CN220967396U - Vascular intervention operation robot - Google Patents
Vascular intervention operation robot Download PDFInfo
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- CN220967396U CN220967396U CN202321846954.5U CN202321846954U CN220967396U CN 220967396 U CN220967396 U CN 220967396U CN 202321846954 U CN202321846954 U CN 202321846954U CN 220967396 U CN220967396 U CN 220967396U
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- mounting groove
- robot body
- interventional procedure
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- 230000002792 vascular Effects 0.000 title claims abstract description 27
- 230000033001 locomotion Effects 0.000 claims description 17
- 230000005540 biological transmission Effects 0.000 claims description 11
- 238000013152 interventional procedure Methods 0.000 claims description 11
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 239000007788 liquid Substances 0.000 abstract description 12
- 238000007789 sealing Methods 0.000 description 14
- 238000009434 installation Methods 0.000 description 11
- 230000007246 mechanism Effects 0.000 description 6
- 239000000758 substrate Substances 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000000149 penetrating effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000013011 mating Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The utility model discloses a vascular intervention operation robot, which comprises: the robot comprises a robot body, wherein a strip-shaped mounting groove is formed in one vertical side face of the robot body in an extending mode along the intervention direction; the power seat is arranged on the robot body and can linearly move along the mounting groove. According to the utility model, the power seat is arranged on the side surface of the robot body by using the mounting groove on the vertical side surface of the robot body, so that external liquid is not easy to enter the robot body through the gap between the power seat and the mounting groove, and the problem that medical drip liquid which is dripped from top to bottom easily falls into the gap between the power seat and the mounting groove and enters the inside of the robot body when the vascular interventional operation robot in the related art is used is solved.
Description
Technical Field
The utility model relates to the technical field of medical equipment, in particular to a vascular intervention surgical robot.
Background
The vascular intervention operation robot mainly comprises a robot body, a power seat and a consumable box. The power seat is arranged on the robot body and can linearly move, the actuating mechanism is arranged on the robot body and connected with the power seat when being used as a sterile consumable component, and the driving mechanism in the power seat drives the consumable box to act and the structure in the consumable box to act so as to complete delivery, rotation and withdrawal of the guide wire and the guide pipe.
In the related art, the power seat is arranged on the robot body through the mounting groove on the upper end surface of the robot body, and medical drip which drips down from top to bottom in the operation process easily falls into a gap between the power seat and the mounting groove, so that the medical drip enters the inside of the robot body, and the normal use of equipment is affected.
Disclosure of utility model
The utility model mainly aims to provide a vascular intervention operation robot, which solves the problem that medical drip liquid which drops downwards from top to bottom easily falls into gaps of a power seat and a mounting groove and enters the inside of a robot body when the vascular intervention operation robot in the related art is used.
In order to achieve the above object, the present utility model provides a vascular intervention robot including:
the robot comprises a robot body, wherein a strip-shaped mounting groove is formed in one vertical side face of the robot body in an extending mode along the intervention direction;
The power seat is arranged on the robot body and can linearly move along the mounting groove.
Further, the vascular intervention operation robot further comprises a consumable box connected with the power seat, and an assembly end, which is used for being connected with the consumable box, on the power seat extends out of the mounting groove.
Further, a portion of the power seat adjacent the mounting groove is recessed inwardly to form a relief groove that is mateable with the rim of the mounting groove.
Further, the vascular intervention surgical robot also comprises a sliding component,
The power seat is connected with the robot body through the sliding component, so that the power seat can linearly move along the mounting groove, and the sliding component is arranged in the robot body.
Further, the robot body comprises a substrate and a shell, wherein the substrate is positioned in the shell;
the mounting groove is formed in one vertical side face of the shell.
Further, the power seat comprises a housing and a translational drive member;
The translation driving component is arranged in the shell and in transmission connection with the sliding component, and the translation driving component is arranged to be matched with the sliding component and drive the power seat to linearly move along the mounting groove.
