CN114052914B - A surgical robot - Google Patents
A surgical robot Download PDFInfo
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- CN114052914B CN114052914B CN202010759432.6A CN202010759432A CN114052914B CN 114052914 B CN114052914 B CN 114052914B CN 202010759432 A CN202010759432 A CN 202010759432A CN 114052914 B CN114052914 B CN 114052914B
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- mechanical arm
- surgical robot
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- end instrument
- switching
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/32—Surgical cutting instruments
- A61B17/3209—Incision instruments
- A61B17/3211—Surgical scalpels, knives; Accessories therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods
- A61B17/34—Trocars; Puncturing needles
-
- 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
-
- 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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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Manipulator (AREA)
Abstract
本发明涉及一种手术机器人，包括机械臂(1)，机械臂(1)前端具有法兰(11)，其特征在于，还包括与前端器械(2)以及位于所述机械臂(1)和所述前端器械(2)之间连接所述机械臂(2)与所述前端器械(2)的转接装置(3)；所述前端器械(2)包括前端把持装置(21)和与所述前端把持装置(21)相连接的连接装置(22)，所述连接装置(22)中设有存储芯片(23)。本发明的手术机器人，能够解决前端器械更换时参数更改、选择复杂的问题，同时可以解决现有技术中更换前端器械时误差大、装配精度难以保证的问题。
The present invention relates to a surgical robot, comprising a mechanical arm (1), the front end of the mechanical arm (1) having a flange (11), characterized in that it also comprises a front end instrument (2) and a switching device (3) located between the mechanical arm (1) and the front end instrument (2) for connecting the mechanical arm (2) and the front end instrument (2); the front end instrument (2) comprises a front end holding device (21) and a connecting device (22) connected to the front end holding device (21), and a storage chip (23) is provided in the connecting device (22). The surgical robot of the present invention can solve the problem of parameter change and complex selection when replacing the front end instrument, and can also solve the problem of large error and difficult to ensure assembly accuracy when replacing the front end instrument in the prior art.
Description
Technical Field
The present invention relates to a surgical robot.
Background
In recent years, orthopedic operation robots have been developed at home and abroad, and the robots acquire three-dimensional posture information of patients by means of various different technical means such as X-ray perspective during operation, CT images during operation or before operation, optical binocular tracking systems and the like, so as to complete navigation and positioning functions. Has the outstanding advantages of accurate positioning, minimally invasive operation, short operation time, simple operation, easy grasp and the like.
However, most of the current orthopedic surgical robots have only one front end instrument, which is fixedly mounted on a flange at the tail end of the mechanical arm. The instrument is matched with a group of parameters to be recorded in an upper computer of the mechanical arm, and if the instrument is more equipped, the corresponding parameters also need to be changed. When a plurality of instruments exist, the parameters are required to be replaced, the parameters are very troublesome and even can be selected wrongly, the normal use of the surgical robot is affected, and the risk is brought to the operation. On the other hand, when the operation needs a plurality of front-end apparatuses, the change operation of a plurality of front-end apparatuses is comparatively loaded down with trivial details complicacy to the assembly error problem appears easily, and then also can cause certain influence to the operation.
Disclosure of Invention
The invention aims to solve the problems, and provides a surgical robot which can replace a front-end instrument and solve the problems of complex parameter change and selection during the replacement of the front-end instrument in the prior art.
Another object of the present invention is to solve the problem that in the prior art, when the front-end instrument is replaced, the error is large, and the assembly accuracy is difficult to ensure.
In order to achieve the above object, the present invention provides a surgical robot, including a mechanical arm, wherein the front end of the mechanical arm is provided with a flange, and the surgical robot further includes an adapter device connected with a front end instrument and between the mechanical arm and the front end instrument;
The front-end instrument comprises a front-end holding device and a connecting device connected with the front-end holding device, and a storage chip is arranged in the connecting device.
According to one aspect of the invention, the connecting device is fixedly provided with a connecting piece, and the connecting piece sequentially comprises a first part and a second part along the direction from the connecting device to the switching device;
The diameter of the first portion is smaller than the diameter of the second portion.
According to one aspect of the invention, the connecting means comprises a first connecting portion connected to the holding means and a second connecting portion connected to the adapter means;
The memory chip is located in the first connection portion, and the connection member is mounted on the second connection portion.
According to one aspect of the invention, the transfer device comprises a first transfer part and a second transfer part which are connected with each other, wherein the first transfer part is connected with the connecting device, and the second transfer part is connected with the mechanical arm;
and the first transfer portion is rotatably connected with the second transfer portion, and the first transfer portion is rotatable relative to the second transfer portion in a direction perpendicular to a central axis of the second transfer portion.
