CN209826974U - Moving unit for endoscope mechanical arm moving vehicle - Google Patents
Moving unit for endoscope mechanical arm moving vehicle Download PDFInfo
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- CN209826974U CN209826974U CN201920254951.XU CN201920254951U CN209826974U CN 209826974 U CN209826974 U CN 209826974U CN 201920254951 U CN201920254951 U CN 201920254951U CN 209826974 U CN209826974 U CN 209826974U
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Abstract
A mobile unit for an endoscope mechanical arm mobile vehicle is characterized by comprising: the endoscope mechanical arm moving vehicle (1) is used for clamping the endoscope and can accurately and flexibly adjust the space position of the endoscope, so that a person does not need to hold the endoscope for a long time; the box body (2) is provided with an electric lifting upright post (3), a mechanical arm control handle (4), a computer host (5) and a display (6); a movable platform (8), the movable platform (8) is used for bearing the box body (2) and can drive the box body to move to a surgical position to realize braking. The utility model discloses a medical vehicle combines with the organic of arm, is favorable to improving the flexibility and the scope of renting of arm.
Description
Technical Field
The utility model relates to a medical device, in particular to a mechanical arm treatment vehicle, in particular to a mobile unit for an endoscope mechanical arm mobile vehicle.
Background
As is well known, endoscopic surgery is a very efficient minimally invasive abdominal surgery, and usually requires at least two people to perform endoscopic surgery during the surgery, one person needs to hold the endoscope for a long time, the other person carries out operation through the endoscopic operation channel, the labor load of the lens holder is large, and whether the angle of the lens holder is correct or not is directly related to whether the operation can be smoothly carried out or not, with the development of the mechanical arm technology, the corresponding endoscope mechanical arm is developed by Nanchang university at present, but the mechanical arm has the problem of inconvenient movement, can only be fixed in one place for use, cannot be moved efficiently between an operating room and a ward to adapt to the operation requirement, therefore, how to combine the mechanical arm technology with the operation cart commonly used in the current medical institution is urgent to improve the application range and flexibility of the endoscope holding mechanical arm. The most important is the design of the mobile unit, and the endoscope holding mechanical arm is arranged on the mobile unit, so that the all-directional movement of the surgical robot is realized, and the surgical adaptability is improved.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the problem that the endoscope holding mechanical arm is inconvenient to move in the existing endoscope, and designs a mobile unit for the endoscope mechanical arm mobile vehicle, which combines the endoscope mechanical arm and a medical vehicle.
The technical scheme of the utility model is that:
a mobile unit for an endoscope mechanical arm mobile vehicle is characterized by comprising:
the endoscope mechanical arm moving vehicle 1 is arranged on the electric lifting upright post 3 and is controlled by an electric lifting upright post control button 7 to ascend or descend so as to adjust the height of the endoscope mechanical arm moving vehicle 1; the computer host 5 receives the instruction of the mechanical arm control handle 4 to control the movement of each degree of freedom of the endoscope mechanical arm moving vehicle 1 and displays the movement on the display 6;
a movable platform 8, the movable platform 8 is used for bearing the box body 2 and driving the box body to move to the operation position to realize braking.
The computer host 5 is arranged at the front part of the box body, the electric lifting upright post 3 is arranged at the rear part of the box body, and the display 6 is arranged at the top outside the box body; the keyboard and mouse components matched with the computer host 5 are arranged on the keyboard drawer 9, the front part of the keyboard drawer 9 is a keyboard area 18, the rear part is a mouse containing area 19, and the side surface is provided with a mouse sliding table 17 which can be drawn out.
The moving platform 8 adopts a fork-shaped chassis to increase the stability of the vehicle body, the center of the whole device is positioned in the fork-shaped chassis, the fork-shaped chassis is arranged on four central control casters 11, and the movement and parking of the central control casters 11 are controlled by a central control brake release pedal 12 and a central control brake pedal 13.
The Y-shaped chassis is characterized in that the left side and the right side of the Y-shaped chassis are respectively provided with a containing cabinet 10, a gravity center position adjusting balancing weight is placed in the containing cabinet 10, a cabinet door of the containing cabinet 10 is designed in an invisible mode, and the opening operation adopts a bullet pushing mode.
