CN208693445U - Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus - Google Patents
Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus Download PDFInfo
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- CN208693445U CN208693445U CN201721611530.5U CN201721611530U CN208693445U CN 208693445 U CN208693445 U CN 208693445U CN 201721611530 U CN201721611530 U CN 201721611530U CN 208693445 U CN208693445 U CN 208693445U
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Abstract
The utility model discloses a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus, belong to medical equipment manufacturing technology field, the torque detecting apparatus be equipped with for realizing seal wire/conduit twist operation transmission gear, be fixedly connected with spring ring on the inner peripheral surface of transmission gear；The spring ring is connected by four spring leafs with inner ring by concentric outer ring and is formed, four spring leafs are circumferentially uniformly distributed along spring ring, form cross-shaped structure, four resistance strain gages are separately fixed on four spring leafs, and four resistance strain gages are connected as full-bridge circuit, the full-bridge circuit passes through conducting slip ring and external output signal circuit connection；The device can be realized the on-line checking from end seal wire or catheter manipulation torque, the torsional resistance of catheter guide wire be perceived convenient for doctor, and then perceive the mode of operation from end operation.
Description
Technical field
The utility model belongs to medical equipment manufacturing technology field, and in particular to a kind of Endovascular intervention operation robot
Seal wire/catheter manipulation torque detecting apparatus.
Background technique
Increasingly high-incidence cardiovascular and cerebrovascular disease seriously affects national health and social life, is Health Care in China system band
Carry out immense pressure.The minimally invasive interventional therapy of cardiovascular and cerebrovascular is the essential therapeutic arsenals for cardiovascular and cerebrovascular disease, can be reduced patient's wound
Pain is injured, post-operative recovery time is short, can effectively improve medical resource utilization rate.Conduit, seal wire are carried out by robot technology
The operation method of remote operating, can greatly improve the precision and stability of surgical procedure, while radioactive ray can be effectively reduced to master
The injury of knife doctor improves operation safety.Cardiovascular and cerebrovascular intervention operation auxiliary robot is increasingly becoming current each science and technology power
Emphasis in medical robot field researches and develops object.
Blood vessel intervention operation robot mainly uses master-slave operation structure at present, and doctor is isolated with radioactive ray, therefore,
Perception of the doctor to the surgical procedure state from end, especially the push resistance of conduit or seal wire and torsional resistance perception, opponent
Art can go on smoothly most important with operation safety；And existing blood vessel intervention operation robot focuses mostly in push-and-pull, torsion behaviour
The done with high accuracy that work acts, and the detection of push resistance, are studied from the on-line checking of end seal wire or conduit torsional moment
It is insufficient.
Utility model content
In view of this, the purpose of the utility model is to provide a kind of Endovascular intervention operation robot seal wire/conduit behaviour
Make torque detecting apparatus, can be realized the on-line checking from end seal wire or catheter manipulation torque, perceives catheter guide wire convenient for doctor
Torsional resistance, and then perceive from end operation mode of operation.
The utility model is achieved through the following technical solutions:
A kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus, on the torque detecting apparatus
Be equipped with for realizing seal wire/conduit twist operation transmission gear, be fixedly connected with spring on the inner peripheral surface of transmission gear
Circle；
The spring ring is connected by four spring leafs with inner ring by concentric outer ring and is formed, and four spring leafs are along spring ring
It is circumferentially uniformly distributed, forms cross-shaped structure, four resistance strain gages are separately fixed on four spring leafs, and four resistance are answered
Become piece and be connected as full-bridge circuit, the full-bridge circuit passes through conducting slip ring and external output signal circuit connection；
When seal wire/conduit torsion, seal wire/conduit torsional moment is transferred to spring ring, bullet by reversing transmission mechanism
Four spring leafs of spring coil generate bending deformation under the torsional moment and the effect of the driving moment of transmission gear, on spring leaf
Resistance strain gage be deformed therewith, the deformation of resistance strain gage is so that its resistance generates corresponding change, so that resistance
The full-bridge circuit of foil gauge is generated with seal wire/conduit torsional moment size variation output voltage, the output voltage of full-bridge circuit
After signal is transferred to external output signal circuit through conducting slip ring, amplifies through amplifying circuit and is acquired by data collecting card,
Realize the detection to torsional moment.
