CN208114648U - A kind of digestive endoscopy robot and digestive endoscopy using mechanical arm - Google Patents
A kind of digestive endoscopy robot and digestive endoscopy using mechanical arm Download PDFInfo
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- CN208114648U CN208114648U CN201720509905.0U CN201720509905U CN208114648U CN 208114648 U CN208114648 U CN 208114648U CN 201720509905 U CN201720509905 U CN 201720509905U CN 208114648 U CN208114648 U CN 208114648U
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Abstract
The utility model relates to medical instruments fields, disclose a kind of digestive endoscopy robot and digestive endoscopy using mechanical arm, wherein robot includes lantern ring, first mechanical arm, second mechanical arm and several driving ropes, under the driving of respective drive rope, first mechanical arm can bend with second mechanical arm, and first mechanical arm and/or second mechanical arm can be with respect to lantern rings along the axial movement of lantern ring.The utility model is provided with mechanical arm, mechanical arm can issue flexible motion in the driving of driving rope, to drive surgical instrument relative to digestive endoscopy self-movement, compared to the mode that digestive endoscopy drives surgical instrument movement, digestive endoscopy can be remain stationary in the utility model, surgical instrument can the self-movement under the drive of corresponding mechanical arm, thereby may be ensured that the kinematic accuracy of surgical instrument, space needed for reducing surgical instrument movement, extends the scope of application of digestive endoscopy.
Description
Technical field
The utility model relates to medical instruments fields, are specifically related to a kind of digestive endoscopy end auxiliary device, the device
The mountable digestive endoscopy end in different size realizes that surgical instrument is move freely in scope therapeutic process, this is practical
It is novel to further relate to a kind of digestive endoscopy using above-mentioned digestive endoscopy end auxiliary device.
Background technique
With the development of technology, digestive endoscopy is increasingly used in the diagnosis of disease, treatment.Digestive endoscopy usually wraps
Light source, object lens and instrument channel are included, wherein for being imaged, light source is used to illuminate tissue, device in object lens imaging object lens
Tool channel is then used to guide surgical instrument (such as electric knife).In use, digestive endoscopy is protruded into patient's body along body cavities first
It is interior, then surgical instrument is inserted into the instrument channel of digestive endoscopy, and move to lesion locations along instrument channel.Due to operation
Instrument needs continually adjustment direction and angle in operation, and surgical instrument itself does not have power, therefore the prior art
In generally use the scheme that surgical instrument movement is driven by the movement of digestive endoscopy, however such scheme is difficult to realize surgical device
The flexible deflecting of tool, while precision is also difficult to ensure, in addition, digestive endoscopy movement needs biggish space, is being actually used
There are more limitations in journey.
Utility model content
In order to overcome the limitation of surgical instrument movement mode in the prior art, improves surgical instrument in the prior art and be difficult to
Realize the problems such as flexible deflecting, kinematic accuracy are low, space hold is big, the utility model is provided in a kind of digestion using mechanical arm
The digestive endoscopy of the robot of mirror robot and application.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of digestive endoscopy robot using mechanical arm, including lantern ring, first mechanical arm, second mechanical arm and several
Driving rope, under the driving of respective drive rope, first mechanical arm can bend with second mechanical arm, and first mechanical arm with/
Or second mechanical arm can be with respect to lantern ring along the axial movement of lantern ring.
Mode as a further improvement of the foregoing solution, first mechanical arm include the first arm section, the second arm section and third arm
Section, wherein the first arm section is connect with lantern ring, and the second arm section can be rotated relative to the first arm section, and third arm section can be with respect to the second arm section
Rotation.
Mode as a further improvement of the foregoing solution, the second arm section include axle sleeve, and the circumference of axle sleeve is equipped with pin hole,
Driving rope is wound around on the circumference of axle sleeve, is connected with bolt on driving rope, bolt is plugged in pin hole, so that the second arm section can
Axis rotation of the opposite first arm section around axle sleeve with drawing back and forth for driving rope.
Mode as a further improvement of the foregoing solution, third arm section include turntable, and the circumference of turntable is equipped with driving rope
Slot, driving rope are located in driving rope groove so that third arm section can with the traction back and forth of driving rope and opposite second arm section around turntable
Axis rotation.
Mode as a further improvement of the foregoing solution, second mechanical arm include five arm section of the 4th arm Duan Yu, wherein the
Four arm sections are connect with lantern ring, and the 5th arm section can be rotated relative to the 4th arm section；Second mechanical arm can be with respect to lantern ring along the axial direction of lantern ring
Movement.
