CN104146779A - Poking rod, sliding ring and cam reciprocating transmission mechanism for vision robot in abdominal cavity - Google Patents
Poking rod, sliding ring and cam reciprocating transmission mechanism for vision robot in abdominal cavity Download PDFInfo
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- CN104146779A CN104146779A CN201410418522.3A CN201410418522A CN104146779A CN 104146779 A CN104146779 A CN 104146779A CN 201410418522 A CN201410418522 A CN 201410418522A CN 104146779 A CN104146779 A CN 104146779A
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- 230000005540 biological transmission Effects 0.000 title claims abstract description 53
- 210000000683 abdominal cavity Anatomy 0.000 title abstract description 10
- 238000007912 intraperitoneal administration Methods 0.000 claims description 13
- 239000007787 solid Substances 0.000 claims description 12
- 241000282414 Homo sapiens Species 0.000 claims description 11
- 239000011159 matrix material Substances 0.000 claims description 10
- 238000004140 cleaning Methods 0.000 abstract description 19
- 230000033001 locomotion Effects 0.000 description 13
- 230000000694 effects Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 5
- 238000002324 minimally invasive surgery Methods 0.000 description 3
- 238000011084 recovery Methods 0.000 description 3
- 238000005286 illumination Methods 0.000 description 2
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 2
- 231100000241 scar Toxicity 0.000 description 2
- 108010022579 ATP dependent 26S protease Proteins 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000003340 mental effect Effects 0.000 description 1
- 230000004899 motility Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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Abstract
The invention relates to a self-cleaning transmission mechanism, in particular to a poking rod, sliding ring and cam reciprocating transmission mechanism for a vision robot in an abdominal cavity in order to solve the problems that an existing transmission mechanism of the vision robot in the abdominal cavity is large in size and occupied space and not convenient or flexible to use, and does not have the self-cleaning function of a lens. The mechanism comprises a shell and further comprises a motor, a first transmission shaft, a connecting shaft, a second transmission shaft, a first gear, a second gear, a fixing shaft, a damper, a poking rod, a sliding ring, a cam, a roller, a connecting rod, a first spring and a cleaning base body, wherein the fixing shaft is horizontally installed on the shell, the first gear is meshed with the second gear, the second transmission shaft is parallel to the fixing shaft and arranged in the shell, the other end of the second transmission shaft is sleeved with the first gear, and the other end of the first transmission shaft is connected with the motor; the sliding ring is installed in a sliding ring groove formed in the shell, the cam is fixedly installed at the other end of the sliding ring, and the roller is installed at one end of the connecting rod. The poking rod, sliding ring and cam reciprocating transmission mechanism is applied to the vision robot in the abdominal cavity.
Description
Technical field
The present invention relates to a kind of automatically cleaning drive mechanism, be specifically related to the drive mechanism of a kind of automatically cleaning for intraperitoneal vision robot and visual field tilt adjustment.
Background technology
The utilization of Minimally Invasive Surgery (Minimally Invasive Surgery, MIS) makes surgical operation that revolutionary variation occur.Compare with traditional open surgery, Minimally Invasive Surgery is by adopting little otch to perform the operation, and the interference that the 26S Proteasome Structure and Function of tissue is produced is relatively little, the postoperative recovery cycle is short, recovery effects is good, and has reduced scar, and therefore abdominal operation field is widely used.But, because need to managing operating theater instruments for a long time, medical worker in operation process by endoscope, inside of human body is performed the operation, and medical worker's the mental status and degree of fatigue all can affect the effect of operation to a certain extent.The appearance of micro-wound operation robot can finely address the above problem.At present, need to respectively operating theater instruments, endoscope and illuminator be injected to human abdominal cavity by several otch for laparoscopically micro-wound operation robot and perform the operation, improve to a certain extent the precision of operation, improve the recovery effects of scar after operation.But it is poor that operating theater instruments is subject to stabbing the restriction motility blocking, it is poor that the bulky complex of operating theater instruments makes the mobility of operating-table in addition.Therefore the operating robot that research can enter inside of human body has great significance for the effect of improving operation.
At present, the single-hole laparoscopic surgery robot of the entered inside of human body of Chinese scholars research is artificially main mainly with visual machine.Robot enters the collection and the transmission that in human body, mainly complete video, and can adjust at any time the angle of illumination and photographing module, provides field range for medical worker performs the operation.Due in operation process, tissue fluid and steam are attached to the definition that all can affect the visual field on photographic head in addition, have great significance to improving degree of getting a clear view therefore illumination photographing module has self-cleaning function.