Further, the torsion transmission mechanism includes: shell, torsion motor, transmission gear, sleeve, clamper, clamping
Disk, electromagnet and clamping pulling block；
Guide rail is installed on the inner bottom surface of the shell, is combined with guide rail slide block on guide rail；
One end of the sleeve is machined with internal screw thread, and the inner peripheral surface at middle part is tapered surface；
The clamper is machined with for clamping seal wire/conduit through-hole, and one end is machined with gap, and the end is machined with
One round table surface and a limiting stand terrace, wherein round table surface is used to cooperate with the tapering inner circumferential face in the middle part of sleeve, limiting stand
Terrace for realizing clamper axial limiting；
The clamp circle disk is integrally formed by disk and coaxial cylinder, is machined with external screw thread on the cylinder, is pressed from both sides
It holds and is machined with axially extending bore on disk；
Its connection relationship is as follows: torsion motor is fixed inside the shell, and the output shaft and driving gear for reversing motor coaxially connect
It connects, and drives gear that can move along its axis；
Transmission gear is engaged with driving gear, and transmission gear can synchronize axial movement with driving gear；Spring
The outer ring of circle is fixed on the inner peripheral surface of transmission gear, and inner ring is fixed with sleeve, and sleeve is installed inside the shell by support plate
Guide rail slide block on, the cylindrical thread of female end and clamp circle disk connects；Electromagnet is fixed inside the shell, the rank of electromagnet
Ferropexy is connected with clamping pulling block, and side of the clamp circle disk far from electromagnet carries out axial limiting, the other side by clamping pulling block
Axial limiting is carried out by the block in second bearing seat, when electromagnet powers on, armature, which can pull, clamps pulling block movement, from
And cooperate with the block to clamp clamp circle disk；
The limiting stand terrace of the axially extending bore clearance fit of clamper and clamp circle disk, clamper is contradicted in clamp circle disk
On cylindrical end end face, the axial limiting to clamper is realized, the round table surface of clamper is matched with the internal conical surface of sleeve；Work as set
When cylinder is axially moved, internal conical surface squeezes the round table surface of clamper, and the gap of clamper is closed, and clamps across clamper
Seal wire.
Further, the tooth of the driving gear and transmission gear is chevron shaped tooth.
It further, further include upper cover, upper cover is mounted on the top of shell.
Further, the output shaft of the torsion motor is connect by shaft coupling with driving gear, and shaft coupling passes through key
It is connect with driving gear.
Further, the rotor of the conducting slip ring is fixedly connected with sleeve, and stator is mounted on the support on guide rail slide block
On plate.
Further, the limiting stand terrace of the clamper uses round-like structure.
Further, axial pusher of the torque detecting apparatus integral installation in Endovascular intervention operation robot
On structure, the axial direction delivery device includes: bottom plate, axial direction electric machine and lead screw；Axial direction electric machine and lead screw are fixedly mounted on bottom plate
On, and the output axis connection of lead screw and axial direction electric machine is equipped with screw slider engaged therewith on lead screw；Twist mechanism is fixed on
On the screw slider.
The utility model has the advantages that (1) the utility model is by being arranged resistance strain gage on four spring leafs of spring ring, by right
Seal wire or conduit carry out twist operation, caused resistance strain gage deformation, so that the full-bridge circuit of resistance strain gage is generated with leading
The output voltage of silk torsional moment size variation, full-bridge circuit output voltage signal amplify through amplifying circuit, then pass through data
The on-line checking from end seal wire or catheter manipulation torque is realized in capture card acquisition, and the torsion resistance of catheter guide wire is perceived convenient for doctor
Power, and then perceive the mode of operation from end operation.
(2) the utility model is by the way that the transmission gear for carrying out seal wire or conduit twist operation to be fixedly connected as with spring ring
One simplifies apparatus structure, avoids the influence of the gearing friction and inertia of complex mechanical structure to torque detection accuracy.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the schematic diagram of the twist mechanism of the utility model；
Fig. 3 is the installation explosive view of the clamper of the utility model；
Wherein, 1-seal wire, 3-axial delivery devices, 2-1-shell, 2-3-upper cover, 2-4-torsion motor, 2-5-
Motor support base, 2-6-shaft coupling, 2-7-driving gear, 2-8-transmission gear, 2-9-spring ring, 2-10-sleeve, 2-
11-clamp circle disks, 2-12-clamper, 2-13-first bearing seat, 2-14-second bearing seat, 2-15-conducting slip ring, 2-
16-support plates, 2-17-electromagnet, 2-18-clamping pulling block, 2-19-support plate, 3-1-bottom plate, 3-2-axial direction electric machine,
3-3-lead screw.