The central control brake pedal 13 is arranged on the front brake pedal shaft 1301, the central control brake release pedal 12 is arranged on the release pedal shaft 1201, the front brake pedal shaft 1301 is provided with a synchronously rotating brake connecting plate 1302, the release pedal shaft 1201 is provided with a synchronously rotating release connecting plate 1202, and the brake connecting plate 1302 and the release connecting plate 1202 are pivotally connected through a brake sliding shifting pin 1303; two ends of the brake releasing pedal shaft 1201 are respectively connected with a front universal coupling 1101, and the two front universal couplings 1101 are connected with the parking control part of the corresponding hollow caster 11 through respective front caster central control brake shafts 1102 to realize braking or brake releasing; a front connecting piece 1203 which synchronously rotates is further installed in the middle of the brake releasing pedal shaft 1201, the front connecting piece 1203 is connected with a rear connecting piece 1205 fixedly installed on a rear brake pedal shaft 1304 through a connecting rod 1204, two ends of the rear brake pedal shaft 1304 are respectively connected with a rear universal coupling 1103, and each rear universal coupling 1103 is connected with parking control pieces of two rear casters 11 through respective rear caster central control brake shafts 1104 to realize synchronous braking or brake releasing; when the central control brake pedal 13 is stepped down, the central control brake pedal 13 drives the front brake pedal shaft 1301 and the brake connecting plate 1302 to synchronously rotate, the brake connecting plate 1302 drives the brake release connecting plate 1202 to rotate through the brake sliding shifting pin 1303, the brake release connecting plate 1202 drives the brake release pedal shaft 1201 to rotate, the brake release pedal shaft 1201 drives the front universal coupling 1101 and the front connecting plate 1203 to rotate, the front universal coupling 1101 drives the front caster central control brake shaft 1102 to rotate, so that two front central control caster parking brakes are realized, meanwhile, the front connecting plate 1203 drives the rear connecting plate 1205 to rotate through the connecting rod 1204, the rear connecting plate 1205 drives the rear brake pedal shaft 1304 to rotate, the rear brake pedal shaft 1304 drives the rear universal coupling 1103 to rotate, the rear universal coupling 1103 drives the respective rear caster central control brake shaft 1104 to rotate, so that the two rear central control casters are braked, when braking is finished, the central control brake pedal 13 is in a low position, the hollow brake releasing pedal 12 is in a high position; when the whole device needs to be moved, the hollow brake releasing pedal 12 is treaded by foot to move towards the low position, the hollow brake releasing pedal 12 drives the central control brake shaft 1102 of the front caster to rotate reversely, so as to drive the front universal couplings 1101 at two ends to rotate reversely, the front universal couplings 1101 drive the central control brake shaft 1102 of the front caster to rotate reversely, so as to release the brake, meanwhile, the releasing connecting plate 1202 arranged on the central control brake shaft 1102 of the front caster drives the brake connecting plate 1302 to rotate reversely through the brake sliding shifting pin 1303, the brake connecting plate 1302 drives the front brake pedal shaft 1301 to rotate reversely, so as to drive the central control brake pedal 13 to be lifted to the high position, meanwhile, the front 1203 connecting piece arranged on the releasing brake pedal shaft 1201 pulls the rear connecting piece 1205 to rotate reversely through the connecting rod 1204, the rear connecting piece 1205 drives the rear brake pedal shaft 1304 to rotate reversely, and the rear universal couplings 1103 are driven by the rear brake pedal shaft 1304 to rotate reversely, the rear universal coupling 1103 drives the respective rear caster central control brake shaft 1104 to rotate reversely, so that the two rear central control casters are braked and released.
The utility model has the advantages that:
due to the characteristics of the endoscope, the loaded vehicle body requires stable gravity center, firm braking and flexibility when moving. The chassis of the vehicle body adopts a fork-shaped structure, the span of the wheel track is large, and the wheels adopt central control brake trundles, so that the brake operation is simple and the brake release is convenient; the brake operation has two brake pedals: a brake pedal and an unlocking pedal; the front brake pedal shaft drives the central control brake shaft of the front left and right front casters to rotate for a certain angle through the left and right three-joint universal couplings respectively so as to realize front wheel braking; when the front wheel brakes, the front brake pedal shaft is transmitted to the rear brake pedal shaft through a transmission connecting rod, and the rear brake pedal shaft drives the control brake shafts in the left rear caster wheel and the right rear caster wheel to rotate by a certain angle through the two-three-joint universal coupling, so that the rear wheel brakes are realized.
