CN107307910B - Control handle for actuating an actuator - Google Patents
Control handle for actuating an actuator Download PDFInfo
- Publication number
- CN107307910B CN107307910B CN201710643879.5A CN201710643879A CN107307910B CN 107307910 B CN107307910 B CN 107307910B CN 201710643879 A CN201710643879 A CN 201710643879A CN 107307910 B CN107307910 B CN 107307910B
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- control handle
- clamping
- operating
- disc
- mounting chassis
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- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 230000007704 transition Effects 0.000 claims description 3
- 230000000875 corresponding effect Effects 0.000 abstract description 8
- 239000012636 effector Substances 0.000 abstract description 6
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 4
- 238000009434 installation Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 210000005036 nerve Anatomy 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 206010044565 Tremor Diseases 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002406 microsurgery Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Leader-follower robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Mechanical Control Devices (AREA)
Abstract
The invention relates to a control handle for operating an actuating mechanism, relates to the technical field of robot control, and aims to solve the technical problem that the tail end of a main hand of a robot cannot reflect the shape of an end effector in an image in the prior art. The control handle for operating the actuating mechanism comprises the mounting chassis, the clamping type position adjusting component and the connecting rod, and the clamping type position adjusting component is arranged to enable the shape of the end effector to be reflected in an image, so that an operator can truly feel various information in the operation process, and the operability of the control handle is higher; in addition, the sensor is used for collecting the space position and attitude information and the clamping opening angle information of the control handle so as to control the executing mechanism to perform corresponding actions, so that an operator does not need to directly operate the executing mechanism, and the problems of hand fatigue and the like caused by long-time operation of the operator can be avoided.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a control handle for operating an actuating mechanism.
Background
Microsurgery is a procedure performed by a doctor under a microscope. Because the objects of the operation are tiny nerves and blood vessels, the operation of the operation needs high operation precision and action stability, and the operation time is long, so that doctors feel very tired, and the trembling, fatigue and muscle nerve feedback of the doctors can occur, thus causing inaccurate action, increasing the pain of patients and reducing the success rate of the operation. In this case, surgical robots have been developed that can provide visual guidance or monitoring service functions during surgery, and robotic integrated systems that assist doctors in performing surgical procedures with high quality. The method improves the quality of the operation, overcomes the defects of the traditional minimally invasive operation, widens the range of the minimally invasive operation, and can also perform operation simulation.
The force feedback master hand (i.e. control handle) is a key device of a master-slave remote control robot system, is an input device for real-time motion control of the slave hand (i.e. manipulator), and becomes a force sense sensing/interface device when the master hand provides interaction force between the slave hand and an unknown environment to an operator. At present, most of the tail ends of the main hands of the medical robots are designed into a pen shape, have no clamping freedom degree, and cannot reflect the shape of the end effector (such as a clamp, a pair of scissors, a pair of separating pliers and the like) in an image.
Disclosure of Invention
The invention provides a control handle for operating an actuating mechanism, which is used for solving the technical problem that the tail end of a main hand of a robot in the prior art cannot reflect the shape of an end effector in an image.
The invention provides a control handle for operating an actuator, comprising:
a mounting chassis for securing to the console;
the clamping type position adjusting component is provided with at least one degree of freedom, a sensor used for collecting the position information of the clamping type position adjusting component and sending the position information to the central control console is arranged in the clamping type position adjusting component, and the central control console controls the executing mechanism to act according to the position information; and
a link for connecting the mounting chassis and the clip-on position adjustment member;
in one embodiment, the clamping type position adjusting component comprises a disc, an adapter plate and a clamping plate assembly, wherein the disc is hinged with the connecting rod, and two ends of the adapter plate are respectively connected with the disc and the clamping plate assembly in a rotating mode.
In one embodiment, the adapter plate comprises a horizontal section connected with the rotating shaft at the center of the disc and a vertical section connected with the clamping plate assembly, wherein the horizontal section and the vertical section are connected through an arc transition.
