CN111956330B - Quick locking detachable surgical mechanical device - Google Patents
Quick locking detachable surgical mechanical device Download PDFInfo
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- CN111956330B CN111956330B CN202010834919.6A CN202010834919A CN111956330B CN 111956330 B CN111956330 B CN 111956330B CN 202010834919 A CN202010834919 A CN 202010834919A CN 111956330 B CN111956330 B CN 111956330B
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- 230000009471 action Effects 0.000 description 3
- 238000001356 surgical procedure Methods 0.000 description 3
- 210000000115 thoracic cavity Anatomy 0.000 description 3
- 210000000988 bone and bone Anatomy 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001054 cortical effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 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
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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Abstract
The invention discloses a quick-locking detachable surgical mechanical device, wherein one end of a base is arranged on a mechanical arm, a fixed rod is arranged on the base, the free end of the fixed rod forms an expanded part, an opening is arranged at one end surface of the expanded part, a first guide cavity capable of partially accommodating a guider is formed inwards, and a first locking screw sleeve forming a limiting relation with the expanded part is sleeved on the fixed rod; the guider comprises a guide rod, a second locking threaded sleeve and a guide support, wherein the guide rod is used for being partially inserted into the guide cavity, the second locking threaded sleeve is fixed on the guide rod, the guide support is arranged at one end, far away from the base, of the guide rod and is used for mounting a surgical tool, and the first locking threaded sleeve is in threaded connection with the second locking threaded sleeve; the guide bracket comprises a sleeve which is vertically arranged and used for locking the surgical tool; the invention forms tight rigid connection by nesting the two locking screw sleeves, the guide rod and the fixed rod, can improve the bearing capacity of the guider and ensure that the guide bracket does not shake slightly when an operation tool performs operation.
Description
Technical Field
The invention relates to the field of medical instruments, in particular to the field of surgical robot medical instruments, and particularly relates to a quick-locking detachable surgical mechanical device.
Background
With the continuous development of medical technology, surgical robots are more and more widely applied. The surgical robot tip typically mounts a specific surgical tool, such as a mouth gag, a lumbar distractor, a thoracic distractor, etc.
The tail end of the robot has extremely high requirements on fixing and assembling and disassembling of the surgical tool, and not only can be quickly assembled and disassembled in an operation, but also is firm in assembling and high in precision. The existing connecting mechanisms cannot well combine two points of quick installation and positioning accuracy together, and often consider the two points, so that doctors have poor experience in operation and the operation quality is influenced.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a surgical mechanical device for realizing quick locking and surgical tool disassembly in a high-precision surgical robot system.
The technical scheme is as follows: in order to achieve the purpose, the detachable surgical mechanical device capable of being locked quickly comprises a base, a guider and a surgical tool, wherein one end of the base is installed on a manipulator, a fixed rod is arranged on the base, the free end of the fixed rod forms an expanded part, an opening is formed in one end face of the expanded part, a first guide cavity capable of partially accommodating the guider is formed inwards, and a first locking screw sleeve forming a limiting relation with the expanded part is sleeved on the fixed rod; the guider comprises a guide rod, a second locking threaded sleeve and a guide support, wherein the guide rod is used for being partially inserted into the guide cavity, the second locking threaded sleeve is fixed on the guide rod, the guide support is arranged at one end, far away from the base, of the guide rod and is used for mounting a surgical tool, and the first locking threaded sleeve is in threaded connection with the second locking threaded sleeve; the guide bracket includes a vertically disposed sleeve for locking a surgical tool.
The first and second lock nuts of the present invention may be connected in any thread-fitting manner as would be readily understood by one of ordinary skill in the art. As a preferred embodiment, the first locking screw sleeve is a movable member provided with an internal thread, and the second locking screw sleeve is a fixed member provided with an external thread. Therefore, first locking swivel nut includes the internal thread body, and the internal thread body is close to the one end of base and inwards contracts and form the socket with the dead lever external diameter adaptation, and the internal thread body is close to the one end of base and outwards peripheral formation first portion of screwing. The first locking thread insert with the socket and the expansion part of the free end of the fixing rod form limiting fit, and the first locking thread insert can move back and forth on the fixing rod but cannot be taken down from the free end.