Existing abdominal cavity vision robot's drive mechanism size is mostly bigger than normal and do not have a self-cleaning function of camera lens, application number is that 201410244729.3 Chinese patent applications propose a kind of automatically cleaning for vision robot unit, abdominal cavity and tilt adjustment drive mechanism, this mechanism structure is more complicated, take up room larger, its belt wheel transmission part assembling is more difficult, when work with degree of tightness be difficult to hold, be prone to and skid and stuck phenomenon, need to adjust pulley mechanism and realize cleaning, use inconvenient dumb, therefore the optimization that realizes abdominal cavity robot transmission mechanism is the key of dwindling robot size, allow robot have pick-up lens self-cleaning function concurrently simultaneously and will improve the quality of operation.
Summary of the invention
The present invention is that the drive mechanism size for solving existing abdominal cavity vision robot is large, take up room large, use inconvenient dumbly and do not there is the problem of camera lens self-cleaning function, and then provide a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot.
The present invention addresses the above problem the technical scheme of taking to be: a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot of the present invention comprises housing, and it also comprises motor, the first power transmission shaft, connecting axle, second driving shaft, the first gear, the second gear, fixed axis, antivibrator, driving lever, slip ring, cam, roller, connecting rod, the first spring and clean matrix;
Described the first power transmission shaft is multidiameter, on multidiameter, is provided with limited block near shoulder position, is processed with the hole that dead man is installed on all sides of multidiameter;
Described connecting axle comprises hollow axle, solid shafting and two column keys, and one end of described hollow axle is helical form end face; The other end and the solid shafting of hollow axle are affixed, and two column keys are symmetricly set on the lateral wall of solid shafting;
One end of described second driving shaft is hollow pipe, offers two keyways on described hollow pipe, and described two keyway symmetries are offered;
Fixed axis level is arranged on housing, antivibrator is sleeved on one end of fixed axis affixed with the inwall of housing, the second gear set is at the other end of fixed axis, second driving shaft is parallel to fixed axis and is arranged in housing, the first gear set is at the other end of second driving shaft, the first gear engages with the second gear, the solid shafting of connecting axle is inserted in the keyway of one end of second driving shaft, one end of the first power transmission shaft is inserted in the hollow axle of connecting axle and the two is located by limited block, and the other end of the first power transmission shaft is connected with motor;
Slip ring is semicircle slip ring, slip ring is arranged in the slip ring groove arranging in housing, the end of driving lever is inserted in one end of slip ring, the other end of slip ring is fixed with cam, connecting rod is arranged in the connecting rod chute arranging in housing, and roller is equipped with in one end of connecting rod, and the curved surface of cam leans all sides of roller, the other end of connecting rod is equipped with clean matrix, and one end of the close roller of connecting rod is set with the first spring.
The invention has the beneficial effects as follows:
One, the present invention has realized the self-cleaning of peritoneoscope vision robot pick-up lens and the adjusting of field of view angle simultaneously, the engagement of the first gear and the second gear, and the transmission of driven by motor second driving shaft, finally drives the rotation of housing, has realized visual field tilt adjustment; Slip ring rotates together with cam, and cam rotates and leans roller rotation, promotes connecting rod and moves back and forth, and realizes clean matrix cleaning photographic head.
Two, the present invention has realized the multiplexing of motor, drives above-mentioned field of view angle governor motion and pick-up lens self-cleaning mechanism by positive and negative the transferring of motor respectively.In drive mechanism, connecting axle can only do axial movement with respect to second driving shaft, and can not relatively rotate; The helical form end face of connecting axle and the limited block of the first power transmission shaft can make the first power transmission shaft to do one-directional rotation with respect to connecting axle in rotation process, this is to realize the multiplexing basis of motor, and the gear ratio of the first gear and the second gear is 1:1, it is also the essential condition that realizes expectation function.The present invention makes full use of just positive and negative the transferring of motor and realizes different actions, thereby reduce the use number of motor, and on the basis of freewheel clutch principle, be out of shape, further reduce radial dimension, thereby meet the strict demand of intraperitoneal vision robot unit to radial dimension.
Three, driving lever slider cam reciprocating transmission mechanism is along inner walls circumferential arrangement, increase the space of enclosure interior, reduce the overall dimensions of robot, compare existing automatically cleaning and tilt adjustment drive mechanism, structure is simpler, take up room little, avoided belt wheel transmission part assembling more difficult, when work with degree of tightness be difficult to hold, be prone to and skid and the problem of stuck phenomenon, do not need to adjust pulley mechanism and realize cleaning, easy to use and flexible.The space that the present invention reduces can be used for placing electronic device.