The utility model has the advantages that the loaded computer component (comprising a computer host, a display, a mouse, a keyboard and the like) host is arranged at the front side of the vehicle and is installed in an embedded manner; the keyboard drawer adopts a push-spring type opening mode, wherein a keyboard drawer guide rail adopts a rear-mounted mounting mode to mount a mouse sliding table in a manner of reserving a front space, and a mouse sliding table drawing and guiding mode adopts a horizontally-mounted three-section type guide rail.
The utility model discloses be equipped with the electric lift stand, only need press the lift button of automobile body mesa front side gently during the operation and can realize going up and down. The endoscope mechanical arm is arranged on the electric lifting upright post, and vertical adjustment of the mechanical arm can be realized.
In order to increase the stability of the vehicle body, the left side and the right side of a chassis of the vehicle body are respectively provided with a containing cabinet, a balancing weight for adjusting the gravity center position can be placed in the containing cabinet, the containing cabinet door adopts a hidden design, and the opening operation adopts a push-bouncing mode.
The appearance of the mobile vehicle body adopts streamline design, a fork-shaped chassis and a central control brake, and the mobile vehicle body has beautiful appearance, stable gravity center and simple operation.
The utility model discloses a realize that the organic combination of medical vehicle and arm technique provides the basis, is favorable to improving the flexibility of arm technique in the application of medical industry, enlarges its scope of renting.
Drawings
Fig. 1 is a schematic view of the structure of the present invention.
FIG. 2 is a schematic sectional view A-A of FIG. 1.
Fig. 3 is a right side view of fig. 1.
Fig. 4 is a schematic structural diagram of the keyboard drawer of the present invention.
Fig. 5 is a schematic bottom view of the structure of fig. 1.
Fig. 6 is a schematic view of the transmission structure in the braking state of the present invention.
Fig. 7 is a schematic view of the transmission structure state when the brake is released.
Fig. 8 is a schematic diagram of the brake and brake release of the utility model.
Fig. 9 is a schematic view showing a state in which the endoscope robot arm is mounted on the moving unit of the present invention.
In the figure: the device comprises a moving platform cart armrest 14, a cabinet door hidden handle lock 15 and a front cabinet door 16.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and examples.
As shown in fig. 1-9.
A mobile unit for an endoscope robot moving vehicle, as shown in fig. 1, mainly comprising:
the endoscope mechanical arm moving vehicle 1 is arranged on the electric lifting upright post 3 and is controlled by an electric lifting upright post control button 7 to ascend or descend so as to adjust the height of the endoscope mechanical arm moving vehicle 1, and the electric lifting upright post 3 is driven by a motor and screw rod nut mechanism and can be realized by adopting the prior art; the computer host 5 receives the instruction of the mechanical arm control handle 4 to control the movement of each degree of freedom of the endoscope mechanical arm moving vehicle 1 and displays the movement on the display 6; the box body 2 is of a box-type structure, as shown in fig. 1 and 3, a computer host 5 is arranged at the front part of the box body, an electric lifting upright post 3 is arranged at the rear part of the box body, and a display 6 is arranged at the top outside the box body; the keyboard and mouse components matched with the computer host 5 are arranged on the keyboard drawer 9, the front part of the keyboard drawer 9 is a keyboard area 18, the rear part is a mouse containing area 19, and the side surface is provided with a mouse sliding table 17 which can be drawn out, as shown in figure 4.
A movable platform 8, the movable platform 8 is used for bearing the box body 2 and driving the box body to move to the operation position to realize braking. The key of the moving platform 8 is to ensure that the center of the installed mechanical arm is located in the platform 8, therefore, besides the common counterweight design, a fork-shaped chassis (as shown in fig. 5) is adopted to increase the stability of the vehicle body, the center of gravity of the whole device is calculated in the design stage, the center of gravity calculation and the counterweight addition are both conventional technologies and can be realized by the existing technology, the center of the whole device is located in the fork-shaped chassis, the fork-shaped chassis is installed on four central control casters 11 (which can be directly purchased from the market and can be 125 central control casters), and the movement and parking of the central control casters 11 are controlled by a central control brake releasing pedal 12 and a central control brake pedal 13. The left side and the right side of the forked chassis are respectively provided with a containing cabinet 10 (figure 3), a gravity center position adjusting balancing weight is placed in the containing cabinet 10, a cabinet door of the containing cabinet 10 is designed in an invisible mode, and the opening operation adopts a push-bouncing mode.
