robot, more
Specifically, principal and subordinate interventional surgery robot is related to from end operation device.
Background technology
Cardiovascular and cerebrovascular disease has become one of big Death causes of the mankind three, serious threat human health.The situation of angiopathy is main
There are the blocking of vascular tumor, thrombosis, vascular malformation, vasoconstriction, sclerosis of blood vessels etc..Intubation intervention operation is the existing treatment heart
Cerebrovascular disease most efficient method, compared with " open " operation, it has, and wound is little, safety, post-operative recovery are fast,
The advantages such as few intercurrent disease.But traditional blood vessel intervention operation there is also some problems, first intubation intervention and performs the operation at medical image
Carrying out under the guiding of equipment, doctor is radiated by X-ray for a long time, damages the health of doctor；Next to that operation is high-risk
Dangerous, the operation skill of operation doctor is required height, it is necessary to be that high-caliber specialist could perform, the difficulty therefore existed
It is shortage and the time length of training of doctors, the cost height of doctor；Being that operating time is long again, doctor can be because of long-time operation
Fatigue, the maloperation when physiology of doctor trembles and is tired all can be substantially reduced the safety of operation.
Remote operating principal and subordinate interventional surgery robot can effectively solve the problem that the problems referred to above, and doctor can not be subject to a safety
Operation in the environment of X-ray radiation, the physiology of doctor trembles and maloperation can be filtered out by system, decreases doctor
Training time.In recent years, remote operating principal and subordinate interventional surgery aid system has become a study hotspot.Tradition hands
Doctor's direct operation apparatus in art, apparatus can be directly transmitted to doctor with the information that contacts of tissue, and in Minimally Invasive Surgery
Tactile data in surgical hardly results in mostly due to the relation of operating theater instruments.Therefore, in Minimally Invasive Surgery, doctor due to
Lack tactile data and make operation add danger, may be because of misoperation or the too quickly organ having damaged patient.Sense of touch is anti-
Present and all relate in a lot of researchs, but traditional direct of feedback system differs greatly by the way of operating theater instruments, the behaviour of doctor
Make mode and traditional mode is the most different, it is common that directly sending action instruction.Therefore, tradition gets involved to perform the operation and is accumulated
Experiences and Skills can not get well utilizing, do not meet the requirement of ergonomics.
Mainly there are Institutes Of Technology Of Tianjin, Harbin Institute of Technology and Beijing Aviation space flight big for blood vessel intervention operation robot at present
Learn.
Documents 1: application publication number is CN104042259A, filing date on May 16th, 2014, applies for artificial Tianjin
Polytechnics, discloses entitled a kind of principal and subordinate's interventional surgery aid system from the patent document of operator device, it
Including axial push unit, rotary unit, catching unit, surgical catheters, operating physical force detector unit and tilt adjustable base, its
Method of work include signal detection, transmit, process, action.It is advantageous in that: the interventional procedure action of doctor can be imitated,
Performance accuracy is high, is effectively improved operation safety；Can ensure that different curers or different intervention positions all can be adjusted
Whole to the desired angle of operator；Device entirety uses aluminum alloy materials, and size is little, light weight.This invention can be well
Complete the propelling movement of seal wire, and use magnetic flow liquid to realize force feedback, have that moving component inertia is little, feed back the advantages such as sensitive.
Documents 2: Authorization Notice No. is CN102028549B, the date of application is on January 17th, 2011, and application is artificial breathes out
That shore polytechnical university, discloses the patent document of entitled a kind of catheter robot system getting involved operation for Ink vessel transfusing Wicresoft,
In it relates to a kind of secondary vessel, Wicresoft gets involved the robot system performed the operation.For reducing operative site patient and the radiation hazradial bundle of doctor,
Realize compartment strange land and get involved operation, feedback conduit carrying capacity.Main hands handle and main frame are placed in control room, switch board,
Modular catheter, principal and subordinate's intervention device, magnetic field generator and steerable catheter are placed in operating room, and main hands handle pose signal is computed
Machine host passes to switch board after processing, and has motion control card and driver in switch board, and motion control card receives order transmission and refers to
Order is to driver, and control signal is passed to each motor of principal and subordinate's intervention device by driver, and then control intervention device realization can
The control push/pull of conduit, rotation and bending operation, Position and attitude sensor collects the posture information of controllable bending tune, and pose signal is through fortune
Dynamic control card is passed to main frame and is carried out signal processing.This invention have employed steerable catheter, can obtain steerable catheter bending controlled
The posture information of section, it is ensured that the motility of steerable catheter front end and intubate the navigability of operation, simultaneously by main hands handle control
Principal and subordinate's intervention device processed realize steerable catheter push away draw, rotate and flexure operation, and operating room steerable catheter carrying capacity letter can be obtained
Breath, it is ensured that the accuracy intubated and stability.
Documents 3: Authorization Notice No. is CN103006327B, the date of application is December in 2012 3, the artificial north of application
Capital Aero-Space university, discloses the patent document of entitled a kind of Master-slave teleoperation vascular intervention surgical robot, and it includes
Main side operating-controlling mechanism, from end propulsive mechanism, PMAC controller；Main side operating-controlling mechanism is as the operating side of doctor；Advance from end
Mechanism, as the actuator of robot, replaces doctor to hold conduit in operating room, completes the motor function of conduit；PMAC
Control chamber be used for realize main side operating-controlling mechanism and from end propulsive mechanism between information transmission so that from end conduit propulsive mechanism according to
The movable information of main side operating-controlling mechanism moves, and it uses principal and subordinate's remote operating mode to assist doctor to implement operation, from end pusher
Structure realizes the axial feed of conduit and the motion that rotates in a circumferential direction, and replaces doctor to hold conduit in operating room, and main side actuation means realizes
Remote operating to conduit propulsive mechanism, it is to avoid doctor is by x radiation x.
