CN104523309A - Intraperitoneal traction surgical robot for minimally invasive surgery - Google Patents
Intraperitoneal traction surgical robot for minimally invasive surgery Download PDFInfo
- Publication number
- CN104523309A CN104523309A CN201510036194.5A CN201510036194A CN104523309A CN 104523309 A CN104523309 A CN 104523309A CN 201510036194 A CN201510036194 A CN 201510036194A CN 104523309 A CN104523309 A CN 104523309A
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- Prior art keywords
- motor
- housing
- connecting rod
- leading screw
- gear
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- 238000007912 intraperitoneal administration Methods 0.000 title claims abstract description 20
- 238000002324 minimally invasive surgery Methods 0.000 title claims abstract description 20
- 238000000034 method Methods 0.000 abstract description 9
- 230000033001 locomotion Effects 0.000 abstract description 7
- 239000000203 mixture Substances 0.000 description 8
- 230000004899 motility Effects 0.000 description 6
- 238000002357 laparoscopic surgery Methods 0.000 description 5
- 210000000323 shoulder joint Anatomy 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 210000003815 abdominal wall Anatomy 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 210000003797 carpal joint Anatomy 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 241001232809 Chorista Species 0.000 description 1
- 238000007486 appendectomy Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000002192 cholecystectomy Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0281—Abdominal wall lifters
Abstract
The invention discloses an intraperitoneal traction surgical robot for minimally invasive surgery, relates to a robot for minimally invasive surgery and aims at solving the problems that an existing surgical instrument is liable to being interfered in a surgical process, meanwhile, the flexibility in movement and the freedom of the surgical instrument in the surgical process are relatively poor and the existing surgical robot has large volume and expensive price. The intraperitoneal traction surgical robot comprises a housing, a swing mechanism, a telescopic mechanism and a clamping mechanism, wherein the swing mechanism comprises a first motor, a first bevel gear, a second bevel gear and a shoulder rotating connecting rod; the telescopic mechanism comprises a second motor, a first cylindrical gear, a second cylindrical gear, a first screw pair and a sleeve; the clamping mechanism comprises a third motor, a second screw pair, a first connecting rod, a second connecting rod, a third connecting rod and pliers; and the swing mechanism, the telescopic mechanism and the clamping mechanism are arranged in the housing. The intraperitoneal traction surgical robot disclosed by the invention is used for minimally invasive surgery.
Description
Technical field
The present invention relates to a kind of robot for Minimally Invasive Surgery.
Background technology
Laparoscopic surgery has lot of advantages, and development rapidly, has now become an operating milestone.It has become first-selected art formula in the operation such as cholecystectomy, appendectomy.But laparoscopic surgery also also exists some defects, the intrinsic motility of laparoscopic surgical instruments causes its operating difficulties, lacks vision and tactile feedback, brings puzzlement to the operation of doctor.In addition, surgeon wishes the advantage playing laparoscopic surgery by reducing the number of operative incision further, thus the single-hole laparoscopic surgery (LESS) and through natural tract laparoscopic surgery (NOTES) of being born.LESS can realize the ideal effect of body surface without obvious operative scar, for significant patient, but also just because of single hole, causes working place limited, thus greatly limit its range of application.NOTES can be described as finally pursuing a goal of Minimally Invasive Surgery, and it does not need to open operative incision at body surface.But in order to realize this goal, just must internal organs upper shed on natural tract path, this can cause greatly difficulty, simultaneously also along with danger such as leakages.Therefore, with regard to current technical merit, LESS has stronger feasibility than NOTES.
Along with the continuous progress of robot subject, it is expanded to medical science.From utilizing the mature technology of industrial robot solve the precision positioning problem operation and realize auxiliary operation at first, the rapid progress of operating robot technology till now, only have passed through short decades.Operating robot is eliminated and is trembled, and realizes motion convergent-divergent, can increase extra joint to improve the deficiency that the advantages such as the motility of operation technique compensate for conventional laparoscopic operation to a certain extent.Above-mentioned operating robot due to volume comparatively large, freedom and the motility of movement are poor, and operating theater instruments enters in patient body by stabbing card, there is certain interference each other.Especially Leonardo da Vinci's operating robot, becomes the outstanding representative of operating robot.But they also have high, the bulky heaviness of cost, are still subject to the shortcomings such as otch constraint.Be subject to the problem of otch constraint to fundamentally solve operating theater instruments, people start the research being devoted to body inner machine people.