Four, main dependence frame for movement is switched in motion of the present invention, thereby has reduced the difficulty of controlling.
Brief description of the drawings
Fig. 1 is overall structure schematic diagram of the present invention; Fig. 2 is that Fig. 1 removes the structural representation after housing, Fig. 3 is the structural representation of the first power transmission shaft, connecting axle and second driving shaft assembling, Fig. 4 is the structural representation of second driving shaft, Fig. 5 is the structural representation of the first power transmission shaft, Fig. 6 is the structural representation of connecting axle, and Fig. 7 is the structural representation of cam.
Detailed description of the invention
Detailed description of the invention one: in conjunction with Fig. 1-Fig. 7 explanation, a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot of present embodiment comprises housing 3, and it also comprises motor 23, the first power transmission shaft 22, connecting axle 21, second driving shaft 20, the first gear 19, the second gear 18, fixed axis 2, antivibrator 25, driving lever 24, slip ring 16, cam 15, roller 13, connecting rod 14, the first spring 10 and clean matrix 9;
Described the first power transmission shaft 22 is multidiameter, on multidiameter, is provided with limited block 22-2 near shoulder position, is processed with the hole 22-1 that dead man 24 is installed on all sides of multidiameter;
Described connecting axle 21 comprises hollow axle 21-1, solid shafting 21-2 and two column key 21-3, and one end of described hollow axle 21-1 is helical form end face; The other end of hollow axle 21-1 and solid shafting 21-2 are affixed, and two column key 21-3 are symmetricly set on the lateral wall of solid shafting 21-2;
One end of described second driving shaft 20 is hollow pipe 20-1, offers two keyway 20-2 on described hollow pipe 20-1, and described two keyway 20-2 symmetries are offered;
Fixed axis 2 levels are arranged on housing 3, antivibrator 25 is sleeved on one end of fixed axis 2 affixed with the inwall of housing 3, the second gear 18 is sleeved on the other end of fixed axis 2, second driving shaft 20 is parallel to fixed axis 2 and is arranged in housing 3, the first gear 19 is sleeved on the other end of second driving shaft 20, the first gear 19 engages with the second gear 18, the solid shafting 21-2 of connecting axle 21 is inserted in the keyway 20-2 of one end of second driving shaft 20, one end of the first power transmission shaft 22 is inserted in the hollow axle 21-1 of connecting axle 21 and the two is located by limited block 22-2, the other end of the first power transmission shaft 22 is connected with motor 23,
Slip ring 16 is semicircle slip ring, slip ring 16 is arranged in the slip ring groove 17 of housing 3 interior settings, the end of driving lever 24 is inserted in one end of slip ring 16, the other end of slip ring 16 is fixed with cam 15, connecting rod 14 is arranged in the connecting rod chute of housing 3 interior settings, and roller 13 is equipped with in one end of connecting rod 14, and the curved surface of cam 15 leans all sides of roller 13, the other end of connecting rod 14 is equipped with clean matrix 9, and one end of the close roller 13 of connecting rod 14 is set with the first spring 10.
One end of the slip ring of present embodiment is processed with half-open circular groove, and the end of driving lever is inserted in the half-open circular groove of slip ring 16, and the clean matrix of present embodiment is prior art.Antivibrator can adopt prior art antivibrator.
In order to ensure that connecting axle 21 can work more smoothly, the helical form end face of connecting axle 21 is carried out to special design.If the maximum height difference of helical form end face is A, through calculating, find that helical form curve form meets formula
time, impact when connecting axle 21 is worked is minimum.In reality, get A=0.4mm, test by reality, discovery connecting axle 21 can be worked reliably.
In formula, f (θ) represents spiralling height, and A represents the maximum vertical penetration of helicoid, and θ represents the corner of helicoid.
The other end of the first power transmission shaft 22 is directly connected with the output shaft of motor 23, and driving lever 24 is inserted on the first power transmission shaft 22, stirs slip ring 16 by driving lever 24, thereby power is delivered to the actuator of cleaning mechanism.
Cam, connecting rod and the roller of present embodiment form a cam higher pair mechanism, and the first spring housing is contained on connecting rod, and in the time that driving lever slip ring departs from, the first spring resets connecting rod, thereby realize the reset wiping camera lens of clean matrix.
Detailed description of the invention two: in conjunction with Fig. 3 explanation, described driving lever slip ring Cam reciprocating drive mechanism also comprises that the second spring 26, the second springs 26 are arranged in second driving shaft 20, and one end of the second spring 26 and columnar shaft 21-2 offset.So arrange, ensured that the contact surface of connecting axle 21 and the first power transmission shaft 22 fits tightly.Other is identical with detailed description of the invention one.
