CN110393587A - Mechanical arm cradle head and doctor's mechanical arm - Google Patents
Mechanical arm cradle head and doctor's mechanical arm Download PDFInfo
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- CN110393587A CN110393587A CN201910815064.XA CN201910815064A CN110393587A CN 110393587 A CN110393587 A CN 110393587A CN 201910815064 A CN201910815064 A CN 201910815064A CN 110393587 A CN110393587 A CN 110393587A
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 94
- 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 claims abstract description 48
- 239000002184 metal Substances 0.000 claims abstract description 12
- 229910000831 Steel Inorganic materials 0.000 claims description 50
- 239000010959 steel Substances 0.000 claims description 50
- 230000033001 locomotion Effects 0.000 abstract description 6
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000005259 measurement Methods 0.000 abstract description 4
- 238000005516 engineering process Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 238000002324 minimally invasive surgery Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000001727 in vivo Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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- 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—Master-slave 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
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- Life Sciences & Earth Sciences (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Veterinary Medicine (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of mechanical arm cradle head and doctor's mechanical arms, which solve the cradle head volume of mechanical arm in existing micro-wound operation robot is larger, the low technical problem of the measurement accuracy of joint motions detection device, it includes pedestal, first armed lever, band-type brake, shaft, encoder, encoder mounting plate, first synchronous pulley, synchronous belt and the second synchronous pulley, band-type brake is fixedly connected with pedestal, first synchronous pulley is fixedly connected with pedestal, shaft is connect by lower bearing with pedestal, the upper part of shaft is fixedly connected with the lower part of the first armed lever, the top of first armed lever is connect by upper bearing (metal) with pedestal, shaft passes through the centre bore of the first synchronous pulley, the lower part of shaft is divided into the axis hole of band-type brake, encoder is fixedly connected with the first armed lever, second synchronous pulley is fixedly connected with the shaft of encoder, synchronous belt is connected to Between two synchronous pulleys and the first synchronous pulley.The present invention is widely used in the field of medical instrument technology.
Description
Technical field
The present invention relates to micro-wound surgical operation machine technology field, in particular to a kind of mechanical arm cradle head and
Doctor's mechanical arm.
Background technique
Application reference publication No. is the Chinese invention patent of CN109091237A, entitled Minimally Invasive Surgery instrument auxiliary system
Application is known as 20th century medical science to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative, micro-
Invasive procedures operation refers to that doctor is insinuated into using elongated operation tool by the miniature incision of human body surface and performs the operation in vivo
Operation.It has operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast etc. compared with traditional open surgery
Advantage, this pain that patient is subjected to greatly reduce；Therefore minimally invasive surgery is widely used in clinical operation.
Application reference publication No. is the middle promulgated by the State Council of CN109091238A, entitled split type Minimally Invasive Surgery instrument auxiliary system
Bright patent application, minimally invasive surgical operation robot system include doctor's station, surgeon by operation doctor's mechanical arm come
The one or more surgical instruments being accurately controlled on the appliance mechanisms arm of patient's station execute various surgical actions.
Surgical operating instrument is the indispensable tool of surgical procedures, can execute different function, including clamps, cuts
It removes, cut, suture, coincide.Surgical operating instrument has different configurations comprising executes end, carpopodium, instrument shaft, device
Tool box etc., surgical operating instrument is inserted into, and opening is passed through, to implement telesurgery.
However, micro-wound operation robot, while bringing many benefits, there is also a series of technological deficiencies, such as: 1) hand
Art device structure is complicated, bulky, occupies the space of operating room, the cradle head volume of mechanical arm in micro-wound operation robot
It is larger；2) surgical apparatus is expensive, performs the operation at high cost, it is difficult to which hospital is universal at home；3) the joint motions detection device of mechanical arm
Measurement accuracy it is low.Therefore, it is necessary to continue to optimize to micro-wound operation robot structure, cost is reduced, volume is reduced, on overcoming
State disadvantage.