Mode as a further improvement of the foregoing solution, lantern ring are equipped with axial through-hole, and the 4th arm section includes that sliding is inserted
Connecing the plug division in through-hole, driving rope is affixed with the 4th arm section, it is additionally provided with elastic component between second mechanical arm and lantern ring, second
Mechanical arm can be resetted by elastic component.
Mode as a further improvement of the foregoing solution, the 5th arm section includes axle sleeve, and the circumference of axle sleeve is equipped with pin hole,
Driving rope is wound around on the circumference of axle sleeve, is connected with bolt thereon, bolt is plugged in pin hole, so that the 5th arm section can be with drive
The axis rotation of drawing back and forth for running rope and opposite 4th arm section around axle sleeve.
The center of mode as a further improvement of the foregoing solution, lantern ring is equipped with axial first through hole, and lantern ring is equipped with
Cord hole, the second through-hole, third through-hole, the first threaded hole and the second threaded hole are driven, cord hole, the second through-hole and third through-hole are along set
The axial setting of ring, the first threaded hole is vertical with the second through-hole and is connected to second through-hole, diameter of second threaded hole along lantern ring
To setting.
Mode as a further improvement of the foregoing solution further includes the bourdon tube being fixed in the first arm section, for driving
Bourdon tube of the driving rope of second arm section rotation in the first arm section；
And/or the bourdon tube including being fixed in the second arm section, the driving rope for driving third arm section to rotate is across the
Bourdon tube in two arm sections；
And/or the bourdon tube including being fixed on lantern ring, for driving the driving rope of second mechanical arm axially movable to wear
Cross the bourdon tube on lantern ring；
And/or the bourdon tube including being fixed in the 4th arm section, the driving rope for driving the 5th arm section to rotate is across the
Bourdon tube in four arm sections.
A kind of digestive endoscopy, the front end including protruding into human body further include the above-mentioned digestive endoscopy machine using mechanical arm
People, robot are socketed on front end by lantern ring, are connected with surgical instrument in first mechanical arm and second mechanical arm.
The utility model has the beneficial effects that：
The utility model is provided with mechanical arm, and mechanical arm can issue flexible motion in the driving of driving rope, to drive
Surgical instrument is relative to digestive endoscopy self-movement, and compared to the mode that digestive endoscopy drives surgical instrument movement, this is practical new
Digestive endoscopy can be remain stationary in type, surgical instrument can the self-movement under the drive of corresponding mechanical arm, so as to protect
The kinematic accuracy of surgical instrument is demonstrate,proved, space needed for reducing surgical instrument movement extends the scope of application of digestive endoscopy；
In the preferred embodiment of the utility model, driving rope carries out limition orientation by bourdon tube, avoids driving rope
Between wind；
In the preferred embodiment of the utility model, robot further includes the surgical instrument for executing surgical procedure；
In the preferred embodiment of the utility model, surgical instrument is respectively electric knife and gripper clamp, by different instruments it
Between combination the step of can simplify surgical procedure, shorten operating time.
Detailed description of the invention
The present invention will be further described with reference to the accompanying drawings and examples.
Fig. 1 is the stereoscopic schematic diagram of the utility model digestive endoscopy robot one embodiment；
Fig. 2 is the stereoscopic schematic diagram of the utility model lantern ring one embodiment；
Fig. 3 is the stereoscopic schematic diagram of the utility model first mechanical arm one embodiment；
Fig. 4 is the decomposition diagram of the utility model first mechanical arm one embodiment；
Fig. 5 is the stereoscopic schematic diagram of the utility model second mechanical arm one embodiment；
Fig. 6 is the schematic diagram that the utility model digestive endoscopy robot is connect with surgical instrument；
Fig. 7 is the stereoscopic schematic diagram of the utility model digestive endoscopy.
Specific embodiment
It is carried out below with reference to technical effect of the embodiment and attached drawing to the design of the utility model, specific structure and generation
Clear, complete description, to be completely understood by the purpose of this utility model, scheme and effect.It should be noted that not conflicting
In the case where, the features in the embodiments and the embodiments of the present application can be combined with each other.
It should be noted that unless otherwise specified, when a certain feature referred to as " fixation ", " connection " are in another feature,
It can directly fix, be connected to another feature, and can also fix, be connected to another feature indirectly.In addition, this
The descriptions such as up, down, left, right, before and after used in utility model are only relative to each composition portion of the utility model in attached drawing
For the mutual alignment relation divided.