Existing intervention operation robot from end operating mechanism there is problems in that (1) during the propelling movement of seal wire, seal wire press from both sides
Change that the distance of tight position and patient vessel's entrance pushes along with seal wire and withdraws and change, owing to the rigidity of seal wire is limited,
The situation being easily caused seal wire curved transitions occurs, not only causes seal wire to push difficulty, and the motive force of seal wire is difficult to measure, and
Maloperation easily occurs, causes the generation of malpractice.(2) push or withdraw arrival near patient end or away from patient at seal wire
End extreme position, and need change seal wire clip position time, due to conversion seal wire clamped position during, guidewire shaft
To being in free state, and due to the existence of frictional force between clamping device and seal wire, easily will be located in patient vessel's inner guide wire from
Blood vessel is extracted out, or continues to push forward a segment distance by seal wire, this seal wire is passively extracted out from blood vessel, causes arrival
There is deviation in the seal wire of certain position, so that doctor needs to re-operate, improves difficulty, reduces procedure efficiency；And
For seal wire when changing clip position, passive continue to push forward one end distance, due to this propelling movement exist randomness, can not
Control property, easily causes vascular trauma, in turn results in the generation of malpractice.(3) during the propelling movement of seal wire, relative motion
There is frictional force, the particularly axially existence of frictional force between parts, have impact on the mensuration of propelling movement power, simultaneously force measuring machine design
Unreasonable, affect the accuracy of dynamometry.(4) mounting or dismounting of seal wire are complicated, it is impossible to realize quick assembling and dismounting, in turn result in doctor
Raw preoperative installation operation is excessively complicated, the problem changing seal wire inefficiency in art.
For the problems referred to above, current interventional surgery robot does not solve, or solve only subproblem,
Therefore it is badly in need of solving, to improve safety and the convenience of operation technique the problems referred to above.
Summary of the invention
1. utility model to solve the technical problem that
Provide one and can overcome above-mentioned deficiency, thus principal and subordinate's intervention operation robot safer, convenient and efficient is from end
Operation device and control method thereof.
2. technical scheme
For solving the problems referred to above, this utility model adopts the following technical scheme that.
A kind of principal and subordinate's intervention operation robot is from end operation device, including mobile platform, housing, body, telescoping mechanism, locking
Switching mechanism, seal wire, described housing is arranged on the base of mobile platform, and described body assembles in the housing, described
Telescoping mechanism one end is connected with housing, and the other end is connected with operating-table, and described locking switching mechanism number is 2, sets respectively
Put the outside at housing Yu telescoping mechanism, described seal wire operation direction of feed on sequentially pass through locking switching mechanism, housing,
Body, telescoping mechanism and locking switching mechanism,
Described mobile platform is made up of base, slide unit motor, screw mandrel, slide unit, and described base is connected on operating-table, institute
The slide unit motor stated is arranged on the end of base, and the front end of described base is provided with screw mandrel, and described screw mandrel passes through decelerator
It is connected with the output shaft of slide unit motor, described slide unit is provided with screwed hole, and matches with the screw thread of screw mandrel；
Described housing is made up of lower house, upper shell, hinge, conical surface pressing plate, linear bearing pressing plate, electromagnetic clutch pressing plate,
Described lower house is connected by bolt and base, described upper shell and lower house by hinge, described conical surface pressing plate,
Linear bearing pressing plate is all connected with upper shell by screw with electromagnetic clutch pressing plate, and conical surface pressing plate, linear bearing pressing plate and electricity
The axis of magnet clutch pressing plate is on the same line；
Described body includes body lower part part and body upper part part,
Described body lower part part is by motor, motor support base, shaft coupling A, torque sensor, torque sensor bearing, shaft coupling
Device B, ball spline shaft A, ball spline sleeve A, ball spline pair sleeve A, lower gear, linear bearing A, linear bearing
Bearing A, linear bearing gland A, left side circlip form, and described motor is fixed by screws on motor support base, institute
The motor support base stated is connected on lower house, and described shaft coupling A one end is connected with the output shaft of motor, and the other end passes with moment
The axle of sensor is connected, and described torque sensor is fixed on torque sensor bearing, described torque sensor bearing and lower casing
Body is connected, and described ball spline shaft A is connected with torque sensor by shaft coupling B, assembles in described ball spline sleeve A
Ball spline shaft A, described ball spline sleeve A is had to be assemblied in ball spline pair sleeve A, described ball spline pair sleeve
The other end of A is provided with axle, and axle is matched with lower gear by key, the inner ring of described linear bearing A and ball spline
The axle of secondary case cylinder A coordinates, and its outer ring is fixed on linear bearing carriage A by linear bearing gland A, described left side bullet
In the outside groove of the axle that property back-up ring is arranged on ball spline pair sleeve A, described linear bearing carriage A is connected on lower house；
Described body upper part part by electromagnetic clutch, electromagnetic clutch bearing, right side circlip, ball spline pair sleeve B,
Ball spline sleeve B, ball spline shaft B, shaft coupling C, conical surface seal wire binding clasp, gear, force transmission shaft, linear bearing B,
Linear bearing carriage B, force plate, thrust bearing, cone, slide block, slide rail, Dynamometric support, force transducer fixed mount, biography
Power nail, force transducer composition, described electromagnetic clutch is arranged on electromagnetic clutch bearing, described electromagnetic clutch bearing
Being connected on lower house, one end of described ball spline pair sleeve B is provided with axle, and its axle is assemblied in electromagnetic clutch by key
In, in the outside groove of the axle that described right side circlip is arranged on ball spline pair sleeve B, described ball spline sleeve B
Being assemblied in ball spline pair sleeve B, described ball spline shaft B is assemblied in ball spline sleeve B, described shaft coupling C
One end be connected with ball spline shaft B, the other end is connected with conical surface seal wire binding clasp, described conical surface seal wire binding clasp and upper tooth
The endoporus of wheel matches, and described force transmission shaft is connected with gear, and described force transmission shaft is arranged on linear axis by linear bearing B
Holding on bearing B, described force plate upper end is provided with U-type groove, and makes force transmission shaft pass U-type groove, described thrust bearing
Being pressed on force plate, and be arranged on the side relative with linear bearing B, described cone is provided with through hole, and through hole is through passing
Power axle, described cone matches with conical surface pressing plate when upper shell closes, and described force plate lower end is solid with slide block by screw
Even, described slide block is assemblied in slide rail, and described slide rail is arranged on Dynamometric support, and described Dynamometric support is connected in lower casing
On body, described force transducer is assemblied in force transducer fixed mount, and is connected with force plate by power transmission nail, and described power passes
Sensor fixed mount is bolted on lower house, and described gear is meshed with lower gear；
Described telescoping mechanism is by left socle, left ball hinged support, left ball pivot ball part, right support, right ball hinged support, right ball pivot
Ball part, expansion link form, and described left socle is connected with lower house, and described right support is connected with operating-table, a described left side
Being provided with left ball hinged support on support, described right support is provided with right ball hinged support, described left ball pivot ball part is assemblied in
In left ball hinged support, described right ball pivot ball part is assemblied in right ball hinged support, and the two ends of described expansion link connect a left side respectively
Ball pivot ball part and right ball pivot ball part；
Described locking switching mechanism is made up of base plate, left plate, right plate, epipleural, flexible pipe, pressing plate, electric magnet, institute
The base plate stated is connected with operating-table, and described left plate and right plate are bolted on base plate, described epipleural one end
Being fixed on left plate, the other end is fixed on right plate, and described electric magnet is between left plate and right plate, and its end
Portion is connected with base plate, and the push rod of described electric magnet is provided with pressing plate, and described epipleural lower end is provided with through hole, in through hole
It is provided with flexible pipe, through seal wire in described flexible pipe.