In one embodiment, the cleat assembly comprises a tapered shaft and a clip, the tapered shaft having an axis perpendicular to the axis of the disc;
the small end of the conical shaft is rotatably connected with the vertical section, the large end of the conical shaft is provided with a connecting shaft, and the connecting shaft is connected with the clamping piece.
In one embodiment, the clamping piece comprises a clamping plate and an inclined plate connected with the connecting shaft, wherein the clamping plate is horizontally arranged, and an included angle between the inclined plate and the horizontal direction is 30-80 degrees.
In one embodiment, the number of the connecting rods is 3, and the disc and the mounting chassis are respectively connected with the connecting rods in a rotating way.
In one embodiment, the axis of the disc coincides with or is parallel to the axis of the mounting chassis.
In one embodiment, the rotation angle of both the adapter plate and the conical shaft is no more than 360 °.
In one embodiment, the mounting chassis is provided with conical bosses connected with the connecting rod, the number of the conical bosses is 3, and the 3 conical bosses are uniformly distributed along the circumferential direction of the mounting chassis.
In one embodiment, the mounting chassis is provided with lightening holes.
Compared with the prior art, the invention has the advantages that: the clamping type position adjusting part is arranged, so that the shape of the end effector can be reflected in an image, an operator can truly feel various information in the operation process, and the operability of the control handle is higher; in addition, the sensor is used for collecting the space position and attitude information and the clamping opening angle information of the control handle so as to control the executing mechanism to perform corresponding actions, so that an operator does not need to directly operate the executing mechanism, and the problems of hand fatigue and the like caused by long-time operation of the operator can be avoided.
Drawings
The invention will be described in more detail hereinafter on the basis of embodiments and with reference to the accompanying drawings.
FIG. 1 is a schematic perspective view of a control handle for operating an actuator in accordance with one embodiment of the present invention;
FIG. 2 is a schematic perspective view of the clip-on position adjustment member of FIG. 1;
fig. 3 is a schematic perspective view of a mounting chassis in another embodiment of the present invention.
Reference numerals:
1-mounting a chassis; 2-a clamp-type position adjustment member; 3-connecting rod;
4-a slider; 11-a conical boss; 12-lightening holes;
21-a disc; 22-an adapter plate; 23-a cleat assembly;
41-the highest plane of the slider; 42-the lowest plane of the slider; 43-slider ramp;
211-rotating shaft; 221-horizontal segment; 222-vertical section;
231-conical shaft; 232-clamping pieces; 233-a connecting shaft;
234-clamping plates; 235-inclined plate.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, the present invention provides a control handle for manipulating an actuator, which includes a mounting chassis 1 for being fixed to an operation table, a clamp-type position adjusting member 2 having at least one degree of freedom, and a link 3 for connecting the mounting chassis 1 and the clamp-type position adjusting member 2.
Specifically, the clamp-type position adjusting member 2 is provided with a sensor for acquiring position information thereof and transmitting the position information to a center console, and the center console controls an actuator to operate based on the position information. The sensor at least comprises a force sensor, a position sensor and an angle sensor, and the sensor can acquire the spatial position and posture information and the clamping opening angle information of the control handle so as to control the executing mechanism to make corresponding actions, so that an operator does not need to directly operate the executing mechanism, and the problems of hand fatigue and the like caused by long-time operation of the operator can be avoided.
In addition, the clamping type position adjusting component is arranged, so that the clamping type position adjusting component can reflect the shape of the end effector, such as a clamp, a pair of scissors, a pair of separating pliers and the like, an operator can truly feel various information in the operation process, and the operability of the control handle is higher.
In the present embodiment, the clip-on position adjusting member 2 has at least one degree of freedom. Preferably, the clip-on position adjustment member 2 has seven degrees of freedom, a specific degree of freedom of which will be described in detail below.
In the present embodiment, the actuator is a robot arm having the same degree of freedom as the clamp type position adjusting member 2, and can perform a corresponding operation according to the change in position of the clamp type position adjusting member 2.