In addition, unless otherwise defined, the technology of all technical and scientific terms used herein and the art
The normally understood meaning of personnel is identical.Term used in the description is intended merely to description specific embodiment herein, without
It is to limit the utility model.Term " and or " used herein includes appointing for one or more relevant listed items
The combination of meaning.
Referring to Fig.1, the stereoscopic schematic diagram of the utility model robot one embodiment is shown.As shown, in digestion
Mirror robot includes lantern ring 100, first mechanical arm 200, second mechanical arm 300 and several driving ropes, and wherein lantern ring 100 is used for
Realize the connection of robot and external equipment such as digestive endoscopy, first mechanical arm 200 and second mechanical arm 300 for installing operation
Instrument, and surgical instrument flexible motion, first mechanical arm 200 and second mechanical arm 300 are driven under the driving of respective drive rope
Movement include but is not limited to：The bending of itself and first mechanical arm 200 and/or second mechanical arm 300 are with respect to lantern ring 100
The movement axial along lantern ring 100.
Specifically, showing the stereoscopic schematic diagram of the utility model lantern ring one embodiment referring to Fig. 2.As shown, set
The centre of ring 100 is equipped with the through-hole 101 (i.e. above-mentioned first through hole) passed through for digestive endoscopy, sets on the ontology of lantern ring 100
There are axial through-hole 102 (i.e. above-mentioned second through-hole) and through-hole 103 (i.e. above-mentioned third through-hole), the week of through-hole 102 and through-hole 103
It encloses and is additionally provided with several axial driving cord hole 104, in addition, being additionally provided on the ontology of lantern ring 100 several vertical with above-mentioned axially extending bore
Straight threaded hole, including the threaded hole 105 (i.e. above-mentioned first threaded hole) being connected to through-hole 102, and along 100 ontology diameter of lantern ring
To the threaded hole 106 (i.e. above-mentioned second threaded hole) of setting.
Referring to Fig. 3, Fig. 4, respectively illustrates the stereoscopic schematic diagram of the utility model first mechanical arm one embodiment and divide
Solve schematic diagram.As shown, first mechanical arm 200 includes the first arm section 210, the second arm section 220 and third arm section 230, wherein
Second arm section 220 can be rotated relative to the first arm section 210, and third arm section 230 can rotate 220 relative to the second arm section, to realize the
The bending of one mechanical arm 200.Preferably, the rotation direction of the second arm section 220 is vertical with the rotation direction of third arm section 230, from
And realize the flexible deflecting of first mechanical arm 200.
First arm section 210 preferably includes the hinged seat 211 for connecting with the second arm section 220, and is used for and lantern ring 100
The inserted terminal 212 of connection.Inserted terminal 212 is inserted into the through-hole 102 on lantern ring 100, and the screw by being spun in threaded hole 105
It is fastened.
Second arm section 220 includes the interconnecting piece 223 of axle sleeve 221, axle sleeve 222 and connecting bushing 221, axle sleeve 222, axle sleeve
221 are preferably mutually perpendicular to the axle center of axle sleeve 222.The circumferential direction setting along axle sleeve 221 is equipped between axle sleeve 221 and interconnecting piece 223
Driving rope groove 224, be additionally provided with pin hole 225 on the circumference of axle sleeve 221.Axle sleeve 222 is equipped with bearing hole 226.
Third arm section 230 preferably includes the company of mounting collar 231, turntable 232 and connection mounting collar 231, turntable 232
Socket part 233.The circumference of turntable 232 is equipped with driving rope groove 234.
As the preferred embodiment of arm section each in first mechanical arm rotation connection, set on the hinged seat 211 of the first arm section
There is shaft 241, shaft 241 is plugged in the axle sleeve 221 of the second arm section 220.The interconnecting piece 233 of third arm section 230 is plugged on
In the axle sleeve 222 of two arm sections 220, and 242 flexible rotating of bearing by being mounted in bearing hole 226.
Several driving ropes that driving first mechanical arm is also shown in Fig. 3 specifically include the driving of the second arm section 220 of driving
The driving rope 302 of rope 301 and driving third arm section 230.It is fixed with bolt 243 by modes such as welding on driving rope 301, is driven
Rope 301 is set in the driving rope groove 224 of the second arm section 220, and bolt 243 is inserted into pin hole 225.In this way, with driving rope 301
Traction back and forth, bolt 243 can drive the opposite first arm section 210 of the second arm section 220 around the axis rotation of axle sleeve 221.