Summary of the invention
The present invention is exactly the joint fortune in order to which the cradle head volume for solving mechanical arm in existing micro-wound operation robot is larger
The low technical problem of the measurement accuracy of motion detection device provides a kind of small in size, the more accurate machine of joint kinematic parameter measurement
Tool arm cradle head and doctor's mechanical arm.
The present invention provides a kind of mechanical arm cradle head, including pedestal, the first armed lever, band-type brake, shaft, encoder, first
Synchronous pulley, synchronous belt and the second synchronous pulley, band-type brake are fixedly connected with pedestal, and the first synchronous pulley is fixedly connected with pedestal,
Shaft is connect by lower bearing with pedestal, and the upper part of shaft is fixedly connected with the lower part of the first armed lever, the top of the first armed lever
It is connect by upper bearing (metal) with pedestal, shaft passes through the centre bore of the first synchronous pulley, and band-type brake is equipped with band-type brake block and axis hole, shaft
Lower part is divided into the axis hole of band-type brake, and the band-type brake block of band-type brake is connect with shaft, and encoder is fixedly connected with the first armed lever, and second is same
Step belt wheel is fixedly connected with the shaft of encoder, and synchronous belt is connected between the second synchronous pulley and the first synchronous pulley.
Preferably, mechanical arm cradle head further includes connecting shaft, and connecting shaft is fixedly connected with pedestal, upper bearing (metal) and connecting shaft
Connection.
The present invention also provides a kind of mechanical arm cradle head, including pedestal, shaft, the first armed lever, lower bearing, upper bearing (metal),
Encoder, the first synchronous pulley and the second synchronous pulley, shaft are fixedly connected with the first armed lever, and the upper end of shaft passes through upper bearing (metal)
It is connect with pedestal, the lower end of shaft is connect by lower bearing with pedestal, and the first synchronous pulley is fixedly connected with pedestal, and shaft passes through
The centre bore of first synchronous pulley, the encoder are fixedly connected with the first armed lever, second synchronous pulley and encoder
Shaft is fixedly connected, and synchronous belt is connected between the second synchronous pulley and the first synchronous pulley.
The present invention also provides a kind of mechanical arm cradle head, including pedestal, pulley shaft, band-type brake and encoder mounting base, embrace
Lock, shaft, encoder, fixed synchronous pulley, rotation synchronous pulley, synchronous belt, steel band, big wheeled steel and small wheeled steel, belt wheel
Axis is fixedly connected with pedestal, and the left end of band-type brake and encoder mounting base passes through bearing and belt wheel axis connection, band-type brake and band-type brake and volume
Code device mounting base is fixedly connected, and band-type brake is equipped with axis hole, and encoder is fixedly connected in band-type brake and encoder mounting base, fixed to synchronize
Belt wheel is fixedly connected with pulley shaft 21, and rotation synchronous pulley is fixedly connected with the shaft in encoder, and synchronous belt is connected to fixation
Between synchronous pulley and rotation synchronous pulley, shaft is rotatablely connected by bearing and band-type brake and the right end of encoder mounting base, is turned
The lower part of axis is divided into the axis hole of band-type brake, and big wheeled steel is fixedly connected with pulley shaft, and the circumference of big wheeled steel is equipped with several
A connecting column, small wheeled steel are fixedly connected with shaft, and the circumference of small wheeled steel is equipped with several connecting columns, if steel band is equipped with
Dry circular hole, the left end of steel band cover on big wheeled steel, and the connecting column on big wheeled steel passes through the circular hole on the left of steel band, steel band
Right end covers on small wheeled steel, and the connecting column on small wheeled steel passes through the circular hole on the right side of steel band.
The present invention also provides a kind of doctor's mechanical arms, including aforementioned mechanical arm cradle head.
The present invention also provides a kind of doctor's mechanical arm, including pedestal, the first armed lever, the second armed lever and rotation connection seat, the
The rear end of one armed lever is connect with pedestal by mechanical arm cradle head above-mentioned, and the first armed lever can rotate in the horizontal plane；The
Two armed levers are connect with rotation connection seat by mechanical arm cradle head above-mentioned, and the second armed lever can rotate on the vertical plane；Turn
Dynamic attachment base is connect with the front end of the first armed lever by mechanical arm cradle head above-mentioned, and rotation connection seat can be in the horizontal plane
Rotation.