Specific embodiment
With reference to the accompanying drawings and examples, the utility model is described in detail.
Present embodiments provide a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus, needle
For seal wire or conduit, in the present embodiment by taking seal wire 1 as an example, referring to attached drawing 1, which intervenes hand in Endovascular
On the axial delivery device 3 of art robot；
The axial direction delivery device 3 includes: bottom plate 3-1, axial direction electric machine 3-2 and lead screw 3-3；Axial direction electric machine 3-2 and lead screw
3-3 is fixedly mounted on bottom plate 3-1, and the output axis connection of lead screw 3-3 and axial direction electric machine 3-2, be equipped on lead screw 3-3 with
Its screw slider cooperated；Axial direction electric machine 3-2 makes the screw slider along lead screw 3- by driving lead screw 3-3 to make rotating motion
3 axially move in a straight line；
Referring to attached drawing 2 and 3, the torque detecting apparatus includes: shell 2-1, upper cover 2-3, torsion motor 2-4, motor branch
Seat 2-5, shaft coupling 2-6, driving gear 2-7, transmission gear 2-8, spring ring 2-9, sleeve 2-10, clamper 2-12, clamping circle
Disk 2-11, first bearing seat 2-13, second bearing seat 2-14, conducting slip ring 2-15, electromagnet 2-17 and clamping pulling block 2-18；
Guide rail is installed on the inner bottom surface of the shell 2-1, guide rail slide block 2-16, guide rail slide block 2-16 are combined on guide rail
On be fixed with support plate 2-19；
Bearing block there are two being set on the upper cover 2-3；
The tooth of the driving gear 2-7 and transmission gear 2-8 is chevron shaped tooth；
The spring ring 2-9 is connected by four spring leafs with inner ring by concentric outer ring and is formed, and four spring leafs are along bullet
Spring coil 2-9 is circumferentially uniformly distributed, and forms cross-shaped structure, four resistance strain gages R1, R2, R3, R4 are pasted and fixed on four respectively
On a spring leaf；
Inner peripheral surface in the middle part of the sleeve 2-10 is tapered surface；
The clamper 2-12 is machined with the through-hole for clamping seal wire 1, and one end is machined with gap, and the end is machined with
One round table surface and a limiting stand terrace, wherein round table surface is used to cooperate with the tapering inner circumferential face in the middle part of sleeve 2-10, limit
Position step surface for realizing clamper 2-12 axial limiting；
The clamp circle disk 2-11 is integrally formed by disk and coaxial cylinder, is machined with outer spiral shell on the cylinder
Line is machined with axially extending bore on clamp circle disk 2-11；
Its connection relationship is as follows: shell 2-1 is fixed on the screw slider of axial delivery device 3；Torsion motor 2-4 passes through
Motor support base 2-5 is fixed in shell 2-1, and the output shaft for reversing motor 2-4 is same by shaft coupling 2-6 and driving gear 2-7
Axis connection, wherein shaft coupling 2-6 is connect by key with driving gear 2-7, and driving gear 2-7 can be moved along its axis；
Transmission gear 2-8 is engaged with driving gear 2-7；The outer ring of spring ring 2-9 is fixed on the inner periphery of transmission gear 2-8
Face, inner ring are fixed with sleeve 2-10, and sleeve 2-10 is mounted on the support in shell 2-1 by bearing and first bearing seat 2-13
On plate 2-19, one end of sleeve 2-10 is fixedly connected with the rotor of conducting slip ring 2-15, the stator of conducting slip ring 2-15 and first
Bearing block 2-13 is connected, to be supported on support plate 2-19；Four resistance strain gages R1, R2, R3, R4 on spring ring 2-9
The full-bridge circuit of composition is connect with the rotor circuit of conducting slip ring 2-15, the stator track of conducting slip ring 2-15 and external output
Signal circuit connection；
The other end of sleeve 2-10 is connect by internal screw thread with the cylindrical thread of clamp circle disk 2-11；Clamp circle disk 2-11 is logical
It crosses in bearing and second bearing seat 2-14 installation shell 2-1；Electromagnet 2-17 is fixed on second bearing seat 2-14, electromagnet 2-