Further, the sliding assembly comprises a gear and a rack which are connected in a meshed manner, the gear is rotatably arranged on the power seat, the rack is arranged along the linear movement direction of the power seat, and the tooth surface of the rack faces to one side where the mounting groove is;
The translation driving component comprises a first motor, and the first motor is arranged on the shell and is in transmission connection with the gear.
Further, the power seat further comprises an execution driving member, wherein the execution driving member is arranged in the shell and used for driving the execution structure of the consumable box to drive the intervention consumable to act.
Further, the sliding component further comprises a guide rod, the guide rod is arranged in parallel with the rack, and the power seat is arranged on the guide rod in a penetrating mode and is in sliding connection with the guide rod.
Further, the number of the guide rods is two, and the two guide rods are respectively positioned at two sides of the rack.
In the embodiment of the utility model, by arranging the robot body and the power seat, a long strip-shaped mounting groove is formed on one vertical side surface of the robot body in an extending manner along the intervention direction; the power seat is arranged on the robot body and can linearly move along the mounting groove, on one hand, the power seat is arranged on the side surface of the robot body by using the mounting groove on the vertical side surface of the robot body, so that external liquid is not easy to enter the robot body through a gap between the power seat and the mounting groove, the problem that medical drip liquid which drops downwards from top to bottom easily falls into the gap between the power seat and the mounting groove and enters the inside of the robot body when the vascular interventional operation robot in the related art is used is solved, and the power seat is used as a moving part and leaves an upper space of the robot body after being mounted on the side surface of the robot body, so that other parts can be mounted on the upper part of the robot body; on the other hand, the power seat of side direction installation makes the consumable box of follow-up installation on the power seat and long direct intervention consumable also be located robot body side direction, and at the in-process that the power seat removed, long direct intervention consumable can not produce the interference with the robot body between, has improved the running stability of robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of the utility model, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the utility model and are not to be construed as unduly limiting the utility model. In the drawings:
FIG. 1 is a schematic diagram of an isometric structure of a robot body according to an embodiment of the utility model;
FIG. 2 is a schematic view of a robot body with a sealing tape installed therein according to an embodiment of the present utility model;
FIG. 3 is a schematic diagram of a front view of a substrate in accordance with an embodiment of the present utility model;
FIG. 4 is a schematic top view of a substrate according to an embodiment of the present utility model;
The robot comprises a robot body, a 101 shell, a 102 substrate, a 2 mounting groove, a 3 power seat, a 31 assembly end, a 32 avoiding groove, a 33 shell, a 4 sealing belt, a5 sliding component, a 51 rack, a 52 guide rod, a 53 gear, a 6 translation driving component and a 61 first motor.
Detailed Description
In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present utility model and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the utility model herein.
In the present utility model, the azimuth or positional relationship indicated by the terms "upper", "lower", "inner", and the like are based on the azimuth or positional relationship shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "disposed," "configured," "connected," "secured," and the like are to be construed broadly. For example, "connected" may be in a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
In addition, the term "plurality" shall mean two as well as more than two.
It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.
In the related art, the power seat is arranged on the robot body through the mounting groove on the upper end surface of the robot body, and medical drip which drips down from top to bottom in the operation process easily falls into a gap between the power seat and the mounting groove, so that the medical drip enters the inside of the robot body, and the normal use of equipment is affected.
To solve the above technical problems, as shown in fig. 1, the present embodiment provides a vascular intervention robot, including:
The robot comprises a robot body 1, wherein a strip-shaped mounting groove 2 is formed in one vertical side surface of the robot body 1 in an extending manner along the intervention direction;
The power seat 3 is arranged on the robot body 1, and the power seat 3 can linearly move along the mounting groove 2.