The side of described conical surface pressing plate is the circular arc conical surface, and is provided with rotatable steel ball in the conical surface.
When described electromagnetic clutch connects electricity, Internal and external cycle separates, and during power-off, Internal and external cycle engages.
The axle of described ball spline shaft B is hollow axle.
Described force transmission shaft is provided with through hole along himself axis.
Described force transducer is pulling force sensor.
Described expansion link is in series by the hollow pipe that stepped diameters is different.
A kind of principal and subordinate's intervention operation robot is from the control method of end operation device, including following rate-determining steps:
(1) mounting or dismounting of seal wire:
The installation of seal wire: open upper shell, by the electromagnetic clutch being assembled together, ball spline pair sleeve B, ball spline
Set B, ball spline shaft B, shaft coupling C, conical surface seal wire binding clasp, gear, force transmission shaft, linear bearing B are from lower house
Middle taking-up, sequentially passes through flexible pipe, expansion link, ball spline pair sleeve B, ball spline sleeve B, ball spline by seal wire head
Axle B, shaft coupling C, conical surface seal wire binding clasp, gear, force transmission shaft and flexible pipe, be then returned in lower house, and pass is closed
Housing so that conical surface pressing plate, linear bearing pressing plate and electromagnetic clutch pressing plate on upper shell are pressed on cone, linear bearing respectively
On B and electromagnetic clutch, it is carried out radially fixed；
The dismounting of seal wire: the step of seal wire dismounting is contrary with the step that seal wire is installed；
(2) clamping of seal wire with loosen:
The clamping of seal wire: electromagnetic clutch power-off, its Internal and external cycle engages so that one end of conical surface seal wire binding clasp is fixed, motor
Energising, by shaft coupling A, torque sensor, shaft coupling B, ball spline shaft A, ball spline sleeve A, ball spline pair
Sleeve A, drives lower gear to rotate, thus drives gear so that the other end of conical surface seal wire binding clasp turns along with gear
Move and rotate, and then clamping seal wire；
Loosening of seal wire: seal wire loosen control with seal wire clamp rate-determining steps contrary, first by electromagnetic clutch power-off, then make
Electrical power inverts；
(3) rotation of seal wire controls:
When seal wire is in clamped condition, electromagnetic clutch is energized so that one end of conical surface seal wire binding clasp is in free state, electricity
Machine is energized, and according to concrete control signal, drives gear and conical surface seal wire binding clasp to rotate, so that seal wire rotates one
Fixed angle；
(4) propelling movement of seal wire/withdraw control:
Locking switching mechanism near patient end is started working, and electric magnet power-off so that pressing plate moves downward is loosened flexible pipe, made
Obtaining seal wire front end and be in free state, the locking switching mechanism away from patient end is started working subsequently, electric magnet power-off so that pressure
Plate moves downward, and loosens flexible pipe so that seal wire rear end is in free state；
Slide unit electrical power is started working, according to concrete advance/withdraw signal so that slide unit motor forward or reverse so that sliding
Platform advances or retreats, and drives body to advance or retreats, so that seal wire realizes pushing or withdrawing；
When slide unit moves to the base extreme position near patient end, and when needing to continue to push seal wire forward, slide unit motor stops
Rotate so that seal wire stops pushing；Near the locking switching mechanism switch operating state of patient end, electric magnet is energized so that pressure
Plate moves upward, squeezing tube so that seal wire front end is in on-position；Meanwhile, away from the locking switching machine of patient end
Structure makes electric magnet remain powered off state；And utilize the control method that in step (2), seal wire loosens, loosen seal wire；Now slide
Platform electrical power rotates backward, and drives slide unit to retreat, and now seal wire is fixed, and base motions is to the extreme position away from patient end；
In recycle step (2), the control method of seal wire clamping, clamps seal wire；Hereafter the locking switching mechanism near patient end switches work
Make state, electric magnet power-off so that pressing plate moves downward, loosen flexible pipe, and the locking switching mechanism away from patient end continues to protect
Hold the duty of original power-off；Last slide unit electrical power, according to concrete signal, it is achieved rotating, thus drives seal wire
Again realize pushing or withdrawing；
When slide unit moves to the base extreme position away from patient end, and need to continue by seal wire in time extracting out in the patient, slide unit
Motor stalls so that seal wire stops pushing；Away from the locking switching mechanism switch operating state of patient end, electric magnet is energized,
Pressing plate is moved upward, squeezing tube so that seal wire rear end is in on-position；Meanwhile, near the locking of patient end
Switching mechanism makes electric magnet remain powered off state；And utilize the control method that in step (2), seal wire loosens, loosen seal wire；
Now slide unit electrical power rotates forward, and drives slide unit to advance, and now seal wire is fixed, and base motions is to the limit near patient end
Position；In recycle step (2), the control method of seal wire clamping, clamps seal wire；Hereafter away from the locking switching mechanism of patient end
Switch operating state, electric magnet power-off so that pressing plate moves downward, loosen flexible pipe, and near the locking switching mechanism of patient end
Continue to keep the duty of original power-off；Last slide unit electrical power, according to control signal, it is achieved reversion, thus drives and lead
Silk continues from extracting out in the patient；
(5) coordinated signals of seal wire:
When seal wire needs to realize complete operation technique action, alternately implement step (2), (3), (4), it is achieved coordinated signals,
Complete operation.