The second locking threaded sleeve comprises an external thread body, a second guide cavity matched with the shape of the expansion part is formed in the end face of the external thread body, a positioning pin extends out of the center of the second guide cavity towards the direction of the base, and the positioning pin is matched with the shape of the first guide cavity. The guide rod is embedded into the first guide cavity of the fixing rod, and the fixing rod is embedded into the second guide cavity of the second locking screw sleeve, so that the fixing rod is extremely firmly connected with the base.
Furthermore, the expansion part also comprises a second end face opposite to the first end face, the diameter of the round face where the first end face is located is larger than that of the round face where the second end face is located, and an outer conical surface is formed between the first end face and the second end face along the direction of the fixing rod. The diameter of the circular surface of the first end face is larger than that of the cross section of the fixed rod.
The expansion part is provided with an external conical surface, and an internal conical surface matched with the external conical surface is arranged in the second guide cavity of the external thread body. The conical surface is designed to be convenient to assemble and disassemble, and can still ensure accurate centering action after being assembled and disassembled for many times; the conical surface fit is high in coaxiality and can be in gapless fit. When the first locking threaded sleeve is screwed up relative to the second locking threaded sleeve, the inner conical surface and the outer conical surface of the first locking threaded sleeve are tightly attached to each other, so that the fit clearance between the first locking threaded sleeve and the second locking threaded sleeve is eliminated, and the fixed rod and the guide rod are firmly and rigidly connected.
In most cases, the guide body should have a specific extension and inclination to meet the surgical requirements, in which case it should be ensured that the guide does not rotate. To this end, the inner surface of the first guide cavity comprises a curved surface and at least one flat surface, and in combination with the positioning pin described above, the shape of the first guide cavity is adapted, so that the positioning pin also comprises a curved surface and at least one flat surface, thereby preventing the positioning pin from rotating within the first guide cavity. In a preferred embodiment, the positioning pin is a cylinder with a flat slot formed on one side.
Because the diameter of the fixed rod and the guide rod body is smaller, the fixing rod and the guide rod body are not beneficial to the screwing of an operator, and therefore, a second screwing part is arranged at the position, adjacent to the external thread body, of the guide rod.
The surgical tool of the invention includes but is not limited to any one of an opener, a lumbar opening device and a thoracic opening device.
The invention further optimizes the disassembly convenience and the bearing stability of the sleeve locking surgical tool. A positioning piece is arranged on the side surface of the surgical tool, an opening is formed above the sleeve, a sliding groove for the positioning piece to pass through is formed in the side surface of the sleeve outwards, and a pressing piece is arranged on the side wall of the sliding groove; when the pressing piece is in the first state, the positioning piece is fixed in the sliding groove, and when the pressing piece is in the second state, the positioning piece can slide in the sliding groove.
The invention provides a preferable implementation mode, which is convenient for an operator or medical staff to unlock the surgical tool by one hand. Specifically, two side walls of the sliding chute are respectively provided with a waist-shaped hole, and the middle part of each waist-shaped hole is horizontally provided with a positioning pin shaft; the two pressing pieces are embedded into the waist-shaped holes and hinged into two side walls of the sliding groove through the positioning pin shafts, the elastic pieces in a compressed state are arranged between the lower portions of the two pressing pieces, the upper portions of the pressing pieces extend out of the inner surface of the groove wall of the sliding groove to be in a first state, and when the lower portions of the two pressing pieces are mutually extruded, the upper portions of the two pressing pieces retract into the waist-shaped holes to be in a second state.
The pressing piece is flat and corresponds to the waist-shaped hole in shape. In order to further improve the limiting or positioning effect of the pressing piece, the two upper ends of the pressing piece are inwards provided with the stop pieces, when the surgical tool is inserted into the sleeve from top to bottom, the positioning piece enters the sliding groove from the upper end opening, the stop piece is pushed open and then is limited in the space below the stop piece, so that the surgical tool cannot retract or shake during surgery.