In the present embodiment, the robot body 1 is used as a base structure for mounting the power seat 3 and other components, and the power seat 3 is mounted to the robot body 1 for use as a portion for supplying power in the vascular interventional operation robot. Of course, the specific structure of the power seat 3 is not limited in the utility model, so long as the power seat 3 can provide driving force for the consumable box, and a person skilled in the art can set the power seat according to actual use requirements. A part of the power seat 3 is located inside the robot body 1, and another part thereof is located outside the robot body 1, and a part located outside the robot body 1 serves as an assembly end 31 connected with the consumable cartridge. Since the power seat 3 needs to linearly move on the robot body 1 along at least one direction, and the power seat 3 partially extends out of the robot body 1, an installation groove 2 for extending the assembly end 31 of the power seat 3 out of the robot body 1 and meeting the linear movement requirement of the power seat 3 needs to be provided on the robot body 1, and the installation groove 2 is communicated with the inner space of the robot body 1.
On this basis, in order to prevent liquid dripping from the top down from entering the robot body 1 through the gap between the power seat 3 and the installation groove 2, the installation groove 2 is arranged on one vertical side of the robot body 1 as shown in fig. 1. Taking the square structure of the robot body 1 as an example, when the mounting groove 2 is located on the upper end face of the robot body 1, that is, when the consumable box is located on the upper portion of the robot body 1, the dropped liquid easily enters the robot body 1, and when the mounting groove 2 is located on the front vertical side face or the rear vertical side face of the robot body 1, the dropped liquid does not easily enter the robot body 1. Correspondingly, the power seat 3 can be arranged at the lateral direction of the machine body, the part of the power seat, which needs to extend out of the robot body 1, extends out through the mounting groove 2, and the length of the mounting groove 2 meets the moving stroke of the power seat 3 in the direction.
According to the embodiment, the power seat 3 is arranged on one vertical side face of the robot body 1, so that external liquid is not easy to enter the robot body 1 through a gap between the power seat 3 and the mounting groove 2, and the problem that medical drip liquid which drops from top to bottom easily falls into the gap between the power seat 3 and the mounting groove 2 and enters the inside of the robot body 1 when the vascular intervention operation robot in the related art is used is solved; and the power seat 3 as a moving part leaves an upper space of the robot body 1 after being mounted to the side of the robot body 1 so that the upper part of the robot body 1 can mount other parts; on the other hand, the power seat 3 of side direction installation makes the consumable box of follow-up installation on power seat 3 and long straight intervention consumable also be located robot body 1 side direction, long straight intervention consumable need not walk around robot body 1 and use, at the in-process that power seat 3 removed, long straight intervention consumable can not produce the interference between robot body 1, has improved the running stability of robot.
Since a part of the power seat 3 needs to extend out of the mounting groove 2, the opening width of the mounting groove 2 will affect the difficulty in implementing the sealing between the power seat 3 and the mounting groove 2 and the final sealing effect. In order to achieve better sealing, the opening width of the mounting groove 2 should be as small as possible, and accordingly the width of the portion of the power seat 3 located near the mounting groove 2 should be as small as possible, while the portion of the power seat 3 located outside the robot body 1 should be connected with a consumable cartridge, which needs to have a certain size to meet the connection requirements and the connection strength. For this reason, as shown in fig. 1, in this embodiment, the portion of the power seat 3 located near the mounting groove 2 is recessed inward to form the escape groove 32 matching with the edge of the mounting groove 2 to reduce the width thereof, so that the width of the mounting groove 2 is reduced under the condition that the connection requirement of the power seat 3 and the consumable cartridge is satisfied, and the sealing between the power seat 3 and the mounting groove 2 is made easier to realize.
It will be appreciated that the present application is not limited in any way to specifically form the avoiding groove 32, and those skilled in the art can set the present application according to the actual requirements. In this embodiment, the power seat 3 includes a plate-shaped assembly end 31 and a box-shaped housing 33, and the assembly end 31 and the housing 33 are connected by a plurality of connecting columns, the connecting columns are hollow column structures, and the inside of the connecting columns can be penetrated by a transmission shaft, a camera and other elements, based on the connecting columns, an avoidance groove 32 can be formed between the assembly end 31 and the housing 33, so that the width of the power seat 3 is reduced, and the edge of the mounting groove 2 can be arranged in the avoidance groove 32, so that the width of the mounting groove 2 can be reduced.