3. beneficial effect
Compared with prior art, this utility model has a following remarkable advantage:
(1) for guidewire stiffness problem, this utility model is by arranging telescopic machine between seal wire bite and patient vessel's entrance
Structure, utilizes expansion link can stretch with the movement of bite, provides for seal wire and supports and constraint, it is to avoid the situation of curved transitions goes out
Existing, thus solve that the seal wire caused because seal wire bending pushes difficulty, the motive force of seal wire is difficult to measurement, easy maloperation,
Cause the problem that malpractice occurs.Use ball pivot to be connected at expansion link with the junction of support so that it can arbitrarily turn simultaneously
Dynamic, and do not affect the operation of seal wire.
(2) uncontrollable problem when loosening switching for seal wire clamping, this utility model is at patient vessel porch and the end of seal wire
End arranges locking switching mechanism, utilizes the kinestate of electric magnet, completes the clamping of seal wire and loosens so that seal wire is at switching folder
When holding position, it is axially being in restrained condition, and then prevents seal wire uncontrollable situation that occurs moving from occurring, it is to avoid this
The randomness pushed and uncontrollability, solve the vascular trauma that the uncontrollable propelling movement of seal wire causes, in turn result in malpractice and send out
Raw problem.Utilize the power on/off of electric magnet to complete compression and the release of flexible pipe simultaneously, and then complete the clamping to seal wire and put
Pine, the fast response time of electric magnet, easy to control, and flexible pipe can be through preoperative disinfection, postoperative replacing, adds operation safety
Property.
(3) for measuring propelling movement power problem, this utility model devises rational force measuring structure, by utilizing force transmission shaft, dynamometry
Plate, thrust bearing, cone complete the transmission of axial force, and conical surface pressing plate quickly can coordinate with cone, and play locking
The effect of cone, it utilizes and compresses locking type structure, it is simple to be rapidly assembled and disassembled；Slide block is set in the lower end of force plate simultaneously
And slide rail, not only act as supporting role, and reduced axial friction, reduce the radial direction to sensor head simultaneously
Power effect, improves certainty of measurement, adds the service life of sensor.
(4) for rapid-assembling/disassembling problem, this utility model completes hold assembly by utilizing lower house and upper shell quickly opening and closing
Radial and axial fixing, after upper shell closes, conical surface pressing plate, linear bearing pressing plate and the electromagnetic clutch pressure on upper shell
Plate is pressed on cone, linear bearing and electromagnetic clutch respectively, and whole hold assembly serves the effect of location.The conical surface simultaneously
It is provided with rotatable steel ball in the conical surface on pressing plate, when with taper fit, is possible not only to play radially fixed, prevents radially
Play, it can realize seal wire and withdraw the unidirectional fixing of direction simultaneously, is free state, it is possible to logical in seal wire direction of advance
Cross sensor to measure propelling movement power.
(5) this utility model is rational in infrastructure, processing and manufacturing is simple, easy to control.
Accompanying drawing explanation
Fig. 1 is the axonometric drawing of this utility model device；
Fig. 2 is the inversion axis mapping of this utility model device；
Fig. 3 is the structure chart of parts 1 in Fig. 1；
Fig. 4 is the structure chart of parts 2 in Fig. 1；
Fig. 5 is the structure chart of parts 3 in Fig. 1；
Fig. 6 is the structure chart of parts 3A in Fig. 2；
Fig. 7 is the structure chart of parts 3B in Fig. 2；
Fig. 8 is the structure chart of parts 4 in Fig. 1；
Fig. 9 is the structure chart of parts 5 in Fig. 1.
In accompanying drawing: 1 mobile platform, 2 housings, 3 bodies, 4 telescoping mechanisms, 5 locking switching mechanisms, 6 seal wires,
1-1 base, 1-2 slide unit motor, 1-3 screw mandrel, 1-4 slide unit, 2-1 lower house, 2-2 upper shell, 2-3 hinge,
2-4 conical surface pressing plate, 2-5 linear bearing pressing plate, 2-6 electromagnetic clutch pressing plate, 3A body lower part part, 3-1 motor,
3-2 motor support base, 3-3 shaft coupling A, 3-4 torque sensor, 3-5 torque sensor bearing, 3-6 shaft coupling B,
3-7 ball spline shaft A, 3-8 ball spline sleeve A, 3-9 ball spline pair sleeve A, 3-10 lower gear, 3-11 is straight
Bobbin holds A, 3-12 linear bearing carriage A, 3-13 linear bearing gland A, circlip on the left of 3-14,3B body
Upper-part, 3-15 electromagnetic clutch, 3-16 electromagnetic clutch bearing, circlip on the right side of 3-17,3-18 ball spline
Secondary case cylinder B, 3-19 ball spline sleeve B, 3-20 ball spline shaft B, 3-21 shaft coupling C, 3-22 conical surface seal wire presss from both sides
Tight device, 3-23 gear, 3-24 force transmission shaft, 3-25 linear bearing B, 3-26 linear bearing carriage B, 3-27 survey
Power plate, 3-28 thrust bearing, 3-29 cone, 3-30 slide block, 3-31 slide rail, 3-32 Dynamometric support, 3-33 power
Fixing rack for sensor, 3-34 power transmission nail, 3-35 force transducer, 4-1 left socle, the left ball hinged support of 4-2,4-3 is left
Ball pivot ball part, 4-4 right support, the right ball hinged support of 4-5,4-6 right ball pivot ball part, 4-7 expansion link, at the bottom of 5-1
Plate, 5-2 left plate, 5-3 right plate, 5-4 epipleural, 5-5 flexible pipe, 5-6 pressing plate, 5-7 electric magnet.
Detailed description of the invention
Below in conjunction with Figure of description, this utility model is further described.