In addition, in order to enable an operator to truly feel force information in the operation process, a feedback loop is arranged in the actuating mechanism, namely force signals generated in the actuating mechanism are mapped to the clamping type position adjusting component 2 after corresponding operation processing through the central control console, and the motor is controlled to output corresponding torque, so that the operator can receive the feedback force, and the reality perceived by the operator is improved.
Specifically, as shown in fig. 2, the clamping position adjusting part 2 includes a disc 21, an adapter plate 22, and a clamping plate assembly 23, wherein the disc 21 is hinged to the connecting rod 3, and both ends of the adapter plate 22 are rotatably connected to the disc 21 and the clamping plate assembly 23, respectively. The adapter plate 22 can rotate about the axis of the disk 21 as a rotation axis, which is the first degree of freedom of the control handle.
The adapter plate 22 is constructed in an L-shaped structure, that is, the adapter plate 22 includes a horizontal section 221 connected to the rotation shaft 211 at the center of the disk 21 and a vertical section 222 connected to the clamping plate assembly 23, and the horizontal section 221 and the vertical section 222 are connected through an arc transition. The vertical section 222 is provided with a mounting hole in which the cleat assembly 23 is rotatably disposed, such that the cleat assembly 23 can rotate about the axis of the mounting hole as a rotational axis, which is the second degree of freedom of the control handle.
In one embodiment, cleat assembly 23 includes tapered shaft 231 and clip 232, with the axis of tapered shaft 231 being perpendicular to the axis of disk 21; the small end of the tapered shaft 231 is rotatably connected with the vertical section 222, and the large end of the tapered shaft 231 is provided with a connecting shaft 233, and the connecting shaft 233 is connected with the clamping piece 232. The connection shaft 233 is rotatable about a direction parallel to the axis of the rotation shaft 211 as a rotation shaft, which is a third degree of freedom of the control handle; the connection shaft 233 can also rotate about the axis of the taper shaft 231 as a rotation axis, which is the fourth degree of freedom of the control handle.
Further, the clamping piece 232 includes a clamping plate 234 and an inclined plate 235 connected to the connecting shaft 233, the clamping plate 234 is horizontally disposed, and an angle between the inclined plate 235 and the horizontal direction is 30-80 °. The operator changes the distance between the two clamping plates 234 by pressing the clamping plates 234, which is the fifth degree of freedom of the control handle; the clip 232 is rotatable around the axis of the connecting shaft 233 as a rotation axis along the circumferential surface, which is a sixth degree of freedom of the control handle.
In addition, the distal end of the clamping plate assembly 23 may be configured as a scalpel, a surgical scissors, a needle holder, a separating forceps, etc. according to the application object, which will not be described herein.
In the present embodiment, the number of the links 3 is 3, and the disc 21 and the mounting chassis 1 are respectively rotatably connected with the links 3. Specifically, the included angle between the 3 connecting rods 3 and the horizontal line is changed at the same time, that is, the clamping type adjusting part 2 can rotate by taking the axis of the mounting chassis 1 as a rotation axis, which is the sixth degree of freedom of the control handle; the disk 21 is rotatable about its axis as a rotation axis, which is a seventh degree of freedom of the control handle.
Thus, the control handle of the present invention, which has these seven degrees of freedom of movement, is capable of satisfying substantially all of the needs of in vivo tissue manipulation.
Furthermore, the axis of the disc 21 coincides with or is parallel to the axis of the mounting chassis 1. When the disc 21 rotates to another posture by taking the axis of the mounting chassis 1 as a rotating shaft, the axis of the disc is parallel to the axis of the mounting chassis 1, so that the operation is simple and convenient.
In addition, in order to facilitate the concealed connection of the clamping position adjusting member 2 and the wires of the center console, a passage is provided inside the link 3.
And, the rotation angle of the adapter plate 22 and the conical shaft 231 is not more than 360 degrees, so that the rotation angle of the adapter plate is controlled, and the control handle is prevented from being singular.
