CN217793325U - Multi-joint mechanical arm for building surgical robot and surgical robot - Google Patents
Multi-joint mechanical arm for building surgical robot and surgical robot Download PDFInfo
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- CN217793325U CN217793325U CN202221569099.3U CN202221569099U CN217793325U CN 217793325 U CN217793325 U CN 217793325U CN 202221569099 U CN202221569099 U CN 202221569099U CN 217793325 U CN217793325 U CN 217793325U
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Abstract
The utility model provides a multi-joint mechanical arm for building a surgical robot and the surgical robot, wherein a first sliding arm in sliding connection is arranged on a base station, and a sliding through groove is arranged on the first sliding arm and realizes the sliding connection with a second sliding arm; arranging a first rotary joint to drive the base station to rotate relative to the external platform; a linear joint is arranged to realize the sliding of the first sliding arm, and the first sliding arm drives the second sliding arm to slide through a transmission assembly; and a second rotary joint is arranged at the output end of the second sliding arm and is used for connecting an external load to form the surgical robot. The mechanical arm of the utility model can realize circumferential rotation, the extending length is the sum of the sliding distances of the first sliding arm and the second sliding arm, and the working range is large; when the sliding mechanism is contracted, the second sliding arm is converged in the sliding through groove, so that the occupied space is small; the components are all in sliding connection, so that larger load capacity can be provided. Thereby solved current arm and be difficult to be applied to the problem of setting up operation robot.
Description
Technical Field
The utility model belongs to the technical field of the medical treatment, especially, relate to a many joints arm and surgical robot for buildding surgical robot.
Background
The mechanical arm of the traditional robot mainly comprises two types: one type adopts a serial connection joint and connecting rod structure, which is typically represented by a SCARA mechanical arm, the mechanical arm has the advantages of small occupied space and flexible movement, but the cantilever beam type serial connection connecting rod structure has weak rigidity, so that the load bearing capacity is limited, the arm extension length is limited, and the load is limited, so that the mechanical arm is difficult to apply to the construction of a surgical robot; the other type is a rectangular coordinate mechanical arm which is commonly used for rapidly conveying materials in non-standard industrial automation and is characterized by good structural rigidity, stable motion and high motion precision, but the rectangular coordinate mechanical arm is difficult to be applied to building of a surgical robot due to the fact that the rectangular coordinate mechanical arm needs a huge installation space.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a many joints arm and surgical robot for setting up surgical robot to solve current arm and be difficult to be applied to the problem of setting up surgical robot.
In order to solve the above problems, the technical scheme of the utility model is that:
the utility model discloses a many joints arm for buildding surgical robot, include:
a base station;
the first sliding arm is horizontally and slidably connected to the base station, and at least one sliding through groove with one through end is formed in the first sliding arm;
the second sliding arm is connected in the sliding through groove in a sliding mode and has the same sliding direction as the first sliding arm;
the fixed end of the first rotary joint is arranged on an external platform, and the output end of the first rotary joint is loaded with the base station and is used for driving the base station to rotate by taking the vertical direction as an axis;
the fixed end of the linear joint is arranged on the base station, and the output end of the linear joint is connected with the first sliding arm and is used for driving the first sliding arm to horizontally slide relative to the base station;
the fixed end of the transmission component is arranged on the base station, the power input end of the transmission component is connected with the first sliding arm, and the output end of the transmission component is connected with the second sliding arm and used for transmitting the horizontal sliding of the first sliding arm and driving the second sliding arm to horizontally slide;
the fixed end of the second rotary joint is arranged at the output end of the second sliding arm, and the output end of the second rotary joint is used for connecting an external load.
The utility model discloses a multi-joint mechanical arm for building surgical robot, the base station is equipped with vertical extension board along the both sides of first slide arm slip direction respectively;
the first sliding arm is connected with the two vertical extending plates on the two sides in a sliding mode through two first sliding assemblies arranged on the two sides of the first sliding arm.
The utility model discloses a multi-joint mechanical arm for building surgical robot, the first sliding component comprises a plurality of first sliding blocks and a first guide rail arranged on the first sliding arm;
a plurality of first slider levels set up on the vertical extension board that corresponds, and each all be equipped with corresponding first spout breach on the first slider, it is a plurality of first spout breach cooperation form with first guide rail sliding connection's first sliding tray.