As shown in Fig. 1～9, a kind of principal and subordinate's intervention operation robot is from end operation device, including mobile platform 1, housing 2, body
3, telescoping mechanism 4, locking switching mechanism 5, seal wire 6, described housing 2 is arranged on the base 1-1 of mobile platform 1, institute
The body 3 stated is assemblied in housing 2, and described telescoping mechanism 4 one end is connected with housing 2, and the other end is connected with operating-table,
Described locking switching mechanism 5 number is 2, is separately positioned on the outside of housing 2 and telescoping mechanism 4, described seal wire 6
Operation direction of feed sequentially passes through locking switching mechanism 5, housing 2, body 3, telescoping mechanism 4 and locking switching mechanism 5,
Described mobile platform 1 is made up of base 1-1, slide unit motor 1-2, screw mandrel 1-3, slide unit 1-4, described base 1-1
Being connected on operating-table, described slide unit motor 1-2 is arranged on the end of base 1-1, and the front end of described base 1-1 is arranged
There are screw mandrel 1-3, described screw mandrel 1-3 to be connected with the output shaft of slide unit motor 1-2 by decelerator, described slide unit 1-4 sets
It is equipped with screwed hole, and matches with the screw thread of screw mandrel 1-3；
Described housing 2 by lower house 2-1, upper shell 2-2, hinge 2-3, conical surface pressing plate 2-4, linear bearing pressing plate 2-5,
Electromagnetic clutch pressing plate 2-6 forms, and described lower house 2-1 is connected by bolt and base 1-1, described upper shell 2-2 with
Lower house 2-1 is by hinged, described for hinge 2-3 conical surface pressing plate 2-4, linear bearing pressing plate 2-5 and electromagnetic clutch pressing plate 2-6
All it is connected with upper shell 2-2 by screw, and conical surface pressing plate 2-4, linear bearing pressing plate 2-5 and electromagnetic clutch pressing plate 2-6
Axis is on the same line；
Described body 3 includes body lower part part 3A and body upper part part 3B,
Described body lower part part 3A is by motor 3-1, motor support base 3-2, shaft coupling A3-3, torque sensor 3-4, moment
Sensor support base 3-5, shaft coupling B3-6, ball spline shaft A3-7, ball spline sleeve A3-8, ball spline pair sleeve A3-9,
Lower gear 3-10, linear bearing A3-11, linear bearing carriage A3-12, linear bearing gland A3-13, left side circlip
3-14 forms, and described motor 3-1 is fixed by screws on motor support base 3-2, and described motor support base 3-2 is connected in lower casing
On body 2-1, described shaft coupling A3-3 one end is connected with the output shaft of motor 3-1, the other end and the axle of torque sensor 3-4
Be connected, described torque sensor 3-4 is fixed on torque sensor bearing 3-5, described torque sensor bearing 3-5 with under
Housing 2-1 is connected, and described ball spline shaft A3-7 is connected with torque sensor 3-4 by shaft coupling B3-6, described rolling
Being equipped with ball spline shaft A3-7 in spline set A3-8, described ball spline sleeve A3-8 is assemblied in ball spline pair sleeve
In A3-9, the other end of described ball spline pair sleeve A3-9 is provided with axle, and axle is matched with lower gear 3-10 by key
Closing, the inner ring of described linear bearing A3-11 coordinates with the axle of ball spline pair sleeve A3-9, and linear axis pressure-bearing is passed through in its outer ring
Lid A3-13 is fixed on linear bearing carriage A3-12, and described left side circlip 3-14 is arranged on ball spline pair sleeve
In the outside groove of the axle of A3-9, described linear bearing carriage A3-12 is connected on lower house 2-1；
Described body upper part part 3B by electromagnetic clutch 3-15, electromagnetic clutch bearing 3-16, right side circlip 3-17,
Ball spline pair sleeve B3-18, ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, conical surface seal wire press from both sides
Tight device 3-22, gear 3-23, force transmission shaft 3-24, linear bearing B3-25, linear bearing carriage B3-26, force plate 3-27,
Thrust bearing 3-28, cone 3-29, slide block 3-30, slide rail 3-31, Dynamometric support 3-32, force transducer fixed mount 3-33, biography
Power nail 3-34, force transducer 3-35 composition, described electromagnetic clutch 3-15 is arranged on electromagnetic clutch bearing 3-16, institute
The electromagnetic clutch bearing 3-16 stated is connected on lower house 2-1, and one end of described ball spline pair sleeve B3-18 is provided with
Axle, its axle is assemblied in electromagnetic clutch 3-15 by key, and described right side circlip 3-17 is arranged on ball spline secondary case
In the outside groove of the axle of cylinder B3-18, described ball spline sleeve B3-19 is assemblied in ball spline pair sleeve B3-18, institute
The ball spline shaft B3-20 stated is assemblied in ball spline sleeve B3-19, one end of described shaft coupling C3-21 and ball spline
Axle B3-20 is connected, and the other end is connected with conical surface seal wire binding clasp 3-22, described conical surface seal wire binding clasp 3-22 and gear
The endoporus of 3-23 matches, and described force transmission shaft 3-24 and gear 3-23 is connected, and described force transmission shaft 3-24 passes through linear axis
Holding B3-25 to be arranged on linear bearing carriage B3-26, described force plate 3-27 upper end is provided with U-type groove, and makes power transmission
Axle 3-24 passes U-type groove, and described thrust bearing 3-28 is pressed on force plate 3-27, and is arranged on and linear bearing B3-25
Relative side, described cone 3-29 is provided with through hole, and through hole is through force transmission shaft 3-24, and described cone 3-29 is upper
Matching with the conical surface pressing plate 2-4 during housing 2-2 Guan Bi, described force plate 3-27 lower end is connected with slide block 3-30 by screw,
Described slide block 3-30 is assemblied in slide rail 3-31, and described slide rail 3-31 is arranged on Dynamometric support 3-32, described dynamometry
Bearing 3-32 is connected on lower house 2-1, and described force transducer 3-35 is assemblied in force transducer fixed mount 3-33, and leads to
Crossing power transmission nail 3-34 to be connected with force plate 3-27, described force transducer fixed mount 3-33 is bolted on lower house 2-1
On, described gear 3-23 is meshed with lower gear 3-10；
Described telescoping mechanism 4 is by left socle 4-1, left ball hinged support 4-2, left ball pivot ball part 4-3, right support 4-4, right ball
Hinged-support 4-5, right ball pivot ball part 4-6, expansion link 4-7 composition, described left socle 4-1 and lower house 2-1 is connected, institute
The right support 4-4 stated is connected with operating-table, and described left socle 4-1 is provided with left ball hinged support 4-2, described right support 4-4
On be provided with right ball hinged support 4-5, described left ball pivot ball part 4-3 and be assemblied in left ball hinged support 4-2, described right ball pivot
Ball part 4-6 is assemblied in right ball hinged support 4-5, the two ends of described expansion link 4-7 connect respectively left ball pivot ball part 4-3 and
Right ball pivot ball part 4-6；
Described locking switching mechanism 5 is by base plate 5-1, left plate 5-2, right plate 5-3, epipleural 5-4, flexible pipe 5-5, pressure
Plate 5-6, electric magnet 5-7 form, and described base plate 5-1 is connected with operating-table, and described left plate 5-2 and right plate 5-3 leads to
Crossing and be bolted on base plate 5-1, described epipleural 5-4 one end is fixed on left plate 5-2, and the other end is fixed on right plate
On 5-3, described electric magnet 5-7 is between left plate 5-2 and right plate 5-3, and is connected with base plate 5-1 bottom it, institute
Being provided with pressing plate 5-6 on the push rod of the electric magnet 5-7 stated, described epipleural 5-4 lower end is provided with through hole, is provided with in through hole
Flexible pipe 5-5, through seal wire 6 in described flexible pipe 5-5.