The mounting chassis 1 is provided with conical bosses 11 connected with the connecting rods 3, the number of the conical bosses 11 is 3 corresponding to 3 connecting rods 3, and the 3 conical bosses 11 are uniformly distributed along the circumferential direction of the mounting chassis 1. Namely, the 3 connecting rods 3 form an equilateral triangle, so that the whole control handle is stable and firm, and the operation is convenient.
In order to reduce the weight of the whole apparatus, a weight reducing hole 12 is also provided in the mounting chassis 1. The weight-reducing hole 12 is located at the center of the installation chassis 1, and its axis coincides with the axis of the installation chassis 1, so that the rigidity of the installation chassis 1 is maintained, and the weight-reducing effect can be achieved.
Alternatively, the connection mode of the installation chassis 1 and the operation platform can adopt a bolt connection mode so as to ensure the connection reliability.
Optionally, for easy assembly and disassembly, three or more sliders 4 are provided at the upper edge of the mounting chassis 1. As shown in fig. 3, the slider 4 is wedge-shaped or tapered, and the tips of the sliders 4 are oriented in the same direction, i.e., both clockwise and counterclockwise.
Further, in order to ensure the reliability of the engagement connection between the mounting chassis 1 and the console 1, a slider highest plane 41 is formed at the highest point of the slider 4, a slider lowest plane 42 is formed between two adjacent sliders 4 (i.e., the lowest point of the slider 4), and a slider inclined plane 43 is formed between the highest point and the lowest point of the slider 4; correspondingly, a corresponding slideway is arranged on the operation platform, similarly, the highest point of the slideway is provided with a slideway highest plane, the lowest point of the slideway is provided with a slideway lowest plane, and a slideway inclined plane is formed between the highest point and the lowest point of the slideway. When the rotary installation chassis 1 is installed, the sliding block inclined plane 43 and the sliding way inclined plane are matched to slide until the sliding block highest plane 41 and the sliding way highest plane are just aligned and are in contact with each other, and the sliding block lowest plane 42 and the sliding way lowest plane are just aligned and are in contact with each other, because the sliding block highest plane 41 is just blocked by the sliding way highest plane along the vertical direction, and the sliding block lowest plane 42 is just blocked by the sliding way lowest plane along the vertical direction, the sliding block 4 cannot slide out of the sliding way, and the installation chassis 1 and the operation table can be locked.
While the invention has been described with reference to a preferred embodiment, various modifications may be made and equivalents may be substituted for elements thereof without departing from the scope of the invention. In particular, the technical features mentioned in the respective embodiments may be combined in any manner as long as there is no structural conflict. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions falling within the scope of the claims.
Claims (7)
1. A control handle for operating an actuator, comprising:
a mounting chassis (1) for fixing to an operating table;
a clamping type position adjusting part (2) with at least one degree of freedom, wherein a sensor for collecting the position information of the clamping type position adjusting part (2) and sending the position information to a central control console is arranged in the clamping type position adjusting part (2), and the central control console controls an executing mechanism to act according to the position information; and
a connecting rod (3) for connecting the mounting chassis (1) and the clamp-type position adjusting member (2);
the clamping type position adjusting component (2) comprises a disc (21), an adapter plate (22) and a clamping plate assembly (23), wherein the disc (21) is hinged with the connecting rod (3), and two ends of the adapter plate (22) are respectively connected with the disc (21) and the clamping plate assembly (23) in a rotating mode;
the adapter plate (22) comprises a horizontal section (221) connected with a rotating shaft (211) at the center of the disc (21) and a vertical section (222) connected with the clamping plate assembly (23), and the horizontal section (221) is in arc transition connection with the vertical section (222);
the clamping plate assembly (23) comprises a conical shaft (231) and a clamping piece (232), wherein the axis of the conical shaft (231) is perpendicular to the axis of the disc (21);
the small end of the conical shaft (231) is rotatably connected with the vertical section (222), the large end of the conical shaft (231) is provided with a connecting shaft (233), and the connecting shaft (233) is connected with the clamping piece (232).