Because the mounting groove 2 is a long-strip-shaped groove body structure, although the width of the mounting groove 2 is smaller through the avoidance groove 32 on the power seat 3, the possibility that external liquid enters the robot body 1 through the mounting groove 2 is effectively reduced, and a certain risk still exists for the longer length of the mounting groove.
For this reason, in this embodiment, two rollers (not shown in the drawings) are disposed in the robot body 1, the two rollers are respectively located at two ends of the mounting groove 2, as shown in fig. 2, sealing belts 4 are sleeved on the two rollers, one side of the sealing belt 4 is opposite to and attached to the mounting groove 2 on the inner side of the robot body 1, and the part of the power seat 3 located in the mounting groove 2 is fixed on the sealing belts 4. In particular, it may be inserted through the sealing strip 4 and fixed to the sealing strip 4 during installation. When power seat 3 along mounting groove 2 rectilinear movement, with power seat 3 fixed connection's sealing strip 4 synchronous motion, the width of sealing strip 4 is greater than the width of mounting groove 2, and the laminating can play the closure effect to mounting groove 2 at the inboard sealing strip 4 of robot body 1 for outside liquid is difficult to get into in the robot body 1 through mounting groove 2 more.
In one embodiment, to achieve the linear movement of the power seat 3 along the mounting groove 2 on the robot body 1, as shown in fig. 3, the vascular interventional operation robot in this embodiment further includes a sliding component 5, where the power seat 3 is connected to the robot body 1 through the sliding component 5, so that the power seat 3 can move linearly along the mounting groove 2, and the sliding component 5 is disposed in the robot body 1.
In particular, it should be noted that the linear movement of the power seat 3 along the mounting groove 2 may be achieved by providing an additional sliding assembly 5, and the sliding assembly 5 may be mounted in the power seat 3 or in the robot body 1. In order to improve the integration level, the power part of the sliding assembly 5 may be installed in the power seat 3, and a structure for implementing linear movement in cooperation with the power part may be installed in the robot body 1. In one embodiment, the slide assembly 5 may include a drive wheel and a moving track (not shown). The driving wheel can be installed in the power seat 3, the moving track can be installed in the robot body 1, the driving wheel is matched with the moving track, the driving wheel can be driven by the driving motor to rotate, and the friction force between the driving wheel and the moving track is utilized to drive the power seat 3 to linearly move along the installation groove 2. It will be appreciated that other sliding assemblies 5 may be used to achieve this function, such as a gear 53 and rack 51 fit, or a sprocket and chain fit, or a screw drive, etc., and the present embodiment is not limited thereto.
As shown in fig. 1 to 4, the robot body 1 is used as a mounting base of the power seat 3, and includes a base plate 102 and a housing 101, wherein the shapes of the housing 101 and the base plate 102 can be designed according to practical requirements, the base plate 102 is approximately in an elongated plate-shaped structure, the housing 101 is approximately in a rectangular shell 33 structure, and the housing 101 and the base plate 102 have a certain length to meet the movement requirements of the power seat 3. The housing 101 has a mounting cavity therein, and the substrate 102 is mountable within the mounting cavity of the housing 101. The mounting groove 2 is formed in a vertical side surface of the housing 101, and the mounting groove 2 is communicated with the mounting cavity, so that the power seat 3 can be partially mounted in the mounting cavity, and the power seat partially extends to the outside of the housing 101 through the mounting groove 2.