The invention has the advantages that having light structure, steerable, precision is high, and advantage small in size, at low cost can
In real time, joint of mechanical arm kinematic parameter is accurately fed back, and has the function of locking joint.Present invention is particularly suitable for low
The use condition of speed, underloading, the doctor mechanical arm cradle head of the micro-wound operation robot manipulated such as in the form of principal and subordinate follows.
Further aspect of the present invention is clearly stated that in the description of following specific embodiments.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of doctor's mechanical arm；
Fig. 2 is the joint structure schematic diagram between the first armed lever and pedestal；
Fig. 3 is the swing of the first synchronous pulley and the second synchronous pulley and the proportionate relationship schematic diagram of rotational angle；
Fig. 4 is the joint structure schematic diagram for being not provided with band-type brake；
Fig. 5 is the joint structure schematic diagram for increasing joint locking torque；
Fig. 6 is the connection schematic diagram of steel band.
Symbol description in figure:
1. pedestal, 2. first armed levers, 3. second armed levers, 4. wrists, 5. band-type brakes, 5-2. band-type brake block, 6. connecting shafts, 7. first
Synchronous pulley, 8. second synchronous pulleys, 9. synchronous belts, 10. encoder mounting plates, 11. encoders, 12. upper bearing (metal)s, 13. rotations
Attachment base, the pivot center in 14. first joints, the pivot center of 15. second joints, the pivot center in 16. third joints；17.
Shaft, 18. upper bearing (metal)s, 19. lower bearings；20. pedestal, 21. pulley shafts, 22. band-type brakes and encoder mounting base, 23. band-type brakes, 24.
Encoder, 25. bearings, 26. fixed synchronous pulleys, 27. rotation synchronous pulleys, 28. synchronous belts, 29. steel bands, 29-1. circular hole,
30. big wheeled steel, 31. small wheeled steels, 32. axis one, 33. axis two；34. shaft, 35. lower bearings；36. shaft, 37. axis
It holds.
Specific embodiment
Referring to the drawings, with specific embodiment, invention is further described in detail.
The rear end of doctor's mechanical arm as shown in Figure 1, the first armed lever 2 is connect with pedestal 1 by joint, 2 energy of the first armed lever
Enough to rotate in the horizontal plane, the second armed lever 3 is connect with rotation connection seat 13 by joint, and the second armed lever 3 can be on the vertical plane
Rotation, rotation connection seat 13 are connect with the front end of the first armed lever 2 by joint, and rotation connection seat 13 can turn in the horizontal plane
It is dynamic.
Band-type brake 5 is fixedly mounted on base by screw by the joint structure between the first armed lever 2 as shown in Figure 2 and pedestal 1
On seat 1, the first synchronous pulley 7 is fixedly connected with pedestal 1, and connecting shaft 6 is fixedly connected by screw with pedestal 1, the first armed lever 2
The top of rear end is rotatablely connected by upper bearing (metal) 12 and connecting shaft 6.The lower part of the upper part of shaft 34 and the rear end of the first armed lever 2
It is fixedly connected by screw, shaft 34 is rotatablely connected by lower bearing 35 and pedestal 1.Shaft 34 passes through the first synchronous pulley 7
Centre bore.Band-type brake 5 is equipped with band-type brake block 5-2 and axis hole using the known features of the prior art, and the lower part of shaft 34, which is divided into, embraces
In the axis hole of lock 5, band-type brake block 5-2 is connect by flat key with shaft 34, and under off-position, band-type brake block 5-2 is held tightly, shaft 34 into
And it is locked without being able to rotate；Under energized state, band-type brake block 5-2 is released, and shaft 34 in turn can be in the support of lower bearing 35
Lower rotation.Encoder mounting plate 10 is fixedly connected with the first armed lever 2, and encoder 11 is fixedly connected with encoder mounting plate 10, the
Two synchronous pulleys 8 be fixedly connected with the shaft of encoder 11 (the second synchronous pulley 8 rotation be able to drive encoder 11 shaft turn
It is dynamic), synchronous belt 9 is connected between the second synchronous pulley 8 and the first synchronous pulley 7.