The key as the mobile unit is that the mobile unit can move and realize parking braking, therefore, the utility model discloses install well accuse brake pedal 13 on preceding brake pedal axle 1301, as shown in fig. 6, 7, well accuse brake release pedal 12 is installed on release pedal axle 1201, install synchronous pivoted brake connecting plate 1302 on preceding brake pedal axle 1301, release pedal axle 1201 is installed synchronous pivoted release connecting plate 1202, brake connecting plate 1302 and release connecting plate 1202 are connected through the pin joint of brake sliding shifting pin 1303; two ends of the releasing brake pedal shaft 1201 are respectively connected with a front universal coupling 1101, the two front universal couplings 1101 are connected with the parking control part of the corresponding hollow caster 11 through respective front caster center control brake shafts 1102 to realize braking or releasing braking, the working principle of braking and releasing braking is shown in fig. 8, and the specific braking and releasing processes are as follows: a front connecting piece 1203 which synchronously rotates is further installed in the middle of the brake releasing pedal shaft 1201, the front connecting piece 1203 is connected with a rear connecting piece 1205 fixedly installed on a rear brake pedal shaft 1304 through a connecting rod 1204, two ends of the rear brake pedal shaft 1304 are respectively connected with a rear universal coupling 1103, and each rear universal coupling 1103 is connected with parking control pieces of two rear casters 11 through respective rear caster central control brake shafts 1104 to realize synchronous braking or brake releasing; when the central control brake pedal 13 is stepped down, the central control brake pedal 13 drives the front brake pedal shaft 1301 and the brake connecting plate 1302 to synchronously rotate, the brake connecting plate 1302 drives the brake release connecting plate 1202 to rotate through the brake sliding shifting pin 1303, the brake release connecting plate 1202 drives the brake release pedal shaft 1201 to rotate, the brake release pedal shaft 1201 drives the front universal coupling 1101 and the front connecting plate 1203 to rotate, the front universal coupling 1101 drives the front caster central control brake shaft 1102 to rotate, so that two front central control caster parking brakes are realized, meanwhile, the front connecting plate 1203 drives the rear connecting plate 1205 to rotate through the connecting rod 1204, the rear connecting plate 1205 drives the rear brake pedal shaft 1304 to rotate, the rear brake pedal shaft 1304 drives the rear universal coupling 1103 to rotate, the rear universal coupling 1103 drives the respective rear caster central control brake shaft 1104 to rotate, so that the two rear central control casters are braked, when braking is finished, the central control brake pedal 13 is in a low position, the hollow brake releasing pedal 12 is in a high position; when the whole device needs to be moved, the hollow brake releasing pedal 12 is treaded by foot to move towards the low position, the hollow brake releasing pedal 12 drives the central control brake shaft 1102 of the front caster to rotate reversely, so as to drive the front universal couplings 1101 at two ends to rotate reversely, the front universal couplings 1101 drive the central control brake shaft 1102 of the front caster to rotate reversely, so as to release the brake, meanwhile, the releasing connecting plate 1202 arranged on the central control brake shaft 1102 of the front caster drives the brake connecting plate 1302 to rotate reversely through the brake sliding shifting pin 1303, the brake connecting plate 1302 drives the front brake pedal shaft 1301 to rotate reversely, so as to drive the central control brake pedal 13 to be lifted to the high position, meanwhile, the front 1203 connecting piece arranged on the releasing brake pedal shaft 1201 pulls the rear connecting piece 1205 to rotate reversely through the connecting rod 1204, the rear connecting piece 1205 drives the rear brake pedal shaft 1304 to rotate reversely, and the rear universal couplings 1103 are driven by the rear brake pedal shaft 1304 to rotate reversely, the rear universal coupling 1103 drives the respective rear caster central control brake shaft 1104 to rotate reversely, so that the two rear central control casters are braked and released.