The utility model discloses a multi-joint mechanical arm for building a surgical robot, a sliding through groove arranged along the sliding direction of a first sliding arm is arranged on the first sliding arm;
the second sliding arm is connected with the inner side walls of the two sides of the sliding through groove in a sliding mode through two second sliding assemblies arranged on the two sides of the second sliding arm.
The utility model discloses a multi-joint mechanical arm for building surgical robot, the second sliding component includes a plurality of second sliders and a second guide rail arranged on the inner side wall of the sliding through groove;
the plurality of second sliding blocks are horizontally arranged on the corresponding sides of the corresponding second sliding arms, corresponding second sliding groove gaps are formed in each second sliding block, and the plurality of second sliding groove gaps are matched to form second sliding grooves which are in sliding connection with the second guide rails.
The utility model discloses a multi-joint mechanical arm for building surgical robot, the transmission component is a two-stage transmission component, the two-stage transmission component comprises a first synchronizing wheel, a second synchronizing wheel and a synchronous belt;
the first synchronizing wheel and the second synchronizing wheel are respectively connected to two ends of the first sliding arm in a rotating manner;
the synchronous belt is wound on the first synchronous wheel and the second synchronous wheel, and a first fixed connection node and a second fixed connection node are arranged on the synchronous belt; the first fixed connection node is fixedly connected with the base station, and the second fixed connection node is fixedly connected with the second sliding arm.
The utility model discloses a multi-joint mechanical arm for building surgical robot, the first rotary joint includes first mount pad, first connecting axle, first band-type brake and first harmonic speed reducer machine;
the first mounting seat is used for being connected to an external platform, and a first accommodating hole is formed in the first mounting seat;
the first harmonic speed reducer is arranged on the first mounting seat, and the output end of the first harmonic speed reducer is connected with the base station;
the first band-type brake is arranged in the first accommodating hole and communicated with the input end of the first harmonic speed reducer through the first connecting shaft.
The utility model discloses a multi-joint mechanical arm for building surgical robot, the linear joint includes gear, rack, second mount pad, second connecting axle, second band-type brake and second harmonic speed reducer machine;
the second mounting base is arranged on the base platform, and a second accommodating hole is formed in the second mounting base;
the second harmonic speed reducer is arranged on the second mounting seat, and the gear is arranged on the output end of the second harmonic speed reducer;
the rack is arranged on the first sliding arm and meshed with the gear;
the second band-type brake is arranged in the second accommodating hole and communicated with the input end of the second harmonic speed reducer through the second connecting shaft.
The utility model discloses a multi-joint mechanical arm for building operation robot, the second rotary joint includes third mount pad, third connecting axle, third band-type brake and third harmonic speed reducer machine;
the third mounting seat is arranged at the output end of the first sliding arm, and a third accommodating hole is formed in the third mounting seat;
the third harmonic speed reducer is arranged on the third mounting seat, and the output end of the third harmonic speed reducer is used for being connected with an external load;
the third band-type brake is arranged in the third accommodating hole and communicated with the input end of the third harmonic speed reducer through the third connecting shaft.
The utility model discloses a surgical robot, including above-mentioned arbitrary one be used for setting up surgical robot's many joints arm.
The utility model discloses owing to adopt above technical scheme, make it compare with prior art and have following advantage and positive effect:
in the embodiment of the utility model, the first sliding arm is arranged on the base station and is connected in a sliding way, the sliding through groove is arranged on the first sliding arm, and the sliding connection with the second sliding arm is realized through the sliding through groove; a first rotary joint is arranged to drive the base station to rotate relative to the external platform; a linear joint is arranged to realize the horizontal sliding of the first sliding arm, and the first sliding arm drives the second sliding arm to slide through a transmission assembly; and a second rotary joint is arranged at the output end of the second sliding arm and is used for connecting an external load to form the surgical robot. The mechanical arm can realize circumferential rotation, the length of the extension of an external load is the sum of the sliding distances of the first sliding arm and the second sliding arm, and the working range is large; when the sliding mechanism is contracted, the second sliding arm is converged in the sliding through groove, so that the occupied space is small; the base station, the first sliding arm and the second sliding arm are all in sliding connection, and large load capacity can be provided. Thereby solved current arm and be difficult to be applied to the problem of setting up operation robot.