17 armature, which is fixedly connected with, clamps pulling block 2-18, and side of the clamp circle disk 2-11 far from electromagnet 2-17 is by clamping pulling block 2-
18 carry out axial limiting, and the other side carries out axial limiting by the block on second bearing seat 2-14, when electromagnet 2-17 is powered on,
Its armature, which can pull, clamps pulling block 2-18 movement, to cooperate with the block to clamp clamp circle disk 2-11；
Clamper 2-12 is sleeved in the axially extending bore of clamp circle disk 2-11, and with the axially extending bore clearance fit, folder
The limiting stand terrace of holder 2-12 contradicts on the cylindrical end end face of clamp circle disk 2-11, realizes and limits the axial direction of clamper 2-12
Position, and in the present embodiment, limiting stand terrace uses round-like structure, can be realized clamper 2-12's and clamp circle disk 2-11
Coaxially；The round table surface of clamper 2-12 is matched with the internal conical surface of sleeve 2-10；When sleeve 2-10 is axially moved, inner circle
The conical surface squeezes the round table surface of clamper 2-12, and the gap of clamper 2-12 is closed, and clamps the seal wire 1 across clamper 2-12；
Upper cover 2-3 is mounted on the top of shell 2-1 by pin, and two bearing blocks on upper cover 2-3 respectively with first axle
A 2-13 and second bearing seat 2-14 docking is held, realizes the fixation to sleeve 2-10 and clamp circle disk 2-11.
Working principle: after seal wire 1 sequentially passes through clamper 2-12 and sleeve 2-10, being powered to electromagnet 2-17, armature
It pulls and clamps pulling block 2-18 clamping clamp circle disk 2-11；Then driving torsion motor 2-4 drives driving cog by driving gear 2-7
2-8 rotation is taken turns, and then is rotated by spring ring 2-9 band moving sleeve 2-10, due to the cylinder of sleeve 2-10 and clamp circle disk 2-11
It is threadedly coupled, and clamp circle disk 2-11 is remained stationary after being clamped, therefore, sleeve 2-10 while rotating can be along its axis
The movement of the guide rail in shell 2-1 is moved along its axis to movement, and then with nutating gear 2-8, drives driving gear 2-7 along it
Key axial movement；When sleeve 2-10 axial movement, the round table surface of clamper 2-12 is squeezed, the gap of clamper 2-12 is sealed
It closes, clamps seal wire 1；Finally, electromagnet 2-17 is powered off, clamp circle disk 2-11 is released, and continues control torsion motor 2-4 work belt
Moving sleeve 2-10 rotation, clamp circle disk 2-11 are rotated coaxially with sleeve 2-10, and then seal wire 1 is driven to rotate, but due to seal wire 1
In the human body by axial 3 interventional therapy object of delivery device (axial direction electric machine 3-2 by drive lead screw 3-3 make rotating motion come
It moves in a straight line the screw slider axially along lead screw 3-3, and then drives the torque detecting apparatus being fixed on screw slider
It moves axially, will be in the human body of 1 interventional therapy object of seal wire), the human body for the treatment of object provides resistance to the rotation of seal wire 1
Therefore power causes the torsion of seal wire 1；
In the torsion of seal wire 1, the torsional moment of seal wire 1 is acted on clamper 2-12, is transferred to by sleeve 2-10
Four spring leafs of spring ring 2-9, spring ring 2-9 produce under the torsional moment and the effect of the driving moment of transmission gear 2-8
Raw bending deformation, resistance strain gage R1, R2, R3, the R4 being pasted on spring leaf are also deformed therewith, the change of resistance strain gage
Shape causes to strain sheet resistance generation corresponding change, becomes so that the full-bridge circuit of resistance strain gage is generated with seal wire torsional moment size
The output voltage of change, after the output voltage signal of full-bridge circuit is transferred to external output signal circuit through conducting slip ring 2-15,
Amplify through amplifying circuit and is acquired by data collecting card.