Driving rope 302 is located in the driving rope groove 234 of turntable 232, and with the traction back and forth of driving rope 302, turntable 232 is just
The opposite second arm section 220 of entire third arm section 230 can be driven around the axis rotation of axle sleeve 222 under the action of frictional force.
The utility model is preferably also provided with bourdon tube, and the installation site of bourdon tube need to meet some requirements：It can at two
Between component relative motion occurs, bourdon tube is connect with opposing stationary component, to guarantee that bourdon tube leans on as much as possible
The position being attached on nearly respective drive rope with the component being driven.Specific in figure, bourdon tube includes being fixed on first
Bourdon tube 401 in arm section 210 and the bourdon tube 402 being fixed in the second arm section 220.Wherein bourdon tube 401 and bourdon tube
402 be two, and the both ends of driving rope 301 are passed through from bourdon tube 401 respectively, and the both ends of driving rope 302 are respectively from bourdon tube
It is passed through in 402.Bourdon tube has certain intensity, while elastic reset can occur upon bending again, so as to restrict to driving
Guide and limit is carried out, avoids winding between driving rope.
Referring to Fig. 5, the stereoscopic schematic diagram of the utility model second mechanical arm one embodiment is shown.As shown, the
Two mechanical arms 300 include the 4th arm section 310 and the 5th arm section 320, and the 5th arm section 320 can be rotated relative to the 4th arm section 310, with reality
The bending of existing second mechanical arm 300.
4th arm section 310 includes hinged seat 311 and plug division 312, and the two sides of hinged seat 311 are equipped with driving rope attachment base
313.Plug division 312 is inserted into the through-hole 103 on lantern ring 100, while second mechanical arm 300 can also pass through 312 phase of plug division
Axially movable to lantern ring 100, since driving rope can only give the active force of second mechanical arm 300 in one direction, this is practical
The novel elastic component (preferably using spring 330 in the present embodiment) being preferably also provided with for second mechanical arm reset, 330 sets of spring
The outside in plug division 312 is connect, and is set between the 4th arm section 310 and lantern ring 100.
5th arm section 320 includes the interconnecting piece 323 of axle sleeve 321, hinged seat 322 and connecting bushing 321, hinged seat 322.Hinge
It is connected between joint chair 311 and axle sleeve 321 by shaft, to realize the 5th arm section 320 relative to the rotation of the 4th arm section 310.
It is whole along axial direction to specifically include driving second mechanical arm for the driving rope that driving second mechanical arm is also shown in Fig. 5
The driving rope 304 of the driving rope 303 of movement and driving the 5th arm section 320 rotation.Driving rope 303 preferably two, respectively with hinge
The driving rope attachment base 313 of 311 two sides of joint chair is fixedly connected with force balance.The connection of driving rope 304 and the 5th arm section 320 is closed
System and above-mentioned driving rope 301 are identical as the connection relationship of the second arm section 220, i.e. the bolt band by being fixed on driving rope 304
Dynamic 5th arm section rotation, this will not be detailed here.
It is again provided with the bourdon tube for driving rope limition orientation in second mechanical arm, specifically includes and is fixed on lantern ring 100
On bourdon tube 403 and the bourdon tube 404 that is fixed in the 4th arm section 310, wherein bourdon tube 403 and bourdon tube 404 are two
Root, driving rope 303 pass through bourdon tube 403, and the both ends of driving rope 304 pass through bourdon tube 404.
Connection type between above-mentioned driving rope and respective arms section can be with unrestricted choice, for example driving rope can be such as driving the
Three arm sections equally pass through the rotation of frictional force drives the second arm section, and similarly driving rope can also pass through slotting as the second arm section of driving
The cooperation driving third arm section rotation of pin and pin hole, the utility model are not especially limited this.
Referring to Fig. 6, the schematic diagram that the utility model robot is connect with surgical instrument is shown.As shown, the first machine
It is connected separately with surgical instrument on tool arm 200, second mechanical arm 300, the so-called surgical instrument of the utility model includes but unlimited
Instrument (such as gripper clamp), drawing class instrument are clamped down on (such as in cutting dissection cutter (such as electric knife, laser knife), suture instruments, clamping
Sucker etc.) etc., it is preferred that select cutting dissection cutter and clamping to clamp down on the combination of instrument in the present embodiment, it is furthermore preferred that first
Mechanical arm 200 is connect with electric knife 510, and second mechanical arm 300 is connect with gripper clamp 520, wherein electric knife 510 is plugged on third arm
In mounting collar 231 in section 230, and can be in the axial movement of mounting collar 231, gripper clamp 520 and the 5th arm section 320
Hinged seat 322 is rotatablely connected, it is preferred that the two sides clamping jaw of gripper clamp 520 can be restricted by unshowned driving and be driven and independent turn
It is dynamic.