Summary of the invention
The present invention is carrying out easily disturbing in operation process for solving existing operating theater instruments, the simultaneously mobile motility of the total operating theater instruments of operation process and large, the expensive problem of the poor and existing operating robot volume of freedom, and then a kind of intraperitoneal tractive operating robot for Minimally Invasive Surgery is provided.
The present invention is the technical scheme taked that solves the problem: the intraperitoneal tractive operating robot for Minimally Invasive Surgery of the present invention comprises housing, swing mechanism, telescoping mechanism and clamping device;
Housing is the cavity of closed at both ends, and swing mechanism comprises the first motor, the first bevel gear, the second bevel gear and shoulder pivot link;
Telescoping mechanism comprises the second motor, the first roller gear, the second roller gear, the first lead screw pair and sleeve;
Clamping device comprises the 3rd motor, the second lead screw pair, first connecting rod, second connecting rod, third connecting rod and pliers;
First motor, the first bevel gear and the second bevel gear arrangements are in housing, first motor and housing affixed, the output shaft of the first motor is fixed with the first bevel gear, first bevel gear engages with the second bevel gear, the gear shaft of the second bevel gear is fixed with shoulder pivot link, shoulder pivot link passes housing and can swing on housing;
Second motor, first roller gear, second roller gear and sleeve are arranged in housing, second motor and housing affixed, the axis of the second motor and the axis of the first motor be arranged in parallel, first lead screw pair comprises the first leading screw and the first screw, first leading screw is hollow structure, sleeve is arranged in housing, one end of first leading screw passes housing, the other end of the first leading screw is slidably mounted in sleeve, second roller gear is sleeved on the first screw and the second roller gear is rotatably connected on housing, the output shaft of the second motor is fixed with the first roller gear, first roller gear and the engagement of the second roller gear,
First connecting rod, second connecting rod, third connecting rod, second lead screw pair and pliers are arranged in the cavity of the first leading screw, the axis of the 3rd motor and the length direction of the first leading screw be arranged in parallel, 3rd motor to stretch in sleeve and is slidably mounted in housing, lead screw pair comprises the second leading screw and the second screw, the output shaft of the 3rd motor is connected with one end of the second leading screw, second screw can slide in the cavity of the first leading screw, second screw and first connecting rod affixed, one end of second connecting rod and one end of third connecting rod are all hinged with first connecting rod, second connecting rod and the V-shaped layout of third connecting rod, the other end of second connecting rod and the other end of third connecting rod hinged with the corresponding shank of pliers, the jaw of pliers passes one end of the first leading screw, fixed axis on jaw is packed on the first leading screw.
The invention has the beneficial effects as follows: one, the intraperitoneal tractive operating robot for Minimally Invasive Surgery of the present invention enters intraperitoneal completely by micro-incisions, then the shoulder pivot link by hanging is fixed on visual subject, robot target location be can be moved to by moving-vision main body, mobile motility and the freedom of robot considerably increased.In operation process, doctor is without the need to direct handheld machine people, but control the operation of intelligent robot by operating outside handle and guidance panel by wirless transmitting and receiving module, thus can avoid doctor directly and the contact of patient, not only reduce the probability that doctor catches, can also be reduced the error of the operating theater instruments end that doctor's hand shaking causes by program module, operating theater instruments is carrying out easily disturbing in operation process simultaneously.Operating theater instruments end is equipped with pliers, can grasping tissue, and by robot shoulder joint and carpal cooperation tractive tissue, is come out by focal part, be convenient to doctor and perform the operation.
Two, shoulder joint place adopts the number of teeth to be the Bevel Gear Transmission of 1:1, make the transmission of whole robot compacter, increase the stationarity in robot kinematics simultaneously, carpal joint adopts the first lead screw pair transmission to realize the flexible of robot, the first lead screw pair is driven by a pair roller gear, first roller gear is directly installed on the second spur gear wheel on the second motor and is arranged on the first screw, first screw is arranged in the first supporting baffle by bearing, and the first spur gear wheel is relative fixing with the first screw.First leading screw can reciprocatingly slide in sleeve, sleeve is fixed in the second supporting baffle of housing, circular hole in 3rd supporting baffle is for ensureing axial axiality, and three supporting baffle are fixed on housing by U-type groove and boss, thus ensures the stationarity of whole robot in operation process.