Fig. 9 shows a structure in which a conventional endoscope robot arm is attached to a moving unit of the present invention, and fig. 9 shows an endoscope surgical robot system which is convenient to move.
The utility model discloses a use method is:
the box body 2 can be grasped by stepping on the middle control brake release springboard 12, the five-fourteen-year-old joint handrail 14 on the box body moves the whole vehicle body to an operation position, then the middle control brake pedal 13 is stepped on to realize parking brake, at the moment, the computer host can be opened, the electric lifting upright post is adjusted to adjust the whole endoscope holding mechanical arm to a proper height, the endoscope is clamped at the clamping end of the mechanical arm and moves to a proper position, and the endoscope operation can be carried out under the control of the program in the computer host. And (4) combining the operations, withdrawing the mechanical arm, releasing the brake, moving to a storehouse for disinfection, and waiting for the next operation.
The utility model discloses the part that does not relate to all is the same with prior art or can adopt prior art to realize.
Claims (5)
1. A mobile unit for an endoscope mechanical arm mobile vehicle is characterized by comprising:
the endoscope mechanical arm moving vehicle is characterized by comprising a box body (2), wherein an electric lifting upright post (3), a mechanical arm control handle (4), a computer host (5) and a display (6) are mounted on the box body (2), and the endoscope mechanical arm moving vehicle (1) is mounted on the electric lifting upright post (3) and is controlled by an electric lifting upright post control button (7) to ascend or descend so as to adjust the height of the endoscope mechanical arm moving vehicle (1); the computer host (5) receives the instruction of the mechanical arm control handle (4) to control the movement of each degree of freedom of the endoscope mechanical arm moving vehicle (1) and displays the movement on the display (6);
a movable platform (8), the movable platform (8) is used for bearing the box body (2) and can drive the box body to move to a surgical position to realize braking.
2. The mobile unit for the endoscope mechanical arm mobile vehicle as claimed in claim 1, wherein the computer mainframe (5) is arranged at the front part of the box body, the electric lifting upright post (3) is arranged at the rear part of the box body, and the display (6) is arranged at the top part outside the box body; the keyboard and mouse assembly matched with the computer host (5) is arranged on the keyboard drawer (9), the front part of the keyboard drawer (9) is a keyboard area, the rear part of the keyboard drawer is a mouse containing area, and the side surface of the keyboard drawer is provided with a mouse sliding table capable of being drawn out.
3. The mobile unit for the endoscope mechanical arm mobile vehicle as claimed in claim 1, characterized in that the mobile platform (8) adopts a fork chassis to increase the stability of the vehicle body, the center of the whole device is positioned in the fork chassis, the fork chassis is installed on four central control casters (11), and the movement and parking of the central control casters (11) are controlled by a central control brake release pedal (12) and a central control brake pedal (13).
4. The mobile unit for the endoscope mechanical arm mobile vehicle as claimed in claim 3, wherein the fork chassis is provided with a storage cabinet (10) at each of the left and right sides, a gravity center position adjusting weight block is placed in the storage cabinet (10), the cabinet door of the storage cabinet (10) is designed to be invisible, and the opening operation is performed in a push-and-eject manner.