The position feedback function in joint realizes that the process for making the movement of encoder 11 generate signal is: pedestal 1 by encoder
It is stationary, rotate the first armed lever 2, synchronous belt 9 will twine on the first synchronous pulley 7, and drive the second synchronous pulley 8
Rotation, that is, realizes planetary motion as shown in Figure 3, the second synchronous pulley 8 centered on the axis of the first synchronous pulley 7 into
While row revolution, the second synchronous pulley 8 itself carries out rotation (direction of rotation and revolution are contrary).If the second synchronous belt
The angular speed of 8 revolution of wheel is ω 1, angle is θ 1, and the angular speed of 8 rotation of the second synchronous pulley is ω 2, angle is θ 2, and first is same
The radius for walking belt wheel 7 is R1, and the radius of the second synchronous pulley 8 is R2, then has ω 1*R1=ω 2*R2, i.e. 1/ θ 2=ω of θ, 1/ ω 2
=R2/R1, it can be seen that, it can be achieved that speed change, varied angle are driven.
It should be noted that rotating pedestal 1 if the first armed lever 2 is stationary, band is rotated in the first synchronous pulley 7
Dynamic second synchronous pulley 8 rotation, encoder 11 can also generate signal.In short, as long as 1 relative motion of the first armed lever 2 and pedestal, is compiled
Code device 11 just will detect that exercise data.
Connecting shaft 6 can be installed on some bracket of surgical robot system.
For the band-type brake 5 used as brake, main function is when not needing the first 2 rotational action of armed lever
First armed lever 2 is locked.So, the joint structure of band-type brake is not provided with as shown in figure 4, the rear end of shaft 17 and the first armed lever 2 is solid
The upper end of fixed connection, shaft 17 is connect by upper bearing (metal) 18 with pedestal 1, and the lower end of shaft 17 is connected by lower bearing 19 and pedestal 1
It connects, the first synchronous pulley 7 is fixedly connected with pedestal 1, and shaft 17 passes through the centre bore of the first synchronous pulley 7.Encoder mounting plate
10 are fixedly connected with the first armed lever 2, and encoder 11 is fixedly connected with encoder mounting plate 10, the second synchronous pulley 8 and encoder
11 shaft is fixedly connected with (the shaft rotation that the rotation of the second synchronous pulley 8 is able to drive encoder 11), and synchronous belt 9 is connected to the
Between two synchronous pulleys 8 and the first synchronous pulley 7.The course of work of encoder in the detection course of work and Fig. 3 of encoder 11
It is identical.
It, can also be using structure shown in Fig. 2 or Fig. 4 for the joint structure between the second armed lever 3 and rotation connection seat 13.
It, can also be using structure shown in Fig. 2 or Fig. 4 for the joint structure between rotation connection seat 13 and the first armed lever 2.