Three, the first leading screw in the first lead screw pair is hollow, and the inside has special die cavity, is provided with the 3rd motor, the second lead screw pair, linkage and pliers in die cavity, and the 3rd motor drives the second lead screw pair promotion linkage to realize the opening and closing of pliers.Double-deck lead screw pair has certain technical difficulty in realization, but can the motion of transfer complex, and because axiality is higher, therefore, the precision of end is also higher.The jaw of pliers can be changed as the case may be, thus can increase the range of application of operation.
Four, the whole operating robot small volume of the present invention, mechanism is simple, integrated level is higher, the cost of whole robot is low, and two of end pliers pawls can make different shapes according to concrete operation, can be applied to widely and need in the operation of chorista, and surgery cost is lower, there is very strong application value.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention, Fig. 2 is the perspective view that the present invention removes housing, and Fig. 3 is the B direction view of Fig. 2, and Fig. 4 is the top view of Fig. 3, Fig. 5 is the perspective view of clamping device, and Fig. 6 is the partial schematic sectional view of clamping device.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1-Fig. 6 illustrates, the intraperitoneal tractive operating robot for Minimally Invasive Surgery of present embodiment comprises housing, swing mechanism, telescoping mechanism and clamping device;
Housing 1 is the cavity of closed at both ends, and swing mechanism comprises the first motor 2, first bevel gear 3, second bevel gear 4 and shoulder pivot link 5;
Telescoping mechanism comprises the second motor 6, first roller gear 7, second roller gear 8, first lead screw pair 9 and sleeve 10;
Clamping device comprises the 3rd motor 13, second lead screw pair 14, first connecting rod 15, second connecting rod 16, third connecting rod 17 and pliers 18;
First motor 2, first bevel gear 3 and the second bevel gear 4 are arranged in housing 1, first motor 2 is affixed with housing 1, the output shaft of the first motor 2 is fixed with the first bevel gear 3, first bevel gear 3 engages with the second bevel gear 4, the gear shaft of the second bevel gear 4 is fixed with shoulder pivot link 5, and shoulder pivot link 5 passes housing 1 and can swing on housing 1;
Second motor 6, first roller gear 7, second roller gear 8 and sleeve 10 are arranged in housing 1, second motor 6 is affixed with housing 1, the axis of the second motor 6 and the axis of the first motor 2 be arranged in parallel, first lead screw pair 9 comprises the first leading screw 9-1 and the first screw, first leading screw 9-1 is hollow structure, sleeve 10 is arranged in housing 1, one end of first leading screw 9-1 passes housing 1, the other end of the first leading screw 9-1 is slidably mounted in sleeve 10, second roller gear 8 is sleeved on the first screw and the second roller gear 8 is rotatably connected on housing 1, the output shaft of the second motor 6 is fixed with the first roller gear 7, first roller gear 7 and the second roller gear 8 engage,
First connecting rod 15, second connecting rod 16, third connecting rod 17, second lead screw pair 14 and pliers 18 are arranged in the cavity of the first leading screw 9-1, the axis of the 3rd motor 13 and the length direction of the first leading screw 9-1 be arranged in parallel, 3rd motor 13 to stretch in sleeve 10 and is slidably mounted in housing 1, second lead screw pair 14 comprises the second leading screw 14-1 and the second screw 14-2, the output shaft of the 3rd motor 13 is connected with one end of the second leading screw 14-1, second screw 14-2 can slide in the cavity of the first leading screw 9-1, second screw 14-2 and first connecting rod 15 affixed, one end of second connecting rod 16 and one end of third connecting rod 17 all hinged with first connecting rod 15, second connecting rod 16 and the V-shaped layout of third connecting rod 17, the other end of second connecting rod 16 and the other end of third connecting rod 17 hinged with the corresponding shank 18-1 of pliers 18, the jaw 18-2 of pliers 18 passes one end of the first leading screw 9-1, fixed axis 18-3 on jaw 18-2 is packed on the first leading screw 9-1.
In order to reduce pliers jaw on resistance between two pawls, the fixed axis turning two pawls of jaw in peace is provided with sleeve 24, thus reduces the resistance around fixed axis.The shoulder pivot link 5 of present embodiment under the drive of the second bevel gear 4 can in groove 1-1 reciprocally swinging, realize the carrying out of intraperitoneal operation.