According to one aspect of the invention, the adapter device is provided with a mounting hole penetrating through the first adapter part and the second adapter part, and the connecting piece extends into the mounting hole;
The first transfer part is also provided with a locking groove connected with the mounting hole;
The locking groove mates with the first portion of the connector.
According to one aspect of the invention, the adapter device is provided with a mounting hole penetrating through the first adapter part and the second adapter part, and the connecting piece extends into the mounting hole;
The first transfer part is also provided with a locking groove connected with the mounting hole;
The locking groove mates with the first portion of the connector.
According to one aspect of the invention, the second adapting part is further provided with a limiting hole communicated with the mounting hole, and a limiting bolt is arranged in the limiting hole and abuts against the second part of the connecting piece.
According to one aspect of the invention, an end of the second portion remote from the first connection portion is provided in a tapered configuration.
According to one aspect of the invention, the surgical robot further comprises an insulating flange located between the flange of the robotic arm and the adapter;
The second switching part and the insulating flange are correspondingly provided with second mounting holes, the insulating flange and the flange are correspondingly provided with third mounting holes, and the second switching part and the insulating flange, the insulating flange and the flange are respectively and fixedly connected through screws.
The surgical robot adopts the front-end instrument provided with the memory chip, can read and write data, and can record parameters such as the use time, the use times and the like of the front-end instrument. After the front-end instrument is installed and connected with the mechanical arm, the upper computer of the mechanical arm can automatically read the data of the memory chip in the front-end instrument, and parameter configuration is completed. Therefore, the parameter configuration is simple and convenient, and no error occurs.
The surgical robot can replace a plurality of different front-end instruments, complete different functions, meet the requirements of different operations and expand the surgical adaptation types of the robot. The storage chip in the front-end instrument can record the use times and the use time, and the user is reminded to overhaul or calibrate after the use times are reached, so that the normal use of the surgical robot is not influenced by errors generated by the loss of the front-end instrument. The storage chip can also record the model, parameters, all motion states and errors (such as self-collision and the like) of the mechanical arm, and is convenient for subsequent maintenance and optimization of the mechanical arm.
According to the surgical robot disclosed by the invention, the connecting piece is firstly stretched into the mounting hole, and then the first transfer part is rotated, at the moment, the locking groove on the first transfer part rotates along with the rotation, and then the locking groove can be matched with the first part of the connecting piece, so that the locking of the connecting piece is realized, the connecting piece can be prevented from moving, and the connection position precision of the front-end instrument 2 and the mechanical arm 1 is further ensured. On the other hand, because the diameter of the first part of the connecting piece is smaller than that of the second part, when the first part is locked by the locking groove, the second part can also play a limiting role in the horizontal direction, and the connecting precision is further ensured.
According to the surgical robot, the switching device is connected to the mechanical arm and comprises the first switching part and the second switching part, the connecting piece is inserted into the mounting hole, and the first switching part is rotated to lock and position the connecting piece by using the locking groove, so that the front-end instrument is connected with the mechanical arm, different front-end instruments can be ensured, the replacement operation is convenient and quick, meanwhile, compared with the modes of screw connection and the like in the prior art, the consistency of repeated installation of the front-end instrument can be ensured, the connection precision is ensured, and the adverse effect on the surgical operation caused by larger assembly errors is avoided.
According to the surgical robot disclosed by the invention, the connecting piece on the front-end instrument extends into the mounting hole, and the second part of the connecting piece extends out of the mounting hole, at the moment, the limiting bolt can be arranged in the limiting hole to abut against the second part of the connecting piece, so that the connecting piece is further limited, the positioning precision is ensured, and meanwhile, the stability in the use process is ensured. According to one embodiment of the invention, one end of the second part of the connecting piece far away from the first part, namely one end propped against the limit bolt, is arranged to be of a conical structure, so that the limit bolt is propped against the conical surface, and the structural stability is further improved.
Drawings
FIG. 1 schematically shows a constitution diagram of a surgical robot according to an embodiment of the present invention;
FIG. 2 schematically illustrates a general assembly view of a surgical robot according to one embodiment of the present invention;
FIG. 3 schematically illustrates a structural view of a front end instrument according to one embodiment of the present invention;
FIG. 4 schematically illustrates a block diagram of a switching device according to one embodiment of the present invention;
FIG. 5 schematically illustrates a block diagram of a second limiting aperture in accordance with one embodiment of the present invention;
fig. 6 schematically shows an adapter according to an embodiment of the invention in combination with a machine assembly.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required to be used in the embodiments will be briefly described below. It is apparent that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained from these drawings without inventive effort for a person of ordinary skill in the art.