The side of described conical surface pressing plate 2-4 is the circular arc conical surface, and is provided with rotatable steel ball in the conical surface.
When described electromagnetic clutch 3-15 connects electricity, Internal and external cycle separates, and during power-off, Internal and external cycle engages.
The axle of described ball spline shaft B3-20 is hollow axle.
Described force transmission shaft 3-24 is provided with through hole along himself axis.
Described force transducer 3-35 is pulling force sensor.
Described expansion link 4-7 is in series by the hollow pipe that stepped diameters is different.
A kind of principal and subordinate's intervention operation robot is from the control method of end operation device, including following rate-determining steps:
(1) mounting or dismounting of seal wire:
The installation of seal wire: open upper shell 2-2, by the electromagnetic clutch 3-15 being assembled together, ball spline pair sleeve B3-18,
Ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, conical surface seal wire binding clasp 3-22, gear 3-23,
Force transmission shaft 3-24, linear bearing B3-25 take out from lower house 2-1, and seal wire head is sequentially passed through flexible pipe 5-5, expansion link
4-7, ball spline pair sleeve B3-18, ball spline sleeve B3-19, ball spline shaft B3-20, shaft coupling C3-21, the conical surface are led
Silk binding clasp 3-22, gear 3-23, force transmission shaft 3-24 and flexible pipe 5-5, be then returned in lower house 2-1, closes upper casing
Body 2-2 so that conical surface pressing plate 2-4, linear bearing pressing plate 2-5 and electromagnetic clutch pressing plate 2-6 on upper shell 2-2 press respectively
On cone 3-29, linear bearing B3-25 and electromagnetic clutch 3-15, it is carried out radially fixed；
The dismounting of seal wire: the step of seal wire dismounting is contrary with the step that seal wire is installed；
(2) clamping of seal wire with loosen:
The clamping of seal wire: electromagnetic clutch 3-15 power-off, its Internal and external cycle engages so that one end of conical surface seal wire binding clasp 3-22
Fixing, motor 3-1 is energized, by shaft coupling A3-3, torque sensor 3-4, shaft coupling B3-6, ball spline shaft A3-7,
Ball spline sleeve A3-8, ball spline pair sleeve A3-9, drive lower gear 3-10 to rotate, thus drive gear 3-23, make
The other end obtaining conical surface seal wire binding clasp 3-22 rotates along with the rotation of gear 3-23, and then clamping seal wire；
Loosening of seal wire: seal wire loosen control with seal wire clamp rate-determining steps contrary, first by electromagnetic clutch 3-15 power-off,
Make motor 3-1 energising reversion again；
(3) rotation of seal wire controls:
When seal wire is in clamped condition, electromagnetic clutch 3-15 is energized so that one end of conical surface seal wire binding clasp 3-22 is in certainly
By state, motor 3-1 is energized, and according to concrete control signal, drives gear 3-23 and conical surface seal wire binding clasp 3-22 to turn
It is dynamic, so that seal wire rotates certain angle；
(4) propelling movement of seal wire/withdraw control:
Locking switching mechanism 5 near patient end is started working, electric magnet 5-7 power-off so that pressing plate 5-6 moves downward, and puts
Soft pipe 5-5 so that seal wire front end is in free state, the locking switching mechanism 5 away from patient end is started working subsequently, electromagnetism
Ferrum 5-7 power-off so that pressing plate 5-6 moves downward, loosens flexible pipe 5-5 so that seal wire rear end is in free state；
Slide unit motor 1-2 energising is started working, according to concrete advance/withdraw signal so that slide unit motor 1-2 forward or reverse,
Slide unit 1-4 advanced or retreats, driving body 3 advance or retreat, so that seal wire realizes pushing or withdrawing；
When slide unit 1-4 moves to the base 1-1 extreme position near patient end, and when needing to continue to push seal wire forward, slide unit
Motor 1-2 stops operating so that seal wire stops pushing；Near the locking switching mechanism 5 switch operating state of patient end, electromagnetism
Ferrum 5-7 is energized so that pressing plate 5-6 moves upward, squeezing tube 5-5 so that seal wire front end is in on-position；Meanwhile,
Locking switching mechanism 5 away from patient end makes electric magnet 5-7 remain powered off state；And utilize seal wire in step (2) to loosen
Control method, loosen seal wire；Now slide unit motor 1-2 energising rotates backward, and drives slide unit 1-4 to retreat, and now seal wire is solid
Fixed, base 1-1 moves to the extreme position away from patient end；The control method of seal wire clamping, clamping in recycle step (2)
Seal wire；Hereafter near the locking switching mechanism 5 switch operating state of patient end, electric magnet 5-7 power-off so that pressing plate 5-6 to
Lower motion, loosens flexible pipe 5-5, and the locking switching mechanism 5 away from patient end continues to keep the duty of original power-off；Finally
Slide unit motor 1-2 is energized, and according to concrete signal, it is achieved rotating, thus drives seal wire again to realize pushing or withdrawing；
When slide unit 1-4 moves to the base 1-1 extreme position away from patient end, and need to continue seal wire from extracting out in the patient
Time, slide unit motor 1-2 stops operating so that seal wire stops pushing；Locking switching mechanism 5 switch operating shape away from patient end
State, electric magnet 5-7 is energized so that pressing plate 5-6 moves upward, squeezing tube 5-5 so that seal wire rear end is in on-position；
Meanwhile, the locking switching mechanism 5 near patient end makes electric magnet 5-7 remain powered off state；And utilize step (2)
The control method that middle seal wire loosens, loosens seal wire；Now slide unit motor 1-2 energising rotates forward, and drives slide unit 1-4 to advance,
Now seal wire is fixed, and base 1-1 moves to the extreme position near patient end；The control of seal wire clamping in recycle step (2)
Method, clamps seal wire；Hereafter away from the locking switching mechanism 5 switch operating state of patient end, electric magnet 5-7 power-off so that
Pressing plate 5-6 moves downward, and loosens flexible pipe 5-5, and the locking switching mechanism 5 of close patient end continues to keep the work of original power-off
State；Last slide unit motor 1-2 energising, according to control signal, it is achieved reversion, thus drives seal wire to continue from taking out in the patient
Go out；
(5) coordinated signals of seal wire:
When seal wire needs to realize complete operation technique action, alternately implement step (2), (3), (4), it is achieved coordinated signals,
Complete operation.