5. The mobile unit for the endoscope mechanical arm mobile vehicle as claimed in claim 3, wherein the central control brake pedal (13) is mounted on a front brake pedal shaft (1301), the central control brake release pedal (12) is mounted on a release pedal shaft (1201), the front brake pedal shaft (1301) is provided with a synchronously rotating brake connecting plate (1302), the release pedal shaft (1201) is provided with a synchronously rotating release connecting plate (1202), and the brake connecting plate (1302) and the release connecting plate (1202) are pivotally connected through a brake sliding shifting pin (1303); two ends of the brake releasing pedal shaft (1201) are respectively connected with a front universal coupling (1101), and the two front universal couplings (1101) are connected with the parking control part of the corresponding hollow caster (11) through respective front caster central control brake shafts (1102) to realize braking or brake releasing; a front connecting piece (1203) which synchronously rotates is further installed in the middle of the brake releasing pedal shaft (1201), the front connecting piece (1203) is connected with a rear connecting piece (1205) fixedly installed on a rear brake pedal shaft (1304) through a connecting rod (1204), two ends of the rear brake pedal shaft (1304) are respectively connected with a rear universal coupling (1103), and each rear universal coupling (1103) is connected with parking control pieces of two rear casters (11) through respective rear caster center control brake shafts (1104) to realize synchronous braking or brake releasing; the method comprises the steps of stepping down a central control brake pedal (13), the central control brake pedal (13) drives a front brake pedal shaft (1301) and a brake connecting plate (1302) to synchronously rotate, the brake connecting plate (1302) drives an unlocking connecting plate (1202) to rotate through a brake sliding shifting pin (1303), the unlocking connecting plate (1202) drives the unlocking pedal shaft (1201) to rotate, the unlocking pedal shaft (1201) drives a front universal coupling (1101) and a front connecting sheet (1203) to rotate, the front universal coupling (1101) drives a front caster central control brake shaft (1102) to rotate, so that parking braking of two front central control casters is realized, meanwhile, the front connecting sheet (1203) pushes a rear connecting sheet (1205) to rotate through a connecting rod (1204), the rear connecting sheet (1205) pushes a rear brake pedal shaft (1304) to rotate, the rear brake pedal shaft (1304) drives the rear universal coupling (1103) to rotate, and the rear universal coupling (1103) drives respective rear caster central control brake shaft (1104) to rotate, thus, the two rear central control trundles are braked, when braking is finished, the central control brake pedal (13) is at a low position, and the hollow brake release pedal (12) is at a high position; when the whole device needs to be moved, the hollow brake releasing pedal (12) is treaded by foot to move towards a low position, the hollow brake releasing pedal (12) drives the central control brake shaft (1102) of the front caster to rotate reversely, so as to drive the front universal couplings (1101) at two ends to rotate reversely, the front universal couplings (1101) drive the central control brake shaft (1102) of the front caster to rotate reversely, so as to release the brake, meanwhile, the releasing connecting plate (1202) arranged on the central control brake shaft (1102) of the front caster drives the brake connecting plate (1302) to rotate reversely through the brake sliding shifting pin (1303), the brake connecting plate (1302) drives the front brake pedal shaft (1301) to rotate reversely, so as to drive the central control brake pedal (13) to be lifted to a high position, meanwhile, the front connecting piece (1203) arranged on the releasing pedal shaft (1201) pulls the rear connecting piece (1205) to rotate reversely through the connecting rod (1204), rear connection piece (1205) drive back brake pedal axle (1304) antiport, and back brake pedal axle (1304) drive back universal joint (1103) antiport, and back universal joint (1103) drive accuse brake axle (1104) antiport in respective back truckle to the realization is removed two back braking of controlling the truckle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920254951.XU CN209826974U (en) | 2019-02-28 | 2019-02-28 | Moving unit for endoscope mechanical arm moving vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920254951.XU CN209826974U (en) | 2019-02-28 | 2019-02-28 | Moving unit for endoscope mechanical arm moving vehicle |
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| CN209826974U true CN209826974U (en) | 2019-12-24 |
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| CN201920254951.XU Active CN209826974U (en) | 2019-02-28 | 2019-02-28 | Moving unit for endoscope mechanical arm moving vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2021206161A1 (en) * | 2020-04-10 | 2021-10-14 | ||
| WO2023275758A1 (en) * | 2021-07-02 | 2023-01-05 | Covidien Lp | Robotic surgical systems and robotic arm carts thereof |
-
2019
- 2019-02-28 CN CN201920254951.XU patent/CN209826974U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPWO2021206161A1 (en) * | 2020-04-10 | 2021-10-14 | ||
| WO2021206161A1 (en) * | 2020-04-10 | 2021-10-14 | 川崎重工業株式会社 | Diagnosis/treatment assistance robot, diagnosis/treatment assistance robot system, and diagnosis/treatment assistance method |
| TWI821650B (en) * | 2020-04-10 | 2023-11-11 | 日商川崎重工業股份有限公司 | Diagnosis/treatment support robot, diagnosis/treatment support robot system, and diagnosis/treatment support method |
| WO2023275758A1 (en) * | 2021-07-02 | 2023-01-05 | Covidien Lp | Robotic surgical systems and robotic arm carts thereof |
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