Referring to Fig. 7, the connection schematic diagram of the utility model digestive endoscopy and robot is shown.As shown, in digestion
Mirror includes the end 530 for protruding into inside of human body, and end 530 is equipped with object lens and light source, and end 530, object lens, light source etc. are equal
Well-known technique can be used, be not described in detail here.End 530 is equipped with unshowned instrument channel, and robot passes through 100 sets of lantern ring
It connects on end 530, and the screw by being spun in threaded hole 106 is locked.Electric knife 510 is plugged in instrument channel, is made
Used time, electric knife 510 can under the driving of first mechanical arm 200 flexible rotating, while can also be by way of manually pushing and pulling
Opposite first mechanical arm 200 is flexible to adjust opereating specification, and gripper clamp 520 similarly can flexibly be turned by second mechanical arm 300
Dynamic and adjustment opereating specification digests in the utility model for digestive endoscopy drives the mode of surgical instrument movement
Scope can be remain stationary, surgical instrument can the self-movement under the drive of corresponding mechanical arm, thereby may be ensured that surgical device
The kinematic accuracy of tool, space needed for reducing surgical instrument movement, extends the scope of application of digestive endoscopy.
It is to be illustrated to the preferable implementation of the utility model above, but described in this reality innovation and creation are not limited to
Embodiment, those skilled in the art can also make various equivalent changes without departing from the spirit of the present invention
Shape or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (11)
1. a kind of digestive endoscopy robot using mechanical arm, which is characterized in that including lantern ring, first mechanical arm, the second machinery
Arm and several driving ropes, under the driving of the corresponding driving rope, the first mechanical arm can occur curved with second mechanical arm
Song, and the first mechanical arm and/or the second mechanical arm can the relatively described lantern ring along the lantern ring axial movement.
2. the digestive endoscopy robot according to claim 1 using mechanical arm, which is characterized in that the first mechanical arm
Including the first arm section, the second arm section and third arm section, wherein the first arm section is connect with the lantern ring, the second arm section
It can be rotated relative to the first arm section, the third arm section can be rotated relative to the second arm section.
3. the digestive endoscopy robot according to claim 2 using mechanical arm, which is characterized in that the second arm section packet
Axle sleeve is included, the circumference of the axle sleeve is equipped with pin hole, and the driving rope is wound around on the circumference of the axle sleeve, the driving rope
On be connected with bolt, the bolt is plugged in the pin hole so that the second arm section can with the driving restrict back and forth
Traction and the relatively described first arm section around the axle sleeve axis rotation.
4. the digestive endoscopy robot according to claim 2 using mechanical arm, which is characterized in that the third arm section packet
Turntable is included, the circumference of the turntable is equipped with driving rope groove, and the driving rope is located in the driving rope groove, so that the third
Arm section can with it is described driving rope drawing back and forth and the relatively described second arm section around the turntable axis rotation.
5. the digestive endoscopy robot according to claim 1 using mechanical arm, which is characterized in that the second mechanical arm
Including five arm section of the 4th arm Duan Yu, wherein the 4th arm section is connect with the lantern ring, and the 5th arm section can be relatively described
The rotation of 4th arm section；The second mechanical arm can the relatively described lantern ring along the lantern ring axial movement.
6. the digestive endoscopy robot according to claim 5 using mechanical arm, which is characterized in that the lantern ring is equipped with
Axial through-hole, the 4th arm section includes plug division of the sliding plug in the through-hole, the driving rope and the described 4th
Arm section is affixed, and elastic component is additionally provided between the second mechanical arm and the lantern ring, and the second mechanical arm can pass through the bullet
Property part reset.
7. the digestive endoscopy robot according to claim 5 using mechanical arm, which is characterized in that the 5th arm section packet
Axle sleeve is included, the circumference of the axle sleeve is equipped with pin hole, and the driving rope is wound around on the circumference of the axle sleeve, is connected with thereon
Bolt, the bolt are plugged in the pin hole so that the 5th arm section can with it is described driving rope traction back and forth and phase
To the 4th arm section around the axis rotation of the axle sleeve.