In conclusion the above is only the preferred embodiments of the present utility model only, it is not intended to limit the utility model
Protection scope.Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement and so on should all wrap
Containing being within the protection scope of the utility model.
Claims (8)
1. a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus, which is characterized in that the torque
Detection device be equipped with for realizing seal wire/conduit twist operation transmission gear (2-8), the inner circle of transmission gear (2-8)
Spring ring (2-9) is fixedly connected on circumferential surface；
The spring ring (2-9) is connected with inner ring by four spring leafs by concentric outer ring to be formed, and four spring leafs are along spring
Circle (2-9) is circumferentially uniformly distributed, and forms cross-shaped structure, and four resistance strain gages are separately fixed on four spring leafs, and four
A resistance strain gage is connected as full-bridge circuit, and the full-bridge circuit passes through conducting slip ring (2-15) and external output signal circuit
Connection；
When seal wire/conduit torsion, seal wire/conduit torsional moment is transferred to spring ring (2-9), bullet by reversing transmission mechanism
Four spring leafs of spring coil (2-9) generate bending under the torsional moment and the effect of the driving moment of transmission gear (2-8) and become
Shape, the resistance strain gage on spring leaf are deformed therewith, the deformation of resistance strain gage so that its resistance generates corresponding change, into
And the full-bridge circuit of resistance strain gage is generated with seal wire/conduit torsional moment size variation output voltage, full-bridge circuit
Output voltage signal external output signal circuit is transferred to through conducting slip ring (2-15) after, amplify through amplifying circuit and pass through
Data collecting card acquisition, realizes the detection to torsional moment.
2. a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus as described in claim 1,
It is characterized in that, the torsion transmission mechanism includes: shell (2-1), torsion motor (2-4), transmission gear (2-8), sleeve (2-
10), clamper (2-12), clamp circle disk (2-11), electromagnet (2-17) and clamping pulling block (2-18)；
Guide rail is installed on the inner bottom surface of the shell (2-1), guide rail slide block (2-16) is combined on guide rail；
One end of the sleeve (2-10) is machined with internal screw thread, and the inner peripheral surface at middle part is tapered surface；
The clamper (2-12) is machined with for clamping seal wire/conduit through-hole, and one end is machined with gap, and the end processes
There are a round table surface and a limiting stand terrace, wherein round table surface with the tapering inner circumferential face in the middle part of sleeve (2-10) for matching
Close, limiting stand terrace for realizing clamper (2-12) axial limiting；
The clamp circle disk (2-11) is integrally formed by disk and coaxial cylinder, is machined with external screw thread on the cylinder,
Axially extending bore is machined on clamp circle disk (2-11)；
Its connection relationship is as follows: torsion motor (2-4) is fixed in shell (2-1), reverses output shaft and the driving of motor (2-4)
Gear (2-7) is coaxially connected, and gear (2-7) is driven can to move along its axis；
Transmission gear (2-8) is engaged with driving gear (2-7), and transmission gear (2-8) can carry out together with driving gear (2-7)
Step axial movement；The outer ring of spring ring (2-9) is fixed on the inner peripheral surface of transmission gear (2-8), and inner ring is fixed with sleeve (2-
10), sleeve (2-10) is mounted on the guide rail slide block (2-16) in shell (2-1) by support plate (2-19), female end
It is connect with the cylindrical thread of clamp circle disk (2-11)；Electromagnet (2-17) is fixed in shell (2-1), the rank of electromagnet (2-17)
Ferropexy, which is connected with, clamps pulling block (2-18), and side of the clamp circle disk (2-11) far from electromagnet (2-17) is by clamping pulling block
(2-18) carries out axial limiting, and the other side carries out axial limiting by the block on second bearing seat (2-14), as electromagnet (2-
17) when powering on, armature, which can pull, clamps pulling block (2-18) movement, to cooperate with the block to clamp clamp circle disk
(2-11)；
The limiting stand terrace of the axially extending bore clearance fit of clamper (2-12) and clamp circle disk (2-11), clamper (2-12) supports
Touching realizes the axial limiting to clamper (2-12) on the cylindrical end end face of clamp circle disk (2-11), clamper (2-12)
Round table surface is matched with the internal conical surface of sleeve (2-10)；When sleeve (2-10) is axially moved, internal conical surface squeezes clamping
The round table surface of device (2-12) closes the gap of clamper (2-12), clamps the seal wire 1 across clamper (2-12).