Drawings
Fig. 1 is a schematic view of a multi-joint robot arm for constructing a surgical robot according to the present invention;
fig. 2 is an exploded view of a first rotary joint of a multi-joint robot arm for constructing a surgical robot according to the present invention;
fig. 3 is a schematic view of a base station of the multi-joint mechanical arm for constructing a surgical robot according to the present invention;
fig. 4 is a schematic view of a first sliding arm of the multi-joint mechanical arm for constructing a surgical robot according to the present invention;
fig. 5 is a schematic view of a second sliding arm of the multi-joint mechanical arm for constructing a surgical robot according to the present invention;
fig. 6 is a schematic view of the transmission assembly of the multi-joint robot arm for constructing a surgical robot according to the present invention;
fig. 7 is another schematic view of the transmission assembly of the multi-joint robot arm for constructing a surgical robot according to the present invention;
fig. 8 is a schematic view of the extended state of the articulated manipulator of the present invention for constructing a surgical robot;
fig. 9 is a schematic view of the contracted state of the multi-joint mechanical arm for constructing a surgical robot according to the present invention.
Description of reference numerals: 1: a base station; 101: an extension plate; 102: a first slider; 2: a first sliding arm; 201: a first guide rail; 202: a second guide rail; 3: a second sliding arm; 301: a second slider; 4: a first rotary joint; 401: a first harmonic reducer; 402: a first mounting seat; 403: a first connecting shaft; 404: a first band-type brake; 5: a linear joint; 501: a gear; 502: a rack; 6: a transmission assembly; 601: a first synchronizing wheel; 602: a second synchronizing wheel; 603: a synchronous belt; 604: a first fixed connection node; 605: a second fixed connection node; 7: a second rotary joint.
Detailed Description
The multi-joint mechanical arm and the surgical robot for constructing the surgical robot according to the present invention will be described in detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more fully apparent from the following description and appended claims.
Example one
Referring to fig. 1, 8 and 9, in one embodiment, a multi-joint robotic arm for building a surgical robot includes a base station 1, a first sliding arm 2, a second sliding arm 3, a first rotary joint 4, a linear joint 5, a drive assembly 6 and a second rotary joint 7.
The first sliding arm 2 is horizontally and slidably connected to the base platform 1, and the first sliding arm 2 is provided with a sliding through groove with at least one end penetrating through.
The second sliding arm 3 is connected in a sliding through groove in a sliding mode and has the same sliding direction as the first sliding arm 2.
The fixed end of the first rotary joint 4 is arranged on an external platform, and the output end of the first rotary joint 4 bears the base platform 1 and is used for driving the base platform 1 to rotate by taking the vertical direction as an axis.
The fixed end of the linear joint 5 is arranged on the base platform 1, and the output end of the linear joint 5 is connected with the first sliding arm 2 and used for driving the first sliding arm 2 to horizontally slide relative to the base platform 1.
The fixed end of the transmission component 6 is arranged on the base platform 1, the power input end of the transmission component 6 is connected with the first sliding arm 2, and the output end of the transmission component 6 is connected with the second sliding arm 3 and used for transmitting the horizontal sliding of the first sliding arm 2 and driving the second sliding arm 3 to horizontally slide.
The fixed end of the second rotary joint 7 is arranged at the output end of the second sliding arm 3, and the output end of the second rotary joint 7 is used for connecting an external load.
In the present embodiment, the first sliding arm 2 is slidably connected to the base 1, and the sliding through groove is formed in the first sliding arm 2, so that the sliding connection with the second sliding arm 3 is realized through the sliding through groove. And a first rotary joint 4 is arranged to drive the base station 1 to rotate relative to the external platform. The linear joint 5 is arranged to realize the horizontal sliding of the first sliding arm 2, and the transmission assembly 6 is used to realize the sliding of the second sliding arm 3 driven by the first sliding arm 2. A second rotary joint 7 is arranged at the output end of the second sliding arm 3 and is used for connecting an external load to form a surgical robot. The mechanical arm of the embodiment can realize circumferential rotation, the length of the extension of the external load is the sum of the sliding distances of the first sliding arm 2 and the second sliding arm 3, and the working range is large. And when the second sliding arm 3 is contracted, the second sliding arm is converged in the sliding through groove, and the occupied space is small. The base 1, the first sliding arm 2 and the second sliding arm 3 are all connected in a sliding manner, so that a large load capacity can be provided. Thereby solved current arm and be difficult to be applied to the problem of setting up operation robot.