The mounting groove 2 on the robot body 1 is used for meeting the linear movement requirement of the power seat 3, and correspondingly, the power seat 3 and the sliding assembly 5 are matched to realize linear movement along the mounting groove 2, and the power seat 3 in the embodiment comprises a shell 33 and a translational driving member 6; the translation driving member 6 is arranged in the shell 33 and is in transmission connection with the sliding assembly 5, and the translation driving member 6 is arranged to be matched with the sliding assembly 5 and drive the power seat 3 to linearly move along the mounting groove 2.
On the basis of the description of the sliding assembly 5 in the above embodiment, the translational driving member 6 in the power seat 3 is used as a structure for realizing the linear movement of the power seat 3 in cooperation with the sliding assembly 5, and can be arranged in a matched manner according to the specific form of the sliding assembly 5. For example, when the slide assembly 5 includes a drive wheel, the translational drive member 6 may be a rotational drive motor in direct drive connection with the drive wheel. In one embodiment, as shown in fig. 3 and 4, the sliding assembly 5 includes a gear 53 and a rack 51 which are engaged with each other, the gear 53 is rotatably provided on the power seat 3, the rack 51 is arranged along the linear movement direction of the power seat 3, and the tooth surface of the rack 51 is directed to the side of the mounting groove 2; the translational drive member 6 comprises a first motor 61, the first motor 61 being provided on the housing 33 and being in driving connection with the gear 53.
The manner of mating the slide assembly 5 and the translational drive member 6 provided in this embodiment is: the first motor 61 mounted on the housing 33 of the power seat 3 can drive the gear 53 mounted on the housing 33 to realize fixed axis rotation, and the rack 51 engaged with the gear 53 is fixed on the base plate 102 of the robot body 1, so that the fixed axis rotation of the gear 53 drives the housing 33 to move linearly along the rack 51, that is, linearly along the mounting groove 2.
It will be appreciated that in another embodiment, the sliding assembly 5 may be a sliding rail disposed on the base plate 102, a screw (not shown in the drawings), on which a slider is disposed, the sliding rail being disposed along the length direction of the mounting groove 2 and opposite to the mounting groove 2, the screw being rotatably mounted on the sliding rail, the slider being mounted on the sliding rail and being linearly movable along the sliding rail, and the slider being screwed with the screw. The translation driving member 6 as a power source can be installed on the base plate 102, and specifically can be a screw motor, the screw motor is in transmission connection with one end of the screw, and can drive the screw to rotate by a fixed shaft, so that a sliding block in threaded connection with the screw is driven to linearly move, and the power seat 3 only needs to be fixedly connected with the sliding block.
In addition to the translational drive member 6, an execution drive member for driving the execution structure operation in the consumable cartridge needs to be installed in the housing 33 constituting the power seat 3. After the consumable box is mounted at the assembly end 31 of the power seat 3, the execution driving member in the power seat 3 is synchronously connected with the execution structure in the consumable box in a transmission manner, and the execution structure in the consumable box is driven by the action of the execution driving member, so that the intervention consumable mounted on the consumable box is driven. Generally, interventional consumables include guide wires and catheters, which are required to have the functions of advancing, withdrawing and rotating in vascular interventional procedures.
Thus, in one embodiment, the executing structure within the consumable cartridge includes a guidewire drive structure and a catheter drive structure (not shown). Specifically, the guide wire transmission mechanism comprises two rollers which are oppositely arranged, the rollers are arranged on the mounting frame and can be driven to rotate in a fixed shaft mode, the guide wire is arranged between the two rollers and clamped, and the two rollers rotate around the axis of the two rollers to drive the guide wire to conduct linear motion of advancing or withdrawing. On the basis, the guide wire transmission mechanism can further comprise a rotating structure for driving the installation frame to integrally rotate, and the guide wire can be driven to rotate through the rotating structure. The conduit transmission mechanism at least comprises a rotary cover and a gear assembly for driving the rotary cover to rotate on a fixed shaft, and the conduit can pass through the rotary cover and be driven to rotate by the rotary cover. The advancing and withdrawing of the catheter can be achieved by a linear movement of the power seat 3 along the mounting groove 5.