The quick-locking detachable surgical mechanical device provided by the invention has the following advantages:
1. the guide rod of the guider is connected with the base fixing rod in a mode of combining a cambered surface and a plane, so that the uniqueness of the angle and the direction of the guider when the guider enters the base rod is ensured, and the repeated installation precision is high;
2. according to the invention, the two locking threaded sleeves, the guide rod and the fixed rod are mutually nested to form tight rigid connection, so that the bearing capacity of the guider can be improved, and the guide bracket can not slightly shake when an operation tool performs operation;
3. the conical surface design of the matching position of the fixed rod and the second locking threaded sleeve is convenient for an operator to assemble and disassemble, is favorable for repeated assembly and disassembly, and can still ensure accurate centering action.
4. The locking and the unblock of operation instrument and director adopt button spring unblock mode, and both stable firm, convenient and fast again, the art person of being convenient for or medical personnel are at operation in-process quick replacement operation instrument, consequently, the effectual improvement of the device accuracy of performing the operation reduces the operation degree of difficulty, makes the doctor obtain better clinical experience and feels.
Drawings
FIG. 1 is a schematic structural view of example 1;
FIG. 2 is a schematic view showing the assembly of a first locking nut and a fixing rod according to embodiment 1
FIG. 3 is a schematic structural view of a susceptor in embodiment 1;
fig. 4 is a schematic structural view of the first lock nut of embodiment 1;
FIG. 5 is a schematic view of the structure of a guide of embodiment 1;
FIG. 6 is a partial exploded view of FIG. 5;
FIG. 7 is a schematic longitudinal sectional view of the fixing rod and the guide according to embodiment 1;
FIG. 8 is a longitudinal sectional view of the assembled surgical tool of example 1.
Detailed Description
The invention is further illustrated below with reference to examples and figures.
Example 1
The quick-locking detachable surgical mechanical device comprises a base 1, a guider 2 and a surgical tool 3. One end of the base 1 is installed on the mechanical arm, the device is convenient to operate and control, the thoracolumbar vertebra opening channel opener is selected for use by the surgical tool 3 in the embodiment, and the surgical tool is an important surgical tool in spinal surgery and is used for puncturing cortical bones and cancellous bones and opening a nail placing channel.
As shown in fig. 1, a fixing rod 11 is arranged on a base 1, a free end of the fixing rod 11 forms an expanded part 111, a first 1111 of an end surface of the expanded part 111 is provided with an opening, and a first guide cavity 112 capable of partially accommodating a guider 2 is formed inwards, namely the first guide cavity 112 is hollow; a first locking threaded sleeve 12 which forms a limiting relation with the expansion part 111 is sleeved on the fixed rod 11; the guider 2 comprises a guide rod 21 for being partially inserted into the first guide cavity 112, a second locking screw sleeve 22 fixed on the guide rod 21, and a guide bracket 23 arranged at one end of the guide rod 21 far away from the base 1 and used for installing a surgical tool, wherein the first locking screw sleeve 12 is in threaded connection with the second locking screw sleeve 22; the guide bracket 23 comprises a vertically arranged sleeve 231 for locking the surgical tool 3.
The first and second lock nuts 12, 22 of the present invention may be connected in any thread-fitting manner as will be readily apparent to those skilled in the art. In one preferred embodiment, the first locking nut 12 is a movable member provided with an internal thread, and the second locking nut 22 is a fixed member provided with an external thread. Therefore, the first locking nut 12 includes an internal thread body 121, one end of the internal thread body 121 near the base 1 is contracted inward to form a socket adapted to the outer diameter of the fixing rod 11, and one end of the internal thread body 121 near the base 1 forms a first screw portion 1211 toward the outer periphery. The first locking thread 12 with the socket forms a limit fit with the expansion part 111 at the free end of the fixing rod 11, and the first locking thread 12 can move back and forth on the fixing rod 11 but cannot be taken down from the free end.