Detailed description of the invention three: in conjunction with Fig. 2 explanation, the external diameter of the first spring 10 of present embodiment is 3mm, and string diameter is 0.2mm.So arrange, physical dimension is very little, can meet the needs of abdominal cavity vision robot operation.Other is identical with detailed description of the invention one or two.
Detailed description of the invention four: in conjunction with Fig. 2 explanation, slip ring groove 17 is dovetail groove or dovetail groove described in present embodiment.So arrange, be convenient to slip ring and in slip ring groove, realize slip smoothly.The connecting rod chute of present embodiment also can be designed to dovetail groove or dovetail groove, is conducive to connecting rod and realizes slip smoothly.Other is identical with concrete enforcement three.
Detailed description of the invention five: in conjunction with Fig. 2 explanation, the gear ratio of the second gear 18 and the first gear 19 is 1:1 described in present embodiment.So arrange, be convenient to equal proportion tilt adjustment.Other is identical with detailed description of the invention one, two or four.
Detailed description of the invention six: in conjunction with Fig. 2 and Fig. 3 explanation, the length L of the driving lever 24 of present embodiment is 4.8mm, one end of slip ring 16 has lobe 16-1, and the end of driving lever 24 is inserted in one end of close lobe 16-1 of slip ring 16, and the height H of the lobe 16-1 of slip ring 16 is 3.7mm.Present embodiment has enough slewing areas in order to ensure slip ring 16, needs the reasonably parameter of design component part.Because the radius of housing is fixing, the centre-to-centre spacing of motor and housing is also determined simultaneously, so need definite critical size to comprise the height H of the length L of driving lever and the lobe of slip ring, consider and need satisfied constraints, by setting up the model of driving lever slip ring motion, finally preferably getting L is 4.8mm, and H is 3.7mm.The lobe of slip ring can ensure to continue to stop dead man after driving lever 24 departs from slip ring 16, while having ensured dead man adverse movement, again inserts in the hole of slip ring 16, realizes the reciprocating motion of dead man.Other is identical with detailed description of the invention five.
Detailed description of the invention seven: in conjunction with Fig. 2 and Fig. 7 explanation, the curved surface of the cam 15 described in present embodiment is ∫ shape, and the lift angle β of cam 15 is 45 °.Cam portion is made curve form, can ensure that so on the one hand cam is pasting housing wall motion always, save limited enclosure interior space, the motion that can also directly pass over by slip ring in addition drives cleaning mechanism, and does not need extra movement conversion mechanism.In order to realize the range of cam, take and carve the maximum lift angle that ensures cam, determine that by considering assembling complexity cam lift angle is 45 degree.Other is identical with detailed description of the invention one, two, four or six.
Operation principle
Drive mechanism of the present invention transmits different motions and power by the first power transmission shaft 22 and second driving shaft 20 respectively, between second driving shaft 20 and the first power transmission shaft 22, connect by connecting axle 21, the part that the first power transmission shaft 22 contacts with connecting axle 21 is the tooth cooperatively interacting and the groove that shaped face forms, helical form end face is equivalent to groove, and limited block 22-2 is equivalent to tooth.In the time that the first power transmission shaft 22 rotates clockwise, tooth engages with groove, drives connecting axle 21 to rotate, and then drives second driving shaft 20 to move, and at this moment, second driving shaft 20 and the first power transmission shaft 22 can normally be worked as power transmission shaft; In the time that the first power transmission shaft 22 counterclockwise rotates, the first power transmission shaft 22 can only promote connecting axle 21 and move axially, and can not drive connecting axle 21 to rotate together, and at this moment the first power transmission shaft 22 is using the power transmission shaft as unique work.
In order to realize above-mentioned principle, first need on second driving shaft 20, be provided for the column key 21-3 of the key slip of connecting axle 21, thereby ensure that connecting axle 21 can only axially move with respect to second driving shaft 20, and can not relatively rotate.For the contact surface that ensures connecting axle and the first power transmission shaft 22 fits tightly, second spring 26 need to be set.In addition,, in the time that the first power transmission shaft 22 counterclockwise rotates, for the impact of overcome friction, suitable antivibrator 25 need to be set on second driving shaft 20, thereby avoid second driving shaft 20 to rotate under frictional force effect.
Specific works process is: motor 23 is fixed on housing 3 by pressing plate, and the first power transmission shaft 22 is directly connected with motor 23, fixes by screw, and slide rail pedestal is also fixed by screws on housing 3, and fixed axis 2 is connected to outside, is fixed on pedestal 1.