In addition, since the power seat 3 needs to linearly move along the mounting groove 2 through the sliding component 5, in order to improve the accuracy of the linear movement of the power seat 3, the sliding component 5 in this embodiment further includes a guide rod 52, the guide rod 52 is parallel to the rack 51, and the power seat 3 is disposed on the guide rod 52 in a penetrating manner and is slidably connected with the guide rod 52. In the present embodiment, the guide rod 52 has a smooth elongated rod-like structure, and the linear movement of the power seat 3 can be guided by the guide rod 52. In order to make the power seat 3 evenly stressed, the number of the guide rods 52 is two, the two guide rods 52 are respectively positioned at two sides of the rack 51, the distance between the two guide rods 52 and the rack 51 is equal, and the two guide rods 52 are respectively arranged at the upper end and the lower end of the shell 33 of the power seat 3 in a penetrating way. The rack 51, the gear 53, the first electrode, and the guide bar 52, and together, serve as a long rail delivery mechanism mounted on the base plate 102.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (10)
1. A vascular interventional procedure robot, comprising:
the robot comprises a robot body, wherein a strip-shaped mounting groove is formed in one vertical side face of the robot body in an extending mode along the intervention direction;
The power seat is arranged on the robot body and can linearly move along the mounting groove.
2. The vascular interventional procedure robot of claim 1, further comprising a consumable cartridge coupled to the power base, and wherein a mounting end of the power base for coupling to the consumable cartridge extends out of the mounting slot.
3. The vascular interventional procedure robot of claim 2, wherein the portion of the power seat adjacent the mounting slot is recessed inwardly to form a relief slot that is matable with the rim of the mounting slot.
4. The vascular interventional procedure robot of claim 2, further comprising a sliding assembly,
The power seat is connected with the robot body through the sliding component, so that the power seat can linearly move along the mounting groove, and the sliding component is arranged in the robot body.
5. The vascular interventional procedure robot of claim 4, wherein the robot body comprises a base plate and a housing, the base plate being located within the housing;
the mounting groove is formed in one vertical side face of the shell.
6. The vascular interventional procedure robot of claim 4, wherein the power seat comprises a housing and a translational drive member;
The translation driving component is arranged in the shell and in transmission connection with the sliding component, and the translation driving component is arranged to be matched with the sliding component and drive the power seat to linearly move along the mounting groove.
7. The vascular interventional procedure robot according to claim 6, wherein the sliding assembly comprises a gear and a rack which are engaged with each other, the gear is rotatably provided on the power seat, the rack is arranged along a linear movement direction of the power seat, and a tooth surface of the rack faces a side where the mounting groove is located;
The translation driving component comprises a first motor, and the first motor is arranged on the shell and is in transmission connection with the gear.
8. The vascular interventional procedure robot of claim 6, wherein the power seat further comprises an execution driving member, the execution driving member being disposed in the housing and configured to drive the execution structure of the consumable cartridge to drive the interventional consumable.
9. The vascular interventional procedure robot of claim 7, wherein the sliding assembly further comprises a guide rod disposed parallel to the rack, and the power seat is disposed through the guide rod and slidably connected thereto.
10. The vascular interventional procedure robot of claim 9, wherein the number of guide bars is two, the two guide bars being located on both sides of the rack, respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321846954.5U CN220967396U (en) | 2023-07-13 | 2023-07-13 | Vascular intervention operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321846954.5U CN220967396U (en) | 2023-07-13 | 2023-07-13 | Vascular intervention operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220967396U true CN220967396U (en) | 2024-05-17 |
Family
ID=91039235
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321846954.5U Active CN220967396U (en) | 2023-07-13 | 2023-07-13 | Vascular intervention operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220967396U (en) |
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2023
- 2023-07-13 CN CN202321846954.5U patent/CN220967396U/en active Active
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