In describing embodiments of the present invention, the terms "longitudinal," "transverse," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in terms of orientation or positional relationship shown in the drawings for convenience of description and simplicity of description only, and do not denote or imply that the devices or elements in question must have a particular orientation, be constructed and operated in a particular orientation, so that the above terms are not to be construed as limiting the invention.
The present invention will be described in detail below with reference to the drawings and the specific embodiments, which are not described in detail herein, but the embodiments of the present invention are not limited to the following embodiments.
As shown in fig. 1 and 2, the surgical robot of the present invention includes a robot arm 1, a front end instrument 2, and an adapter 3, the robot arm 1 having a flange 11, the adapter 3 being located between the front end instrument 2 and the robot arm 1 for connecting the front end instrument 2 and the robot arm 1.
Referring to fig. 1 to 4, the distal instrument 2 of the present invention includes a distal holding section 21 and a connecting section 22 connected to the distal holding section 21, and a memory chip 23 is provided in the connecting section 22.
The surgical robot adopts the front-end instrument 2 provided with the memory chip 23, can read and write data, and can record parameters such as the use time, the use times and the like of the front-end instrument. After the front-end instrument 2 is installed and connected with the mechanical arm 1, the upper computer of the mechanical arm 1 can automatically read the data of the memory chip 23 in the front-end instrument 2, and parameter configuration is completed. Therefore, the parameter configuration is simple and convenient, and no error occurs.
Referring to fig. 1 to 3, the connecting device 22 of the present invention is fixedly provided with a connecting member 24, and the front-end instrument 2 is detachably connected to the adapter 3 via the connecting member 24. The surgical robot of the present invention can replace different front-end instruments 2 as needed, and specifically operates to disassemble the front-end instrument 2 from the adapter 3 through the connection 24, replace the next needed front-end instrument 2, and connect the connector 24 of the next needed front-end instrument 2 with the adapter 3. Of course, according to the inventive concept, the front end instrument may also be connected to a plurality of operating instruments, for example, a cutter disc is connected to the front end instrument channel, and different operating instruments, such as a puncture needle, a scalpel, etc., are arranged on the cutter disc to meet the requirements of different operations.
In the present invention, the connection member 24 includes a first portion 241 and a second portion 242 in this order along the direction from the connection device 22 toward the adapter device 3. According to one embodiment of the invention, the first portion 241 and the second portion 242 are each of cylindrical configuration, the diameter of the first portion 241 being smaller than the diameter of the second portion 242.
According to the concept of the present invention, the connecting device 22 of the present invention may be provided in an integrally formed structure with the front end gripping device 21, or may be fixedly connected to the front end gripping device 21 by a mechanical structure. Also, according to an embodiment of the present invention, the connection device 22 may be further provided to include a first connection portion 221 connected to the front end grip device 21 and a second connection portion 222 connected to the adapter device 3, the first connection portion 221 being integrally formed with the front end grip device 21, the memory chip 23 being provided in the first connection portion 221, and the connection member 24 being provided on the second connection portion 222.
Referring to fig. 1-6, according to one embodiment of the present invention, the adapter 3 includes a first adapter portion 31 and a second adapter portion 32 sequentially connected, the first adapter portion 31 is connected to the connecting device 2, and the second adapter portion 32 is connected to the robot arm 1.
In the present embodiment, the first and second transfer portions 31 and 32 are provided in a shape identical and in a disc-shaped structure as a whole, and the first and second transfer portions 31 and 32 are rotatably connected, specifically, the first transfer portion 31 is provided to be rotatable in a direction perpendicular to a central axis of the second transfer portion 32. As shown in fig. 1, for example, the first transfer portion 31 and the second transfer portion 32 are vertically disposed, and the first transfer portion 31 is reciprocally rotatable in a vertical direction by a certain angle with respect to the second transfer portion 32.
As shown in fig. 1, 4 and 6, the adaptor device 3 of the present invention is provided with a mounting hole 33, and the mounting hole 33 penetrates the first adaptor portion 31 and the second adaptor portion 32. When the front end device 2 is connected to the adapter 3, the connecting piece 24 of the connecting device 22 of the front end device 2 protrudes into the mounting hole 33. And the first connecting portion 31 of the adapter 3 is further provided with a locking groove 311 connected to the mounting hole 33, and the locking groove 311 is adapted to the first portion 241 of the connecting member 24.