The following further describes a specific structure of the multi-joint robot arm for constructing a surgical robot according to the present embodiment:
referring to fig. 3 and 4, in the present embodiment, the base 1 is provided with vertical extending plates 101 on both sides in the sliding direction of the first sliding arm 2. The extension plates 101 on both sides may be fixedly connected to the base 1 by bolts or the like, or may be directly extended from the base 1, and are not particularly limited herein.
The first sliding arm 2 is slidably connected to the two vertical extending plates 101 at two sides through two first sliding assemblies disposed at two sides thereof.
The first sliding assembly includes a plurality of first sliding blocks 102 and a first guide rail 201 disposed on the first sliding arm 2.
A plurality of first sliders 102 are horizontally arranged on the corresponding vertical extending plate 101, each first slider 102 is provided with a corresponding first sliding groove notch, and the plurality of first sliding groove notches are matched to form a first sliding groove in sliding connection with the first guide rail 201. The first slide arm 2 can be slidably connected to the base 1 via the first guide rail 201 and the first slide groove.
Referring to fig. 5, in the present embodiment, the first sliding arm 2 is provided with a sliding through groove along the sliding direction thereof. The second sliding arm 3 is connected to the inner side walls of the two sides of the sliding through groove in a sliding mode through two second sliding assemblies arranged on the two sides of the second sliding arm.
The second sliding assembly comprises a plurality of second sliding blocks 301 and a second guide rail 202 arranged on the inner side wall of the sliding through groove.
The plurality of second sliding blocks 301 are horizontally arranged on the corresponding sides of the corresponding second sliding arms 3, corresponding second sliding groove notches are formed in each second sliding block 301, and the plurality of second sliding groove notches are matched to form second sliding grooves in sliding connection with the second guide rails 202. The second sliding arm 3 can be slidably connected with the first sliding arm 2 through the second guide rail 202 and the second sliding groove.
Referring to fig. 6 and 7, in the present embodiment, the transmission assembly 6 is a two-stage transmission assembly 6, and the two-stage transmission assembly 6 includes a first synchronizing wheel 601, a second synchronizing wheel 602, and a synchronizing belt 603.
The first synchronizing wheel 601 and the second synchronizing wheel 602 are rotatably connected to both ends of the first sliding arm 2 in the sliding direction, respectively. The synchronous belt 603 is wound around the first synchronous wheel 601 and the second synchronous wheel 602, and the synchronous belt 603 is provided with a first fixed connection node 604 and a second fixed connection node 605. The first fixed connection node 604 is fixedly connected to the base 1, and the second fixed connection node 605 is fixedly connected to the second sliding arm 3.
When the first sliding arm 2 slides on the base 1 at a speed v, since the first fixed joint 604 is fixed, the second fixed joint 605 moves in the same direction at a speed of 2v, so as to drive the second sliding arm 3 to slide.
Because of adopting a double-stage structure, each section of the mechanical arm can control the length and the sectional area within a reasonable proportion range, thereby improving the integral rigidity and having strong load bearing capacity.
Of course, in other embodiments, the transmission assembly 6 may be configured as a multi-stage transmission according to actual requirements, so as to increase or decrease the movement speed of the end load.
Referring to fig. 2, in the present embodiment, the first rotary joint 4 may specifically include a first mounting seat 402, a first connecting shaft 403, a first band-type brake 404, and a first harmonic reducer 401.
The first mounting base 402 is used for connecting to an external platform, and a first receiving hole is formed on the first mounting base 402. The first harmonic reducer 401 is disposed on the first mounting base 402, and an output end of the first harmonic reducer 401 is connected to the base 1. The first band-type brake 404 is disposed in the first accommodating hole, and the first band-type brake 404 is communicated with the input end of the first harmonic reducer 401 through the first connecting shaft 403.
Further, the linear joint 7 includes a gear 501, a rack 502, a second mounting seat, a second connecting shaft, a second band-type brake, and a second harmonic reducer.