Detailed description of the invention two: composition graphs 1 and Fig. 2 illustrate, the first motor 2, second motor 6 of present embodiment and the 3rd motor 13 are reducing motor.Setting like this, integrated, can transmit very large moment of torsion, Stability Analysis of Structures is reliable, easy to use.Other is identical with detailed description of the invention one.
Detailed description of the invention three: composition graphs 5 illustrates, described in present embodiment, the second screw 14-2 is cylindrical screw.Setting like this, easy to use, use reliable.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: composition graphs 1 and Fig. 2 illustrate, described in present embodiment, the first roller gear 7 and the second roller gear 8 are respectively straight spur gear.Setting like this, Stability Analysis of Structures is reliable, easy to use.Other is identical with detailed description of the invention three.
Detailed description of the invention five: composition graphs 1 and Fig. 2 explanation, shoulder pivot link 5 Wei ∟ shape connecting rod described in present embodiment, housing 1 has groove 1-1, one of them arm 5-1 of shoulder pivot link 5 passes groove 1-1 and is arranged on the gear shaft of the second bevel gear 4, and described one of them arm 5-1 can swing in groove 1-1.Setting like this, is fixed on visual subject, robot can be moved to target location by moving-vision main body, considerably increases mobile motility and the freedom of robot.Other is identical with detailed description of the invention four.
Detailed description of the invention six: composition graphs 1 and Fig. 2 explanation, telescoping mechanism described in present embodiment also comprises two pulleys 11, just to being provided with two chute 10-1 on the sidewall of sleeve 10, the first leading screw 9-1 is provided with just to two pulleys 11 arranged, pulley 11 can slide in chute 10-1.Setting like this, pulley can move in the chute of ellipse in sleeve, adds kinetic stability and reliability, achieves the axiality of leading screw.Other with detailed description of the invention one, two, four or five identical.
Detailed description of the invention seven: composition graphs 1 and Fig. 2 explanation, deflection mechanism described in present embodiment also comprises fixed mount 19, fixed mount 19 is that [shape fixed mount, fixed mount 19 is arranged on housing 1, and the gear shaft of the second bevel gear 4 is rotatably installed between the relative two-arm of fixed mount 19.Setting like this, is conducive to the high-efficiency operation of the second bevel gear.Other is identical with detailed description of the invention six.
Detailed description of the invention eight: composition graphs 1-Fig. 3 illustrates, housing 1 described in present embodiment also comprises the first supporting baffle 20, second supporting baffle 21 and the 3rd supporting baffle 22; Second supporting baffle 21 to support between plate washer 20 and the 3rd supporting baffle 23 and three is parallel is packed in housing 1 first; First motor 2 is packed in the 3rd supporting baffle 22, second motor 6 is packed in the second supporting baffle 21, one end of first leading screw 9-1 passes the first supporting baffle 20 and housing 1 successively, second roller gear 8 is arranged on the sidewall of the first supporting baffle 20 by bearing 23, and the 3rd motor 13 is slidably mounted in the 3rd supporting baffle 22.Setting like this, three supporting baffle are fixed on housing, and therefore, when the 3rd motor driving spur gear wheel secondary motion, the first screw does gyration, and the first leading screw is only to move in the axial direction.Circular hole in 3rd supporting baffle is for realizing the fixing of three motors thus ensureing the corresponding axiality of respective mechanism.Other is identical with detailed description of the invention seven.
Work process
Tractive operating robot of the present invention coordinates visual subject to apply, and visual subject is fixed in abdominal wall by inside and outside Magnet, and robot is fixed on visual subject by the shoulder pivot link of shoulder joint.Integrated based on the control circuit module of PIC and the radio receiving transmitting module based on nRF24L01 in robot, whole robot has three degree of freedom, shoulder joint is driven by bevel gear kinematic pair, and carpal joint is driven by feed screw nut kinematic pair, and the clamping device of end is driven by lead screw pair drivening rod mechanism.