The connecting process of the front end instrument 2 and the switching device 3 of the surgical robot is as follows, firstly, the connecting piece 24 is stretched into the mounting hole 33, then the first switching part 31 is rotated, at the moment, the locking groove 311 on the first switching part 31 rotates along with the rotation, and then the locking groove can be matched with the first part 241 of the connecting piece 24, so that the locking of the connecting piece 24 is realized, the movement of the connecting piece 24 can be prevented, and the connecting position precision of the front end instrument 2 and the mechanical arm 1 is ensured. On the other hand, since the diameter of the first portion 241 of the connecting member 24 is smaller than that of the second portion 242, the second portion 242 can also play a limiting role in the horizontal direction when the locking groove 311 locks the first portion 241, further ensuring the connection accuracy.
According to the surgical robot disclosed by the invention, the switching device 3 is connected to the mechanical arm 1, the switching device 3 comprises the first switching part 31 and the second switching part 32, the connecting piece 24 is inserted into the mounting hole 33, and the first switching part 31 is rotated to lock and position the connecting piece 24 by utilizing the locking groove 311, so that the connection between the front-end instrument 2 and the mechanical arm 1 is realized, the operation is convenient, and the high-temperature medical sterilization of the front-end instrument is facilitated. Meanwhile, the front-end instrument 2 can be replaced conveniently and rapidly according to different front-end instruments 2, and meanwhile, compared with the modes of screw connection and the like in the prior art, the front-end instrument 2 can be guaranteed to be repeatedly installed consistently, the connection precision is guaranteed, and adverse effects on operation caused by larger assembly errors are avoided.
As shown in fig. 4, the first adapting portion 31 of the adapting device 3 of the present invention is further provided with a limiting groove 312, and the second adapting portion 32 is provided with a limiting piece 321 extending into the limiting groove 312, so as to perform a rotation limiting function on the first adapting portion 31.
As shown in fig. 1,2 and 5, according to an embodiment of the present invention, the second adapting portion 32 is further provided with a limiting hole 322, the limiting hole 322 is communicated with the mounting hole 33, and a limiting bolt 323 is mounted in the limiting hole 322.
Specifically, the connector 24 on the front end apparatus 2 extends into the mounting hole 33, and the second portion 242 of the connector 24 extends out of the mounting hole 33, at this time, the limiting bolt 323 can be installed in the limiting hole 322 to abut against the second portion 242 of the connector 24, so that the connector 24 is further limited, positioning accuracy is ensured, and meanwhile stability in the use process is ensured.
On the other hand, the surgical robot can be replaced or simultaneously provided with a plurality of different front-end instruments 2 to complete different functions, and according to one embodiment of the invention, an anesthesia puncture needle, a surgical knife and a sleeve can be simultaneously provided to meet the requirements of different operations and expand the operation adaptation types of the robot. The memory chip 23 in the front-end instrument 2 can record the use times and the use time, and remind the user to overhaul or calibrate after a certain times, so as to prevent the error generated by the loss of the front-end instrument 23 from affecting the normal use of the surgical robot. The memory chip 23 can also record the model number, parameters, all motion states and errors (such as self-collision and the like) of the mechanical arm 1, so that the subsequent maintenance and optimization of the mechanical arm 1 are convenient.
According to one embodiment of the present invention, the end of the second portion 242 of the connecting member 24 far from the first portion 241, that is, the end abutting against the limit bolt 323 is provided with a tapered structure, so that the limit bolt 323 abuts against the tapered surface, and the structural stability is further improved.
According to the inventive concept, the second adapter part 32 of the adapter device 3 according to the invention can be fixedly connected to the flange 11 of the robot arm 1 by means of bolts. Of course, other connection structures may be provided between the second adapting portion 32 of the adapting device 3 according to the invention and the robot arm according to the inventive concept. For example, according to one embodiment of the present invention, an insulating flange 4 is provided between the second adapting portion 32 and the robot arm 1, which serves to isolate the robot arm 1 from the electrical insulation between the instruments.