The second mounting seat is arranged on the base platform 1, and a second accommodating hole is formed in the second mounting seat. The second harmonic speed reducer is arranged on the second mounting seat, and the output end of the second harmonic speed reducer is provided with a gear 501. The rack 502 is disposed on the first sliding arm 2, and the rack 502 is engaged with the gear 501. The second band-type brake is arranged in the second accommodating hole and communicated with the input end of the second harmonic speed reducer through a second connecting shaft.
The engagement of the gear 501 and the rack 502 enables a damped and lockable linear sliding of the first sliding arm 2 on the base 1.
Furthermore, the second rotary joint comprises a third mounting seat, a third connecting shaft, a third band-type brake and a third harmonic speed reducer.
The third mounting seat is arranged at the output end of the first sliding arm 2, and a third accommodating hole is formed in the third mounting seat. The third harmonic speed reducer is arranged on the third mounting seat, and the output end of the third harmonic speed reducer is used for connecting an external load, wherein the external load can also expand more joints, and is not particularly limited herein. The third band-type brake is arranged in the third accommodating hole and communicated with the input end of the third harmonic speed reducer through a third connecting shaft.
Because the input of harmonic speed reducer machine is high-speed end, and the output is the low-speed end, and the high-speed end links together through connecting axle and band-type brake to can use less band-type brake power to pin great moment of torsion, guarantee to harmonic speed reducer machine locking effect.
The band-type brake is applied to a mechanical arm operated manually, and if electric operation needs to be achieved, the band-type brake can be replaced by a motor.
Example two
The present embodiment provides a surgical robot, which includes the multi-joint mechanical arm for building the surgical robot in the first embodiment. Through set up sliding connection's first slide arm 2 on base station 1, set up the logical groove of slip on first slide arm 2, through the logical groove realization of slip with second slide arm 3 of slip. And a first rotary joint 4 is arranged to drive the base station 1 to rotate relative to the external platform. The linear joint 5 is arranged to realize the horizontal sliding of the first sliding arm 2, and the transmission assembly 6 is used for driving the second sliding arm 3 to slide by the first sliding arm 2. A second rotary joint 7 is provided at the output end of the second sliding arm 3 for connecting an external load to constitute a surgical robot. The mechanical arm of the embodiment can realize circumferential rotation, and the length of the extension of the external load is the sum of the sliding distances of the first sliding arm 2 and the second sliding arm 3, so that the working range is large. And when the telescopic arm is contracted, the second sliding arm 3 is converged in the sliding through groove, so that the occupied space is small. The base 1, the first sliding arm 2 and the second sliding arm 3 are all connected in a sliding manner, so that a large load capacity can be provided. Thereby solved current arm and be difficult to be applied to the problem of setting up operation robot.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, the changes are still within the scope of the present invention if they fall within the scope of the claims and their equivalents.
Claims (10)
1. A multi-jointed robotic arm for building a surgical robot, comprising:
a base station;
the first sliding arm is horizontally and slidably connected to the base station, and at least one sliding through groove with one through end is formed in the first sliding arm;
the second sliding arm is connected in the sliding through groove in a sliding mode and has the same sliding direction as the first sliding arm;
the fixed end of the first rotary joint is arranged on an external platform, and the output end of the first rotary joint is loaded with the base station and is used for driving the base station to rotate by taking the vertical direction as an axis;
the fixed end of the linear joint is arranged on the base station, and the output end of the linear joint is connected with the first sliding arm and is used for driving the first sliding arm to horizontally slide relative to the base station;
the fixed end of the transmission component is arranged on the base station, the power input end of the transmission component is connected with the first sliding arm, and the output end of the transmission component is connected with the second sliding arm and used for transmitting the horizontal sliding of the first sliding arm and driving the second sliding arm to horizontally slide;
the fixed end of the second rotary joint is arranged at the output end of the second sliding arm, and the output end of the second rotary joint is used for connecting an external load.
2. The multi-joint mechanical arm for constructing a surgical robot according to claim 1, wherein vertical extending plates are respectively arranged on two sides of the base along the sliding direction of the first sliding arm;
the first sliding arm is connected with the two vertical extending plates on the two sides in a sliding mode through two first sliding assemblies arranged on the two sides of the first sliding arm.