The second locking screw sleeve 22 comprises an external thread body 221, a second guide cavity 222 matched with the shape of the expansion part 111 is arranged on the end face of the external thread body 221, a positioning pin 24 extends out of the center of the second guide cavity 222 towards the base direction, and the positioning pin 24 is matched with the shape of the first guide cavity 112. The guide rod 21 is inserted into the first guide cavity 112 of the fixing rod 11, and the fixing rod 11 is inserted into the second guide cavity 222 of the second locking screw 22, so that the fixing rod 11 is extremely firmly connected to the base 1.
Furthermore, the expansion part 111 further comprises a second end face 1112 opposite to the first end face 1111, the end face 1112 is arranged in the circumferential direction of the fixing rod 11, the diameter of the circular surface where the first end face 1111 is located is larger than that of the circular surface where the second end face 1112 is located, and an outer conical surface 13 is formed between the first end face 1111 and the second end face 1112 along the direction of the fixing rod 11. The diameter of the round surface of the first end surface 1111 is larger than that of the cross section of the fixing rod 11.
As shown in fig. 2-4, the expanding part is provided with an external conical surface, and the second guide cavity of the external thread body is internally provided with an internal conical surface matched with the external conical surface. The conical surface is designed to be convenient to assemble and disassemble, and can still ensure accurate centering action after being assembled and disassembled for many times; the conical surface fit is high in coaxiality and can be in gapless fit. The external thread body specification is the same with the internal thread body specification, and when first locking swivel nut 12 was screwed up for second locking swivel nut 22, the internal and external conical surface between them closely laminated each other, has eliminated the fit clearance between the two, makes dead lever 11 and guide bar 21 form firm rigid coupling to lock and anticlockwise rotation through clockwise rotation and separate.
In most cases, the guide body should have a specific extension and inclination to meet the surgical requirements, in which case it should be ensured that the guide does not rotate. To this end, the inner surface of the first guide cavity 112 includes a curved surface and at least one flat surface, and the positioning pin, in combination with the above-described positioning pin, is adapted to the shape of the first guide cavity, so that the positioning pin 24 also includes a curved surface and at least one flat surface, thereby preventing the positioning pin 24 from rotating within the first guide cavity 112. In one preferred embodiment, the locating pin 24 is a cylinder with a flat slot formed in one side.
Because the rod body diameters of the fixing rod 11 and the guide rod 21 are small, the screwing of an operator is not facilitated, and for this reason, a second screwing part 25 is further arranged at the position of the guide rod 21 adjacent to the external thread body 221.
The surgical tool of the invention includes but is not limited to any one of an opener, a lumbar opening device and a thoracic opening device.
The invention further optimizes the disassembly convenience and the bearing stability of the sleeve locking surgical tool. A positioning part 31 is arranged on the side surface of the surgical tool 3, an opening is formed above the sleeve 232, a sliding groove 232 for the positioning part 31 to pass through is formed outwards on the side surface of the sleeve 232, and a pressing part 233 is arranged on the side wall of the sliding groove 232; when the pressing member 233 is in the first state, the positioning member 31 is fixed in the sliding groove 232, and when the pressing member 233 is in the second state, the positioning member 31 can slide in the sliding groove 232.
As shown in fig. 5-8, the specific design of the positioning member according to the present invention can be adapted by those skilled in the art in combination with the prior art and the common general knowledge in the art. The invention provides a preferable implementation mode, which is convenient for an operator or medical staff to unlock the surgical tool by one hand. Specifically, two side walls of the sliding groove 232 are respectively provided with a waist-shaped hole 235, and the middle part of the waist-shaped hole 235 is horizontally provided with a positioning pin 236; the two pressing members 233 are inserted into the kidney-shaped holes 235 and hinged to both side walls of the sliding groove 232 by the positioning pins 236, and an elastic member 234, preferably a spring, is disposed between the lower portions of the two pressing members 233 in a compressed state such that the upper portions of the pressing members extend from the inner surface of the groove wall of the sliding groove 232 in a first state, and when the lower portions of the two pressing members are pressed against each other, the upper portions of the two pressing members 233 are retracted into the kidney-shaped holes in a second state. When the robot to be operated is matched with the navigation system to place the operation tool to the designated position, the doctor holds the handle of the operation tool with one hand and unlocks the pressing piece with the other hand to perform operation in the direction of the passage designated by the guider.