The joint structure of increase joint locking torque as shown in Figure 5, pulley shaft 21 are fixedly connected with pedestal 20, band-type brake and
The left end of encoder mounting base 22 is rotatablely connected by bearing 25 and pulley shaft 21, band-type brake 23 and band-type brake and encoder mounting base 22
Right end be fixedly connected, band-type brake 23 is equipped with band-type brake block and axis hole, and encoder 24 is fixedly mounted on band-type brake and encoder mounting base 22
On, fixed synchronous pulley 26 is fixedly connected with the lower end of pulley shaft 21, and the shaft in rotation synchronous pulley 27 and encoder 24 is solid
Fixed connection, synchronous belt 28 are connected between fixed synchronous pulley 26 and rotation synchronous pulley 27, and shaft 36 is by bearing 37 and embraces
Lock and the rotation connection of the right end of encoder mounting base 22, the lower part of shaft 36 are divided into the axis hole of band-type brake 23, and band-type brake 23 is embraced
Brake shoe is connect by flat key with shaft 36；With reference to Fig. 6, big wheeled steel 30 is fixedly connected with the upper part of pulley shaft 21, big steel band
The circumference of wheel 30 is equipped with several connecting columns 30-1, and small wheeled steel 31 is fixedly connected with the top of shaft 36, small wheeled steel 31
Circumference be equipped with several connecting columns 31-1, steel band 29 be equipped with several circular holes 29-1, the left end of steel band 29 is covered in big steel
On belt wheel 30 (the circular hole 29-1 that connecting column 30-1 passes through 29 left side of steel band), the right end of steel band 29 covers on small wheeled steel 31 (even
Column 31-1 is met across the circular hole 29-1 on 29 right side of steel band), realize transmission.The locking of cradle head is by Steel Belt Transmission and band-type brake
Locking function realizes that in the energized state, band-type brake and encoder mounting base 22 are rotated band-type brake 23 centered on pulley shaft 21, rotation
Rotation (encoder 24 generates signal) while synchronous pulley 27 is revolved centered on axis 1, shaft 36 also can be with axis one
Rotation while revolution centered on 32.Under off-position, the band-type brake block of band-type brake 23 is held tightly, and shaft 36 is locked in turn cannot be certainly
Turn, under the action of steel band 29, band-type brake and encoder mounting base 22 cannot be rotated centered on axis 1, and then realize band-type brake
And the locking of encoder mounting base 22 and pulley shaft 21 is braked.If the theoretical maximum locking torque of band-type brake 23 is M1 n.m, joint
Theoretical maximum locking torque is M2 n.m.Shaft 36 and 29 engagement place radius of steel band are R1, pulley shaft 21 and 29 engagement place of steel band
Radius is R2.Then there are M1/R1=M2/R2, i.e. M2=M1R2/R1.If R2 > R1, joint locking torque increases.Steel Belt Transmission
Structural elasticity deflection is small, non-slip, and tensile strength is high.
When using joint structure shown in fig. 5, the armed lever of mechanical arm is fixedly connected with band-type brake and encoder mounting base 22.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if those skilled in the art
Member is enlightened by it, without departing from the spirit of the invention, the part configuration that takes other form, driving device and
Connection type not inventively designs frame mode similar with the technical solution and embodiment, should belong to guarantor of the invention
Protect range.
Claims (6)
1. a kind of mechanical arm cradle head, which is characterized in that together including pedestal, the first armed lever, band-type brake, shaft, encoder, first
Step belt wheel, synchronous belt and the second synchronous pulley, the band-type brake are fixedly connected with pedestal, and first synchronous pulley is fixed with pedestal
Connection, the shaft are connect by lower bearing with pedestal, and the upper part of the shaft is fixedly connected with the lower part of the first armed lever, the
The top of one armed lever is connect by upper bearing (metal) with pedestal, and the shaft passes through the centre bore of the first synchronous pulley, and the band-type brake is set
There are band-type brake block and axis hole, the lower part of the shaft is divided into the axis hole of band-type brake, and the band-type brake block of band-type brake is connect with shaft, the volume
Code device is fixedly connected with the first armed lever, and second synchronous pulley is fixedly connected with the shaft of encoder, the synchronous band connection
Between the second synchronous pulley and the first synchronous pulley.
2. mechanical arm cradle head according to claim 1, which is characterized in that the mechanical arm cradle head further includes connecting
Spindle, the connecting shaft are fixedly connected with pedestal, the upper bearing (metal) with connect axis connection.
3. a kind of mechanical arm cradle head, which is characterized in that including pedestal, shaft, the first armed lever, lower bearing, upper bearing (metal), coding
Device, the first synchronous pulley and the second synchronous pulley, the shaft are fixedly connected with the first armed lever, and the upper end of the shaft passes through upper
Bearing is connect with pedestal, and the lower end of the shaft is connect by lower bearing with pedestal, and first synchronous pulley is fixed with pedestal
Connection, the shaft pass through the centre bore of the first synchronous pulley, and the encoder is fixedly connected with the first armed lever, and described second is same
Step belt wheel is fixedly connected with the shaft of encoder, and the synchronous belt is connected between the second synchronous pulley and the first synchronous pulley.