3. The multi-joint robotic arm for constructing a surgical robot as claimed in claim 2, wherein said first slide assembly comprises a plurality of first slides and a first rail disposed on said first slide arm;
a plurality of first slider levels set up on the vertical extension board that corresponds, and each all be equipped with corresponding first spout breach on the first slider, it is a plurality of first spout breach cooperation form with first guide rail sliding connection's first sliding tray.
4. The multi-joint mechanical arm for constructing a surgical robot as claimed in claim 1, wherein the first sliding arm is provided with a sliding through groove arranged along the sliding direction thereof;
the second sliding arm is connected with the inner side walls of the two sides of the sliding through groove in a sliding mode through two second sliding assemblies arranged on the two sides of the second sliding arm.
5. The multi-joint mechanical arm for building a surgical robot as claimed in claim 4, wherein the second sliding assembly comprises a plurality of second sliding blocks and second guide rails arranged on the inner side wall of the sliding through groove;
the plurality of second sliding blocks are horizontally arranged on the corresponding sides of the corresponding second sliding arms, corresponding second sliding groove gaps are formed in each second sliding block, and the plurality of second sliding groove gaps are matched to form second sliding grooves which are in sliding connection with the second guide rails.
6. The multi-joint mechanical arm for building a surgical robot according to claim 1, wherein the transmission assembly is a double-stage transmission assembly, and the double-stage transmission assembly comprises a first synchronous wheel, a second synchronous wheel and a synchronous belt;
the first synchronizing wheel and the second synchronizing wheel are respectively connected to two ends of the first sliding arm in a rotating manner;
the synchronous belt is wound on the first synchronous wheel and the second synchronous wheel, and a first fixed connection node and a second fixed connection node are arranged on the synchronous belt; the first fixed connection node is fixedly connected with the base station, and the second fixed connection node is fixedly connected with the second sliding arm.
7. The multi-joint mechanical arm for constructing a surgical robot according to claim 1, wherein the first rotary joint comprises a first mounting base, a first connecting shaft, a first band-type brake and a first harmonic reducer;
the first mounting seat is used for connecting to an external platform, and a first accommodating hole is formed in the first mounting seat;
the first harmonic speed reducer is arranged on the first mounting seat, and the output end of the first harmonic speed reducer is connected with the base station;
the first band-type brake is arranged in the first accommodating hole and communicated with the input end of the first harmonic speed reducer through the first connecting shaft.
8. The multi-joint mechanical arm for building a surgical robot according to claim 1, wherein the linear joint comprises a gear, a rack, a second mounting seat, a second connecting shaft, a second band-type brake and a second harmonic reducer;
the second mounting base is arranged on the base platform, and a second accommodating hole is formed in the second mounting base;
the second harmonic speed reducer is arranged on the second mounting seat, and the gear is arranged on the output end of the second harmonic speed reducer;
the rack is arranged on the first sliding arm and meshed with the gear;
the second band-type brake is arranged in the second accommodating hole and communicated with the input end of the second harmonic speed reducer through the second connecting shaft.
9. The multi-joint mechanical arm for constructing a surgical robot as claimed in claim 1, wherein the second rotary joint comprises a third mounting seat, a third connecting shaft, a third band-type brake and a third harmonic reducer;
the third mounting seat is arranged at the output end of the first sliding arm, and a third accommodating hole is formed in the third mounting seat;
the third harmonic speed reducer is arranged on the third mounting seat, and the output end of the third harmonic speed reducer is used for being connected with an external load;
the third band-type brake is arranged in the third accommodating hole and communicated with the input end of the third harmonic speed reducer through the third connecting shaft.
10. A surgical robot comprising a multi-joint robot arm according to any of claims 1 to 9 for setting up a surgical robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221569099.3U CN217793325U (en) | 2022-06-22 | 2022-06-22 | Multi-joint mechanical arm for building surgical robot and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221569099.3U CN217793325U (en) | 2022-06-22 | 2022-06-22 | Multi-joint mechanical arm for building surgical robot and surgical robot |
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| CN217793325U true CN217793325U (en) | 2022-11-15 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116407288A (en) * | 2023-02-01 | 2023-07-11 | 极限人工智能有限公司 | Surgical robot sliding platform and surgical robot |
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2022
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116407288A (en) * | 2023-02-01 | 2023-07-11 | 极限人工智能有限公司 | Surgical robot sliding platform and surgical robot |
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