The pressing member 233 is flat and corresponds to the waist-shaped hole 235. In order to further improve the limiting or positioning effect of the pressing members, the stop members 237 are inwardly arranged at the upper ends of the two pressing members 233, when the surgical tool is inserted into the sleeve 23 from top to bottom, the positioning member 31 enters the sliding groove 232 from the opening at the upper end, and is limited in the space below the stop members 237 after abutting the stop members 237, so that the surgical tool cannot retract or shake during surgery.
The working steps are as follows:
step 4, the surgical robot is matched with the navigation system to swing the surgical tool 3 to a designated position, a doctor holds the handle of the surgical tool 3 with one hand and presses the unlocking pressing piece 233 with the other hand, so that the surgical tool 3 performs surgical operation in the sleeve 231 of the guider 2;
and 5: if other surgical tools 3 used in cooperation are required to be replaced, the steps 3 and 4 are only required to be repeated; if different guides 2 need to be replaced, only the above steps 2, 3 and 4 need to be repeated.
Claims (8)
1. A quick locking detachable surgical mechanical device, comprising a base (1), a guider (2) and a surgical tool (3), and is characterized in that:
the base (1) is provided with a fixed rod (11), the free end of the fixed rod (11) forms an expansion part (111), the first end face (1111) of the expansion part (111) is provided with an opening, a first guide cavity (112) capable of partially accommodating the guider (2) is formed towards the fixed rod (11), and the fixed rod (11) is sleeved with a first locking screw sleeve (12) forming a limiting relation with the expansion part (111);
the guider (2) comprises a guide rod (21) which is partially inserted into the first guide cavity (112), a second locking threaded sleeve (22) which is fixed on the guide rod (21), and a guide bracket (23) which is arranged at one end of the guide rod (21) far away from the base (1) and used for mounting the surgical tool (3), wherein the first locking threaded sleeve (12) is in threaded connection with the second locking threaded sleeve (22);
the guide bracket (23) comprises a vertically arranged sleeve (231) for locking the surgical tool (3);
a positioning part (31) is arranged on the side surface of the surgical tool (3), an opening is formed above the sleeve (231), a sliding groove (232) for the positioning part (31) to pass through is formed outwards on the side surface of the sleeve (231), and a pressing part (233) is arranged on the side wall of the sliding groove (232); when the pressing piece (233) is in the first state, the positioning piece (31) is fixed in the sliding groove (232), and when the pressing piece (233) is in the second state, the positioning piece (31) slides in the sliding groove (232);
two side walls of the sliding groove (232) are respectively provided with a waist-shaped hole (235), and the middle part of each waist-shaped hole (235) is horizontally provided with a positioning pin shaft (236);
the pressing pieces (233) are embedded into the waist-shaped holes (235) and hinged to two side walls of the sliding groove (232) through the positioning pin shafts (236), the elastic pieces (234) in a compressed state are arranged between the lower portions of the two pressing pieces (233), the upper portions of the pressing pieces (233) extend out of the inner surface of the groove wall of the sliding groove (232) to be in a first state, and when the lower portions of the two pressing pieces (233) are extruded, the upper portions of the two pressing pieces (233) retract into the waist-shaped holes (235) to be in a second state.
2. The quick-locking detachable surgical mechanical device according to claim 1, wherein: the first locking screw sleeve (12) comprises an internal thread body (121), one end, close to the base (1), of the internal thread body (121) is contracted inwards to form a socket matched with the outer diameter of the fixing rod (11), and one end, close to the base, of the internal thread body (121) forms a first screwing part (1211) towards the outer periphery.
3. A quick-locking detachable surgical mechanical device according to claim 2, characterized in that: the second locking screw sleeve (22) comprises an external thread body (221), a second guide cavity (222) matched with the shape of the expansion part (111) is formed in the end face of the external thread body (221), a positioning pin (24) extends out of the center of the second guide cavity (222) towards the direction of the base (1), and the positioning pin (24) is matched with the shape of the first guide cavity (112).