4. a kind of mechanical arm cradle head, which is characterized in that including pedestal, pulley shaft, band-type brake and encoder mounting base, band-type brake,
Shaft, encoder, fixed synchronous pulley, rotation synchronous pulley, synchronous belt, steel band, big wheeled steel and small wheeled steel, the belt wheel
Axis is fixedly connected with pedestal, the left end of the band-type brake and encoder mounting base by bearing and belt wheel axis connection, the band-type brake with
Band-type brake and encoder mounting base are fixedly connected, and the band-type brake is equipped with axis hole, and the encoder is fixedly connected on band-type brake and encoder
In mounting base, the fixed synchronous pulley is fixedly connected with pulley shaft 21, the shaft in the rotation synchronous pulley and encoder
It is fixedly connected, the synchronous belt is connected between fixed synchronous pulley and rotation synchronous pulley, and the shaft is by bearing and embraces
Lock and the rotation connection of the right end of encoder mounting base, the lower part of shaft are divided into the axis hole of band-type brake, the big wheeled steel and band
Wheel shaft is fixedly connected, and the circumference of big wheeled steel is equipped with several connecting columns, and the small wheeled steel is fixedly connected with shaft, small steel
The circumference of belt wheel is equipped with several connecting columns, and the steel band is equipped with several circular holes, and the left end of steel band is covered in big wheeled steel
On, the connecting column on big wheeled steel passes through the circular hole on the left of steel band, and the right end of steel band covers on small wheeled steel, on small wheeled steel
Connecting column passes through the circular hole on the right side of steel band.
5. a kind of doctor's mechanical arm, which is characterized in that rotate and close including the mechanical arm as described in claim ball 1-4 any one
Section.
6. a kind of doctor's mechanical arm, which is characterized in that including pedestal, the first armed lever, the second armed lever and rotation connection seat, described the
The rear end of one armed lever is connect with pedestal by the mechanical arm cradle head as described in claim 1-4 any one, the first armed lever
It can rotate in the horizontal plane；Second armed lever and rotation connection seat pass through the machine as described in claim 1-4 any one
The connection of tool arm cradle head, the second armed lever can rotate on the vertical plane；The front end of seat and the first armed lever is rotatablely connected by such as
The connection of mechanical arm cradle head described in claim 1-4 any one, rotation connection seat can rotate in the horizontal plane.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910815064.XA CN110393587B (en) | 2019-08-30 | 2019-08-30 | Mechanical arm rotating joint and doctor mechanical arm |
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|---|---|---|---|
| CN201910815064.XA CN110393587B (en) | 2019-08-30 | 2019-08-30 | Mechanical arm rotating joint and doctor mechanical arm |
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| CN110393587B CN110393587B (en) | 2024-08-30 |
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| CN205521374U (en) * | 2016-04-15 | 2016-08-31 | 慧灵科技（深圳）有限公司 | Coaxial transmission structure's arm |
| WO2018000870A1 (en) * | 2016-06-29 | 2018-01-04 | 微创（上海）医疗机器人有限公司 | Surgical robot and mechanical arm thereof |
| CN109091236A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | A kind of Minimally Invasive Surgery instrument auxiliary operation arm |
| CN109091231A (en) * | 2017-06-21 | 2018-12-28 | 山东威高手术机器人有限公司 | Minimally Invasive Surgery main operation arm |
| CN107160431A (en) * | 2017-07-20 | 2017-09-15 | 青岛欧开智能系统有限公司 | A kind of modularization ball-joint driver element interior layout structure |
| CN110076791A (en) * | 2018-01-26 | 2019-08-02 | 南京机器人研究院有限公司 | The style of brushwork imitates robot |
| CN109986547A (en) * | 2019-03-08 | 2019-07-09 | 浙江大学 | A kind of four-degree-of-freedom operating device in the confined space |
| JP6562174B1 (en) * | 2019-05-10 | 2019-08-21 | 株式会社Ａ−Ｔｒａｃｔｉｏｎ | Surgery support device |
| CN210872026U (en) * | 2019-08-30 | 2020-06-30 | 山东威高手术机器人有限公司 | Mechanical arm rotating joint and doctor mechanical arm |
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