2. The control handle for operating an actuator according to claim 1, characterized in that the clamping piece (232) comprises a clamping plate (234) and an inclined plate (235) connected to the connecting shaft (233), the clamping plate (234) being arranged horizontally, the inclined plate (235) having an angle of 30-80 ° to the horizontal.
3. Control handle for operating an actuator according to claim 1, characterized in that the number of links (3) is 3, the discs (21) and the mounting chassis (1) being in rotational connection with the links (3), respectively.
4. A control handle for operating an actuator according to claim 3, characterized in that the axis of the disc (21) coincides with or is parallel to the axis of the mounting chassis (1).
5. Control handle for operating an actuator according to claim 1 or 2, characterized in that the rotation angle of both the adapter plate (22) and the conical shaft (231) is not more than 360 °.
6. Control handle for operating an actuator according to claim 1, characterized in that the mounting chassis (1) is provided with conical bosses (11) for connection with the connecting rod (3), the number of the conical bosses (11) being 3, the 3 conical bosses (11) being evenly distributed along the circumference of the mounting chassis (1).
7. Control handle for operating an actuator according to claim 1, characterized in that the mounting chassis (1) is provided with lightening holes (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643879.5A CN107307910B (en) | 2017-07-31 | 2017-07-31 | Control handle for actuating an actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710643879.5A CN107307910B (en) | 2017-07-31 | 2017-07-31 | Control handle for actuating an actuator |
Publications (2)
| Publication Number | Publication Date |
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| CN107307910A CN107307910A (en) | 2017-11-03 |
| CN107307910B true CN107307910B (en) | 2023-09-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710643879.5A Active CN107307910B (en) | 2017-07-31 | 2017-07-31 | Control handle for actuating an actuator |
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| Country | Link |
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| CN (1) | CN107307910B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108278007B (en) * | 2018-03-08 | 2024-09-13 | 岭南师范学院 | Novel intelligent clothes and hat room and application method thereof |
| CN113040911B (en) * | 2019-12-27 | 2022-08-19 | 重庆海扶医疗科技股份有限公司 | Surgical system, surgical system control method and surgical system control method |
| WO2021147269A1 (en) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | Surgical robotic arm and surgical robot |
| CN114098976A (en) * | 2021-11-05 | 2022-03-01 | 北京罗森博特科技有限公司 | A connecting device for the front end of a surgical robot |
| CN115137491A (en) * | 2022-09-02 | 2022-10-04 | 北京唯迈医疗设备有限公司 | Intervene operation robot main end remote control system and intervene operation robot system |
| CN119074238A (en) * | 2023-06-06 | 2024-12-06 | 武汉联影智融医疗科技有限公司 | Traumatology Orthopedic Surgery System |
| CN120514486B (en) * | 2025-07-01 | 2025-09-26 | 诺孚泰智能科技(成都)有限公司 | Handle for doctor control console, control console and surgical robot system |
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| CN207870980U (en) * | 2017-07-31 | 2018-09-18 | 成都中科博恩思医学机器人有限公司 | Control handle for manipulating executing agency |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8911429B2 (en) * | 2011-11-04 | 2014-12-16 | The Johns Hopkins University | Steady hand micromanipulation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19944457C1 (en) * | 1999-09-16 | 2001-05-17 | Urs Universal Robot Systems Gm | Precision robot with parallel kinematics |
| CN101112329A (en) * | 2007-08-23 | 2008-01-30 | 哈尔滨工程大学 | Active and passive endoscopic manipulation surgical robot |
| CN101785704A (en) * | 2010-01-15 | 2010-07-28 | 广东工业大学 | Self-adaptive filtering device of master-slave minimally-invasive surgery robot system |
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| CN107307910A (en) | 2017-11-03 |
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Address after: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Applicant after: CHENGDU BORNS MEDICAL ROBOTICS Inc. Address before: 610041 1 / F, building 7, zone B, Tianfu Software Park, high tech Zone, Chengdu, Sichuan Applicant before: CHENGDU ZHONGKE BORNS MEDICAL ROBOT Co.,Ltd. |
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