Before carrying out Minimally Invasive Surgery clinically, first by air pump by abdominal cavity of patients's air-blowing, thus the space increased between internal abdominal wall and in-vivo tissue, send operating robot to intraperitoneal by micro-incisions, robot is anchored on internal abdominal wall by external permanent magnet and the permanent magnet be embedded on suspension pedestal.The permanent magnet hung on pedestal can be driven to move by the permanent magnet outside moving body, thus robot can be moved to target location.After robot is anchored on target location, the rotation of 360 degree, whole robot can be driven by the external magnet on mobile agent, doctor is by observing the abdominal cavity environment that display screen is passed back simultaneously, button on operating control handle and control panel, host computer receives large-signal by the slave computer in a radio receiving transmitting module transmitting robot, slave computer controls the motion that shoulder joint and carpal electric machine rotation realize robot after receiving signal, also can control the 3rd motor to clamp simultaneously, robot motion drives clip to carry out tractive, expose focal part, perform the operation to facilitate.Whole operating robot adopts the mode of wireless telecommunications to control with extraneous, and the power supply of robot is placed in outside patient body.
Claims (8)
1., for the intraperitoneal tractive operating robot of Minimally Invasive Surgery, it is characterized in that: it comprises housing, swing mechanism, telescoping mechanism and clamping device;
The cavity that housing (1) is closed at both ends, swing mechanism comprises the first motor (2), the first bevel gear (3), the second bevel gear (4) and shoulder pivot link (5);
Telescoping mechanism comprises the second motor (6), the first roller gear (7), the second roller gear (8), the first lead screw pair (9) and sleeve (10);
Clamping device comprises the 3rd motor (13), the second lead screw pair (14), first connecting rod (15), second connecting rod (16), third connecting rod (17) and pliers (18);
First motor (2), the first bevel gear (3) and the second bevel gear (4) are arranged in housing (1), first motor (2) is affixed with housing (1), the output shaft of the first motor (2) is fixed with the first bevel gear (3), first bevel gear (3) engages with the second bevel gear (4), the gear shaft of the second bevel gear (4) is fixed with shoulder pivot link (5), shoulder pivot link (5) passes housing (1) and can in the upper swing of housing (1);
Second motor (6), first roller gear (7), second roller gear (8) and sleeve (10) are arranged in housing (1), second motor (6) is affixed with housing (1), the axis of the second motor (6) and the axis of the first motor (2) be arranged in parallel, first lead screw pair (9) comprises the first leading screw (9-1) and the first screw, first leading screw (9-1) is hollow structure, sleeve (10) is arranged in housing (1), one end of first leading screw (9-1) passes housing (1), the other end of the first leading screw (9-1) is slidably mounted in sleeve (10), second roller gear (8) is sleeved on the first screw and the second roller gear (8) is rotatably connected on housing (1), the output shaft of the second motor (6) is fixed with the first roller gear (7), first roller gear (7) and the second roller gear (8) engagement,
First connecting rod (15), second connecting rod (16), third connecting rod (17), second lead screw pair (14) and pliers (18) are arranged in the cavity of the first leading screw (9-1), the axis of the 3rd motor (13) and the length direction of the first leading screw (9-1) be arranged in parallel, 3rd motor (13) to stretch in sleeve (10) and is slidably mounted in housing (1), second lead screw pair (14) comprises the second leading screw (14-1) and the second screw (14-2), the output shaft of the 3rd motor (13) is connected with one end of the second leading screw (14-1), second screw (14-2) can slide in the cavity of the first leading screw (9-1), second screw (14-2) is affixed with first connecting rod (15), one end of second connecting rod (16) and one end of third connecting rod (17) all hinged with first connecting rod (15), second connecting rod (16) and third connecting rod (17) V-shaped layout, the other end of second connecting rod (16) and the other end of third connecting rod (17) hinged with the corresponding shank (18-1) of pliers (18), the jaw (18-2) of pliers (18) passes one end of the first leading screw (9-1), fixed axis (18-3) on jaw (18-2) is packed on the first leading screw (9-1).
2. the intraperitoneal tractive operating robot for Minimally Invasive Surgery according to claim 1, is characterized in that: the first motor (2), the second motor (6) and the 3rd motor (13) are reducing motor.
3. the intraperitoneal tractive operating robot for Minimally Invasive Surgery according to claim 1 and 2, is characterized in that: described second screw (14-2) is cylindrical screw.
4. the intraperitoneal tractive operating robot for Minimally Invasive Surgery according to claim 3, is characterized in that: described first roller gear (7) and the second roller gear (8) are respectively straight spur gear.