The above description is only one embodiment of the present invention and is not intended to limit the present invention, and various modifications and variations of the present invention will be apparent to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The surgical robot comprises a mechanical arm (1), wherein the front end of the mechanical arm (1) is provided with a flange (11), and is characterized by further comprising a front end instrument (2) and an adapter device (3) which is positioned between the mechanical arm (1) and the front end instrument (2) and is used for connecting the mechanical arm (1) and the front end instrument (2);
The front-end instrument (2) comprises a front-end holding device (21) and a connecting device (22) connected with the front-end holding device (21), wherein a memory chip (23) for completing parameter configuration of the mechanical arm (1) is arranged in the connecting device (22);
A connecting piece (24) is fixedly arranged on the connecting device (22), and the connecting piece (24) sequentially comprises a first part (241) and a second part (242) along the direction from the connecting device (22) to the switching device (3);
-the diameter of the first portion (241) is smaller than the diameter of the second portion (242);
the switching device (3) comprises a first switching part (31) and a second switching part (32) which are connected with each other, the first switching part (31) is connected with the connecting device (22), and the second switching part (32) is connected with the mechanical arm (1);
and a first transition portion (31) and said second transition portion (32) are rotatably connected, said first transition portion (31) being rotatable with respect to said second transition portion (32) in a direction perpendicular to a central axis of said second transition portion (32);
The switching device (3) is provided with a mounting hole (33) penetrating through the first switching part (31) and the second switching part (32), and the connecting piece (24) extends into the mounting hole (33);
the first transfer part (31) is also provided with a locking groove (311) connected with the mounting hole (33);
The locking groove (311) cooperates with the first portion (241) of the connector (24).
2. Surgical robot according to claim 1, characterized in that the connecting means (22) comprise a first connecting portion (221) connected to the holding means (21) and a second connecting portion (222) connected to the adapter means (3);
The memory chip (23) is located in the first connection portion (221), and the connection member (24) is mounted on the second connection portion (222).
3. Surgical robot according to claim 1, characterized in that the first transition part (31) is further provided with a limit groove (312), and the second transition part (32) is provided with a limit piece (321) extending into the limit groove (312).
4. A surgical robot according to claim 1 or 3, characterized in that the second adapter part (32) is further provided with a limiting hole (322) communicating with the mounting hole (33), and a limiting bolt (323) is mounted in the limiting hole (322) and abuts against the second part (242) of the connecting piece (24).
5. Surgical robot according to claim 4, characterized in that the end of the second part (242) remote from the first part (241) is arranged in a conical configuration.
6. Surgical robot according to claim 1, characterized in that it further comprises an insulating flange (4), said insulating flange (4) being located between the flange (11) of the robotic arm (1) and the adapter device (3);
The second switching part (32) and the insulating flange (4) are correspondingly provided with second mounting holes, the insulating flange (4) and the flange (11) are correspondingly provided with third mounting holes, and the second switching part (32) and the insulating flange (4) and the flange (11) are respectively fixedly connected through screws.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010759432.6A CN114052914B (en) | 2020-07-31 | 2020-07-31 | A surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010759432.6A CN114052914B (en) | 2020-07-31 | 2020-07-31 | A surgical robot |
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| CN114052914A CN114052914A (en) | 2022-02-18 |
| CN114052914B true CN114052914B (en) | 2025-06-13 |
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| CN202010759432.6A Active CN114052914B (en) | 2020-07-31 | 2020-07-31 | A surgical robot |
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| CN116196115A (en) * | 2023-03-03 | 2023-06-02 | 上海术之道机器人有限公司 | Surgical robot |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106659537A (en) * | 2014-04-24 | 2017-05-10 | Kb医疗公司 | Surgical instrument holder for use with a robotic surgical system |
| CN110325139A (en) * | 2016-10-04 | 2019-10-11 | Ip2Ipo创新有限公司 | Connector for robotic surgery instrument |
| CN212973073U (en) * | 2020-07-31 | 2021-04-16 | 杭州三坛医疗科技有限公司 | Surgical robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2017104451A (en) * | 2015-12-11 | 2017-06-15 | 川崎重工業株式会社 | Surgical system |
| US10413371B2 (en) * | 2016-06-03 | 2019-09-17 | Rubicon Spine, LLC | Dynamic feedback end effector |
| US11173002B2 (en) * | 2016-08-31 | 2021-11-16 | Beijing Surgerii Technology Co., Ltd. | Flexible surgical instrument system |
| SG11202010258VA (en) * | 2018-04-17 | 2020-11-27 | Chengdu Borns Medical Robotics Inc | Laparoscope-holding robot system for laparoscopic surgery |
| CN111166483B (en) * | 2018-11-13 | 2024-04-30 | 重庆金山医疗机器人有限公司 | Surgical robot surgical instrument quick-change mechanism |
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Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106659537A (en) * | 2014-04-24 | 2017-05-10 | Kb医疗公司 | Surgical instrument holder for use with a robotic surgical system |
| CN110325139A (en) * | 2016-10-04 | 2019-10-11 | Ip2Ipo创新有限公司 | Connector for robotic surgery instrument |
| CN212973073U (en) * | 2020-07-31 | 2021-04-16 | 杭州三坛医疗科技有限公司 | Surgical robot |
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| CN114052914A (en) | 2022-02-18 |
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