Claims (5)
1. principal and subordinate's intervention operation robot is from end operation device, it is characterised in that include mobile platform (1), housing (2),
Body (3), telescoping mechanism (4), locking switching mechanism (5), seal wire (6), described housing (2) is arranged on mobile platform
(1), on base (1-1), described body (3) is assemblied in housing (2), described telescoping mechanism (4) one end with
Housing (2) is connected, and the other end is connected with operating-table, and described locking switching mechanism (5) number is 2, is separately positioned on
Housing (2) and the outside of telescoping mechanism (4), described seal wire (6) sequentially passes through locking switching machine in operation direction of feed
Structure (5), housing (2), body (3), telescoping mechanism (4) and locking switching mechanism (5),
Described mobile platform (1) is made up of base (1-1), slide unit motor (1-2), screw mandrel (1-3), slide unit (1-4),
Described base (1-1) is connected on operating-table, and described slide unit motor (1-2) is arranged on the end of base (1-1), institute
Being provided with screw mandrel (1-3) on the front end of the base (1-1) stated, described screw mandrel (1-3) is by decelerator and slide unit motor (1-2)
Output shaft be connected, described slide unit (1-4) is provided with screwed hole, and matches with the screw thread of screw mandrel (1-3)；
Described housing (2) is by lower house (2-1), upper shell (2-2), hinge (2-3), conical surface pressing plate (2-4), straight line
Bearing plate (2-5), electromagnetic clutch pressing plate (2-6) form, and described lower house (2-1) is by bolt and base (1-1)
Being connected, it is hinged that described upper shell (2-2) and lower house (2-1) pass through hinge (2-3), described conical surface pressing plate (2-4),
Linear bearing pressing plate (2-5) is all connected with upper shell (2-2) by screw with electromagnetic clutch pressing plate (2-6), and conical surface pressure
The axis of plate (2-4), linear bearing pressing plate (2-5) and electromagnetic clutch pressing plate (2-6) is on the same line；
Described body (3) includes body lower part part (3A) and body upper part part (3B),
Described body lower part part (3A) is by motor (3-1), motor support base (3-2), shaft coupling A (3-3), moment sensing
Device (3-4), torque sensor bearing (3-5), shaft coupling B (3-6), ball spline shaft A (3-7), ball spline sleeve A (3-8),
Ball spline pair sleeve A (3-9), lower gear (3-10), linear bearing A (3-11), linear bearing carriage A (3-12),
Linear bearing gland A (3-13), left side circlip (3-14) form, and described motor (3-1) is fixed by screws in electricity
On machine bearing (3-2), described motor support base (3-2) is connected on lower house (2-1), described shaft coupling A (3-3)
One end is connected with the output shaft of motor (3-1), and the other end is connected with the axle of torque sensor (3-4), described moment sensing
Device (3-4) is fixed on torque sensor bearing (3-5), described torque sensor bearing (3-5) and lower house (2-1)
Being connected, described ball spline shaft A (3-7) is connected with torque sensor (3-4) by shaft coupling B (3-6), described
Being equipped with ball spline shaft A (3-7) in ball spline sleeve A (3-8), described ball spline sleeve A (3-8) is assemblied in ball
In spline pair sleeve A (3-9), the other end of described ball spline pair sleeve A (3-9) is provided with axle, and axle passes through key
Match with lower gear (3-10), the inner ring of described linear bearing A (3-11) and ball spline pair sleeve A (3-9)
Axle coordinates, and its outer ring is fixed on linear bearing carriage A (3-12) by linear bearing gland A (3-13), described left side
In the outside groove of the axle that circlip (3-14) is arranged on ball spline pair sleeve A (3-9), described linear bearing carriage
A (3-12) is connected on lower house (2-1)；
Described body upper part part (3B) is by electromagnetic clutch (3-15), electromagnetic clutch bearing (3-16), right side elasticity gear
Circle (3-17), ball spline pair sleeve B (3-18), ball spline sleeve B (3-19), ball spline shaft B (3-20), shaft coupling
Device C (3-21), conical surface seal wire binding clasp (3-22), gear (3-23), force transmission shaft (3-24), linear bearing B (3-25),
Linear bearing carriage B (3-26), force plate (3-27), thrust bearing (3-28), cone (3-29), slide block (3-30), cunning
Rail (3-31), Dynamometric support (3-32), force transducer fixed mount (3-33), power transmission nail (3-34), force transducer (3-35)
Composition, described electromagnetic clutch (3-15) is arranged on electromagnetic clutch bearing (3-16), and described electromagnetic clutch props up
Seat (3-16) is connected on lower house (2-1), and one end of described ball spline pair sleeve B (3-18) is provided with axle, its
Axle is assemblied in electromagnetic clutch (3-15) by key, and described right side circlip (3-17) is arranged on ball spline secondary case
In the outside groove of the axle of cylinder B (3-18), described ball spline sleeve B (3-19) is assemblied in ball spline pair sleeve B (3-18)
In, the axle of described ball spline shaft B (3-20) is hollow axle, and it is assemblied in ball spline sleeve B (3-19), described
One end of shaft coupling C (3-21) is connected with ball spline shaft B (3-20), the other end and conical surface seal wire binding clasp (3-22) phase
Even, described conical surface seal wire binding clasp (3-22) matches with the endoporus of gear (3-23), described force transmission shaft (3-24)
Being provided with through hole along himself axis, it is connected with gear (3-23), and described force transmission shaft (3-24) passes through linear bearing B
(3-25) being arranged on linear bearing carriage B (3-26), described force plate (3-27) upper end is provided with U-type groove, and makes