5. the intraperitoneal tractive operating robot for Minimally Invasive Surgery according to claim 4, it is characterized in that: described shoulder pivot link (5) Wei ∟ shape connecting rods, housing (1) has groove (1-1), one of them arm (5-1) of shoulder pivot link (5) is through groove (1-1) and be arranged on the gear shaft of the second bevel gear (4), and described one of them arm (5-1) can swing in groove (1-1).
6. the intraperitoneal tractive operating robot for Minimally Invasive Surgery according to claim 1,2,4 or 5, it is characterized in that: described telescoping mechanism also comprises two pulleys (11), just to being provided with two chutes (10-1) on the sidewall of sleeve (10), first leading screw (9-1) is provided with just to two pulleys (11) arranged, pulley (11) can slide in chute (10-1).
7. the intraperitoneal tractive operating robot for Minimally Invasive Surgery according to claim 6, it is characterized in that: described deflection mechanism also comprises fixed mount (19), fixed mount (19) is [shape fixed mount, fixed mount (19) is arranged on housing (1), and the gear shaft of the second bevel gear (4) is rotatably installed between the relative two-arm of fixed mount (19).
8. the intraperitoneal tractive operating robot for Minimally Invasive Surgery according to claim 7, is characterized in that: described housing (1) also comprises the first supporting baffle (20), the second supporting baffle (21) and the 3rd supporting baffle (22); Second supporting baffle (21) is positioned between the first support plate washer (20) and the 3rd supporting baffle (23) and three is parallel is packed in housing (1); First motor (2) is packed in the 3rd supporting baffle (22), second motor (6) is packed in the second supporting baffle (21), one end of first leading screw (9-1) passes the first supporting baffle (20) and housing (1) successively, second roller gear (8) is arranged on the sidewall of the first supporting baffle (20) by bearing (23), and the 3rd motor (13) is slidably mounted in the 3rd supporting baffle (22).
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| CN201510036194.5A CN104523309B (en) | 2015-01-23 | 2015-01-23 | Intraperitoneal traction surgical robot for minimally invasive surgery |
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| CN201510036194.5A CN104523309B (en) | 2015-01-23 | 2015-01-23 | Intraperitoneal traction surgical robot for minimally invasive surgery |
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| CN104523309B CN104523309B (en) | 2017-01-18 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107049498A (en) * | 2017-05-15 | 2017-08-18 | 浙江理工大学 | A kind of parallel Three Degree Of Freedom remote centre of motion operating robot |
| CN109106425A (en) * | 2018-09-17 | 2019-01-01 | 南京市第医院 | One kind is intravascular to take object to clamp |
| WO2019136360A1 (en) * | 2018-01-05 | 2019-07-11 | Board Of Regents Of The University Of Nebraska | Single-arm robotic device with compact joint design and related systems and methods |
| CN110236677A (en) * | 2019-04-30 | 2019-09-17 | 汕头大学 | A kind of parallelogram sturcutre Minimally Invasive Surgery mechanical arm |
| CN110680413A (en) * | 2019-09-16 | 2020-01-14 | 北京明宣生物技术有限公司 | Manual three-degree-of-freedom micro-manipulator for minimally invasive surgery |
| CN110693541A (en) * | 2019-10-29 | 2020-01-17 | 联博智能科技有限公司 | Natural cavity endoscopic surgery auxiliary device |
| CN111374719A (en) * | 2020-03-30 | 2020-07-07 | 柯贤柱 | Orthopedics knee joint mirror joint struts ware |
| CN112315584A (en) * | 2020-11-19 | 2021-02-05 | 锐志微创医疗科技（常州）有限公司 | Operation robot terminal pitching device and operation robot terminal |
| CN116269546A (en) * | 2023-05-17 | 2023-06-23 | 中国科学院自动化研究所 | Minimally invasive surgical instrument based on conical flexible body |
| US11819299B2 (en) | 2012-05-01 | 2023-11-21 | Board Of Regents Of The University Of Nebraska | Single site robotic device and related systems and methods |
| US11826032B2 (en) | 2013-07-17 | 2023-11-28 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
| US11826014B2 (en) | 2016-05-18 | 2023-11-28 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
| US11832902B2 (en) | 2012-08-08 | 2023-12-05 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
| US11872090B2 (en) | 2015-08-03 | 2024-01-16 | Virtual Incision Corporation | Robotic surgical devices, systems, and related methods |
| US11903658B2 (en) | 2019-01-07 | 2024-02-20 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
| US11909576B2 (en) | 2011-07-11 | 2024-02-20 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
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