3. a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus as claimed in claim 2,
It is characterized in that, the tooth of driving gear (2-7) and transmission gear (2-8) is chevron shaped tooth.
4. a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus as claimed in claim 2,
It is characterized in that, further includes upper cover (2-3), upper cover (2-3) is mounted on the top of shell (2-1).
5. a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus as claimed in claim 2,
It is characterized in that, the output shaft of torsion motor (2-4) is connect by shaft coupling (2-6) with driving gear (2-7), and shaft coupling
(2-6) is connect by key with driving gear (2-7).
6. a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus as claimed in claim 2,
It is characterized in that, the rotor of the conducting slip ring (2-15) is fixedly connected with sleeve (2-10), and stator is mounted on guide rail slide block (2-
16) in the support plate (2-19) on.
7. a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus as claimed in claim 2,
It is characterized in that, the limiting stand terrace of the clamper (2-12) uses round-like structure.
8. a kind of Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus as described in claim 1,
It is characterized in that, the torque detecting apparatus integral installation is on the axial delivery device 3 of Endovascular intervention operation robot, institute
Stating axial delivery device 3 includes: bottom plate (3-1), axial direction electric machine (3-2) and lead screw (3-3)；Axial direction electric machine (3-2) and lead screw (3-
3) it is fixedly mounted on bottom plate (3-1), and the output axis connection of lead screw (3-3) and axial direction electric machine (3-2), on lead screw (3-3)
Screw slider engaged therewith is installed；Twist mechanism 2 is fixed on the screw slider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721611530.5U CN208693445U (en) | 2017-11-27 | 2017-11-27 | Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721611530.5U CN208693445U (en) | 2017-11-27 | 2017-11-27 | Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus |
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| Publication Number | Publication Date |
|---|---|
| CN208693445U true CN208693445U (en) | 2019-04-05 |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108158656A (en) * | 2017-11-27 | 2018-06-15 | 北京理工大学 | Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus |
| CN110165838A (en) * | 2019-04-11 | 2019-08-23 | 广东省智能制造研究所 | A kind of moment of elasticity control device |
| CN112353491A (en) * | 2020-10-29 | 2021-02-12 | 北京唯迈医疗设备有限公司 | Universal robot for interventional radiography and therapeutic surgery |
| CN113048210A (en) * | 2021-03-10 | 2021-06-29 | 极限人工智能有限公司 | Structure module for multi-shaft transmission torque and push-pull force transmission |
| CN113100948A (en) * | 2021-04-16 | 2021-07-13 | 天津大学医疗机器人与智能系统研究院 | Front end execution device for surgical robot |
-
2017
- 2017-11-27 CN CN201721611530.5U patent/CN208693445U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108158656A (en) * | 2017-11-27 | 2018-06-15 | 北京理工大学 | Endovascular intervention operation robot seal wire/catheter manipulation torque detecting apparatus |
| CN108158656B (en) * | 2017-11-27 | 2024-02-27 | 深圳爱博合创医疗机器人有限公司 | Vascular cavity interventional operation robot guide wire/catheter operation torque detection device |
| CN110165838A (en) * | 2019-04-11 | 2019-08-23 | 广东省智能制造研究所 | A kind of moment of elasticity control device |
| CN112353491A (en) * | 2020-10-29 | 2021-02-12 | 北京唯迈医疗设备有限公司 | Universal robot for interventional radiography and therapeutic surgery |
| CN113048210A (en) * | 2021-03-10 | 2021-06-29 | 极限人工智能有限公司 | Structure module for multi-shaft transmission torque and push-pull force transmission |
| CN113048210B (en) * | 2021-03-10 | 2022-03-15 | 极限人工智能有限公司 | Structure module for multi-shaft transmission torque and push-pull force transmission |
| CN113100948A (en) * | 2021-04-16 | 2021-07-13 | 天津大学医疗机器人与智能系统研究院 | Front end execution device for surgical robot |
| CN113100948B (en) * | 2021-04-16 | 2022-08-26 | 天津大学医疗机器人与智能系统研究院 | Front end execution device for surgical robot |
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