8. the digestive endoscopy robot according to claim 1 using mechanical arm, which is characterized in that the center of the lantern ring
Equipped with axial first through hole, the lantern ring is equipped with driving cord hole, the second through-hole, third through-hole, the first threaded hole and second
Threaded hole, the axial direction setting of the cord hole, the second through-hole and third through-hole along the lantern ring, first threaded hole and described the
Two through-holes are vertical and are connected to second through-hole, the second threaded hole being arranged radially along the lantern ring.
9. the digestive endoscopy robot according to any one of claim 2 to 4 using mechanical arm, which is characterized in that also
Including the bourdon tube being fixed in the first arm section, for driving the driving rope of the second arm section rotation across first
The bourdon tube in arm section；
And/or the bourdon tube including being fixed in the second arm section, for driving the driving of the third arm section rotation
The bourdon tube of the rope in the second arm section；
And/or the bourdon tube including being fixed on the lantern ring, for drive the second mechanical arm axially movable described in
The bourdon tube of the driving rope on lantern ring.
10. the digestive endoscopy robot according to any one of claims 5 to 7 using mechanical arm, which is characterized in that packet
The bourdon tube being fixed in the 4th arm section is included, for driving the driving rope of the 5th arm section rotation across the 4th arm
The bourdon tube in section.
11. a kind of digestive endoscopy, the front end including protruding into human body, which is characterized in that further include any in claims 1 to 10
The digestive endoscopy robot using mechanical arm described in, the robot are socketed on the front end by the lantern ring,
Surgical instrument is connected in the first mechanical arm and second mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720509905.0U CN208114648U (en) | 2017-05-09 | 2017-05-09 | A kind of digestive endoscopy robot and digestive endoscopy using mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720509905.0U CN208114648U (en) | 2017-05-09 | 2017-05-09 | A kind of digestive endoscopy robot and digestive endoscopy using mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208114648U true CN208114648U (en) | 2018-11-20 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720509905.0U Withdrawn - After Issue CN208114648U (en) | 2017-05-09 | 2017-05-09 | A kind of digestive endoscopy robot and digestive endoscopy using mechanical arm |
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| CN (1) | CN208114648U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107041781A (en) * | 2017-05-09 | 2017-08-15 | 深圳市罗伯医疗机器人研究所 | The digestive endoscopy robot and digestive endoscopy of a kind of application mechanical arm |
| CN110432988A (en) * | 2019-08-09 | 2019-11-12 | 上海市第一人民医院 | It is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized |
| CN113786241A (en) * | 2021-10-13 | 2021-12-14 | 中南大学 | Four-freedom-degree decoupling actuator of surgical robot |
| CN113786242A (en) * | 2021-10-13 | 2021-12-14 | 中南大学 | Four-freedom-degree decoupling actuator of surgical robot |
-
2017
- 2017-05-09 CN CN201720509905.0U patent/CN208114648U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107041781A (en) * | 2017-05-09 | 2017-08-15 | 深圳市罗伯医疗机器人研究所 | The digestive endoscopy robot and digestive endoscopy of a kind of application mechanical arm |
| CN107041781B (en) * | 2017-05-09 | 2023-09-05 | 深圳市罗伯医疗科技有限公司 | Digestion endoscope robot and digestion endoscope using mechanical arm |
| CN110432988A (en) * | 2019-08-09 | 2019-11-12 | 上海市第一人民医院 | It is deployable, with telescopic arm, the miniature bladder endoscope robot that can be colonized |
| CN113786241A (en) * | 2021-10-13 | 2021-12-14 | 中南大学 | Four-freedom-degree decoupling actuator of surgical robot |
| CN113786242A (en) * | 2021-10-13 | 2021-12-14 | 中南大学 | Four-freedom-degree decoupling actuator of surgical robot |
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| TR01 | Transfer of patent right |
Effective date of registration: 20191014 Address after: 518000 1001-A, G2 Building, TCL International E City, 1001 Zhongshan Garden Road, Xili Street, Nanshan District, Shenzhen City, Guangdong Province Patentee after: SHENZHEN ROBO MEDICAL TECHNOLOGY Co.,Ltd. Address before: 2, C building, building 1, building 3, the Great Wall computer tower, No. 518000, FA FA Road, Shenzhen, Guangdong, Nanshan District Patentee before: SHENZHEN ROBO MEDICAL ROBOT Research Institute |
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Granted publication date: 20181120 Effective date of abandoning: 20230905 |
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Granted publication date: 20181120 Effective date of abandoning: 20230905 |