4. A quick-locking detachable surgical mechanical device according to claim 3, characterized in that: the expansion part (111) further comprises a second end face (1112) opposite to the first end face (1111), the diameter of the round surface where the first end face (1111) is located is larger than that of the round surface where the second end face (1112) is located, and an outer conical surface (13) is formed between the first end face (1111) and the second end face (1112) along the direction of the fixing rod (11).
5. The quick-locking detachable surgical mechanical device according to claim 4, wherein: an inner conical surface (2221) matched with the outer conical surface (13) is arranged in the second guide cavity (222).
6. The quick-locking detachable surgical mechanical device according to claim 4, wherein: the diameter of the round surface where the first end face (1111) is located is larger than that of the cross section of the fixing rod (11).
7. The quick-locking detachable surgical mechanical device according to claim 4, wherein: the inner surface of the first guide cavity (112) comprises a curved surface and at least one flat surface.
8. The quick-locking detachable surgical mechanical device according to claim 1, wherein: the upper ends of the two pressing pieces (233) are inwards provided with stop pieces (237).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010834919.6A CN111956330B (en) | 2020-08-19 | 2020-08-19 | Quick locking detachable surgical mechanical device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010834919.6A CN111956330B (en) | 2020-08-19 | 2020-08-19 | Quick locking detachable surgical mechanical device |
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| CN111956330A CN111956330A (en) | 2020-11-20 |
| CN111956330B true CN111956330B (en) | 2022-03-08 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010834919.6A Active CN111956330B (en) | 2020-08-19 | 2020-08-19 | Quick locking detachable surgical mechanical device |
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| CN (1) | CN111956330B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US12108966B2 (en) * | 2021-12-03 | 2024-10-08 | DePuy Synthes Products, Inc. | Multioptional access device |
| CN115645048A (en) * | 2022-10-27 | 2023-01-31 | 南京普爱医疗设备股份有限公司 | Surgical robot tail end tracking device and integrated registration method |
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| CN2855353Y (en) * | 2005-12-15 | 2007-01-10 | 复旦大学 | Operation piloting tool |
| CN101584594A (en) * | 2009-06-18 | 2009-11-25 | 天津大学 | Metamorphic tool hand for abdominal cavity minimal invasive surgery robot |
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| CN210447192U (en) * | 2019-06-06 | 2020-05-05 | 上海木承智能医疗科技有限公司 | Fixing structure of tail end mechanism and surgical robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN2502656Y (en) * | 2001-10-18 | 2002-07-31 | 张家港市欣荣医疗器械有限公司 | Intramedullary nail implanting aiming device |
| US8010180B2 (en) * | 2002-03-06 | 2011-08-30 | Mako Surgical Corp. | Haptic guidance system and method |
| CN200994821Y (en) * | 2007-01-09 | 2007-12-26 | 中国人民解放军南京军区南京总医院 | Interlocked extrnal-pin distal locking-hole positioning system |
| CN201104919Y (en) * | 2007-09-29 | 2008-08-27 | 李锋 | Orthopaedics guiders |
| CN100539939C (en) * | 2007-11-16 | 2009-09-16 | 周志海 | Medical magnetic spotter position finding guiding assemblage |
| US9241771B2 (en) * | 2014-01-15 | 2016-01-26 | KB Medical SA | Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2855353Y (en) * | 2005-12-15 | 2007-01-10 | 复旦大学 | Operation piloting tool |
| CN101584594A (en) * | 2009-06-18 | 2009-11-25 | 天津大学 | Metamorphic tool hand for abdominal cavity minimal invasive surgery robot |
| CN208659531U (en) * | 2017-10-19 | 2019-03-29 | 北京天和诚医疗科技有限公司 | A kind of soft tissue expander |
| CN210447192U (en) * | 2019-06-06 | 2020-05-05 | 上海木承智能医疗科技有限公司 | Fixing structure of tail end mechanism and surgical robot |
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| CN111956330A (en) | 2020-11-20 |
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