Obtaining force transmission shaft (3-24) and pass U-type groove, described thrust bearing (3-28) is pressed on force plate (3-27), and is arranged on
The side relative with linear bearing B (3-25), described cone (3-29) is provided with through hole, and through hole is through force transmission shaft (3-24),
Described cone (3-29) matches with conical surface pressing plate (2-4) when upper shell (2-2) closes, described force plate (3-27)
Lower end is connected with slide block (3-30) by screw, and described slide block (3-30) is assemblied in slide rail (3-31), described slide rail
(3-31) being arranged on Dynamometric support (3-32), described Dynamometric support (3-32) is connected on lower house (2-1), institute
The force transducer (3-35) stated is assemblied in force transducer fixed mount (3-33), and by power transmission nail (3-34) and force plate (3-27)
Being connected, described force transducer fixed mount (3-33) is bolted on lower house (2-1), described gear (3-23)
It is meshed with lower gear (3-10)；
Described telescoping mechanism (4) is by left socle (4-1), left ball hinged support (4-2), left ball pivot ball part (4-3), the right side
Frame (4-4), right ball hinged support (4-5), right ball pivot ball part (4-6), expansion link (4-7) form, described left socle (4-1)
Being connected with lower house (2-1), described right support (4-4) is connected with operating-table, and described left socle (4-1) is provided with
Left ball hinged support (4-2), described right support (4-4) is provided with right ball hinged support (4-5), described left ball pivot ball part
(4-3) being assemblied in left ball hinged support (4-2), described right ball pivot ball part (4-6) is assemblied in right ball hinged support (4-5)
In, the two ends of described expansion link (4-7) connect left ball pivot ball part (4-3) and right ball pivot ball part (4-6) respectively；
Described locking switching mechanism (5) by base plate (5-1), left plate (5-2), right plate (5-3), epipleural (5-4),
Flexible pipe (5-5), pressing plate (5-6), electric magnet (5-7) form, and described base plate (5-1) is connected with operating-table, a described left side
Side plate (5-2) and right plate (5-3) are bolted on base plate (5-1), and described epipleural (5-4) one end is fixed
On left plate (5-2), the other end is fixed on right plate (5-3), and described electric magnet (5-7) is positioned at left plate (5-2)
And between right plate (5-3), and be connected with base plate (5-1) bottom it, the push rod of described electric magnet (5-7) is provided with
Pressing plate (5-6), described epipleural (5-4) lower end is provided with through hole, is provided with flexible pipe (5-5), described flexible pipe in through hole
(5-5) through seal wire (6) in.
A kind of principal and subordinate's intervention operation robot the most according to claim 1 is from end operation device, it is characterised in that described
The side of conical surface pressing plate (2-4) is the circular arc conical surface, and is provided with rotatable steel ball in the conical surface.
A kind of principal and subordinate's intervention operation robot the most according to claim 1 is from end operation device, it is characterised in that described
When electromagnetic clutch (3-15) connects electricity, Internal and external cycle separates, and during power-off, Internal and external cycle engages.
A kind of principal and subordinate's intervention operation robot the most according to claim 1 is from end operation device, it is characterised in that described
Force transducer (3-35) is pulling force sensor.
A kind of principal and subordinate's intervention operation robot the most according to claim 1 is from end operation device, it is characterised in that described
Expansion link (4-7) is in series by the hollow pipe that stepped diameters is different.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161473.4U CN205459039U (en) | 2016-03-03 | 2016-03-03 | Principal and subordinate intervenes surgery robot from end operating means |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620161473.4U CN205459039U (en) | 2016-03-03 | 2016-03-03 | Principal and subordinate intervenes surgery robot from end operating means |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205459039U true CN205459039U (en) | 2016-08-17 |
Family
ID=56659095
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620161473.4U Withdrawn - After Issue CN205459039U (en) | 2016-03-03 | 2016-03-03 | Principal and subordinate intervenes surgery robot from end operating means |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205459039U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105796179A (en) * | 2016-03-03 | 2016-07-27 | 北京理工大学 | Master-slave intervention operation robot slave side operating device and control method thereof |
| CN113393724A (en) * | 2021-06-09 | 2021-09-14 | 南方医科大学深圳医院 | Device and method for training electrosurgical operation equipment of newly-entered surgical room nurse |
| CN113499018A (en) * | 2021-08-23 | 2021-10-15 | 郑州大学 | Endoscope body pushing device and digestive endoscope robot |
-
2016
- 2016-03-03 CN CN201620161473.4U patent/CN205459039U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105796179A (en) * | 2016-03-03 | 2016-07-27 | 北京理工大学 | Master-slave intervention operation robot slave side operating device and control method thereof |
| CN113393724A (en) * | 2021-06-09 | 2021-09-14 | 南方医科大学深圳医院 | Device and method for training electrosurgical operation equipment of newly-entered surgical room nurse |
| CN113393724B (en) * | 2021-06-09 | 2022-04-26 | 南方医科大学深圳医院 | Device and method for training electrosurgical operation equipment of newly-entered surgical room nurse |
| CN113499018A (en) * | 2021-08-23 | 2021-10-15 | 郑州大学 | Endoscope body pushing device and digestive endoscope robot |
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Granted publication date: 20160817 Effective date of abandoning: 20180518 |