In the time that motor 23 clockwise rotates, pass through successively the first power transmission shaft 22, connecting axle, second driving shaft 20, gear pair carries out transmission, because fixed axis 2 is completely fixed, the second gear 18 on fixed axis 2 also maintains static, and motor 23 and above-mentioned transmission parts can only rotate around fixed axis 2, and motor 23 is fixed on housing 3, thereby driven the rotation of housing 3, the shooting lighting module 8 being fixed on housing 3 also can and then rotate, thereby realize the function of visual field tilt adjustment.
In the time that motor 23 rotates counterclockwise, due to the existence of resistance gauge 25, need certain driving moment can make housing 3 rotate with respect to fixed axis 2, and the characteristic of the first power transmission shaft 22 and connecting axle 21 has determined that its is merely able to transmit very little moment of friction while reversion, adjust the drag size of resistance gauge 25, make resistance gauge 25 resistances be greater than the moment of friction of second driving shaft 20, second driving shaft 20 will can not rotate.Now, motor 23 will drive driving lever 24 to rotate by the first power transmission shaft 22, driving lever 24 drives slip ring 16 in the interior motion of slip ring groove 17, slip ring 16 moves by roller 13 drive link 14, in the time that driving lever 24 departs from slip ring 16, connecting rod 14 is reseting movement under the effect of the first spring 10, clean matrix 9 is housed on connecting rod 14, thereby realizes self-cleaning function by moving back and forth.In this process, second driving shaft 20 and gear pair are failure to actuate, and housing 3 can not rotate.
Claims (7)
1. the driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot, it comprises housing (3), it is characterized in that: it also comprises motor (23), the first power transmission shaft (22), connecting axle (21), second driving shaft (20), the first gear (19), the second gear (18), fixed axis (2), antivibrator (25), driving lever (24), slip ring (16), cam (15), roller (13), connecting rod (14), the first spring (10) and clean matrix (9);
Described the first power transmission shaft (22) is multidiameter, on multidiameter, is provided with limited block (22-2) near shoulder position, is processed with the hole (22-1) that dead man (24) is installed on all sides of multidiameter;
Described connecting axle (21) comprises hollow axle (21-1), solid shafting (21-2) and two column keys (21-3), and one end of described hollow axle (21-1) is helical form end face; The other end of hollow axle (21-1) and solid shafting (21-2) are affixed, and two column keys (21-3) are symmetricly set on the lateral wall of solid shafting (21-2);
One end of described second driving shaft (20) is hollow pipe (20-1), offers two keyways (20-2) on described hollow pipe (20-1), and described two keyways (20-2) symmetry is offered;
Fixed axis (2) level is arranged on housing (3), antivibrator (25) is sleeved on one end of fixed axis (2) affixed with the inwall of housing (3), the second gear (18) is sleeved on the other end of fixed axis (2), second driving shaft (20) is parallel to fixed axis (2) and is arranged in housing (3), the first gear (19) is sleeved on the other end of second driving shaft (20), the first gear (19) engages with the second gear (18), the solid shafting (21-2) of connecting axle (21) is inserted in the keyway (20-2) of one end of second driving shaft (20), one end of the first power transmission shaft (22) is inserted in the hollow axle (21-1) of connecting axle (21) and the two is by limited block (22-2) location, the other end of the first power transmission shaft (22) is connected with motor (23),
Slip ring (16) is semicircle slip ring, slip ring (16) is arranged in the slip ring groove (17) arranging in housing (3), the end of driving lever (24) is inserted in one end of slip ring (16), the other end of slip ring (16) is fixed with cam (15), connecting rod (14) is arranged in the connecting rod chute arranging in housing (3), roller (13) is equipped with in one end of connecting rod (14), the curved surface of cam (15) leans all sides of roller (13), the other end of connecting rod (14) is equipped with clean matrix (9), and one end of the close roller (13) of connecting rod (14) is set with the first spring (10).
2. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 1, it is characterized in that: described driving lever slip ring Cam reciprocating drive mechanism also comprises the second spring (26), the second spring (26) is arranged in second driving shaft (20), and one end of the second spring (26) and columnar shaft (21-2) offset.
3. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 1 and 2, is characterized in that: the external diameter of the first spring (10) is 3mm, and string diameter is 0.2mm.
4. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 3, is characterized in that: described slip ring groove (17) is dovetail groove or dovetail groove.
5. according to a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot described in claim 1,2 or 4, it is characterized in that: described the second gear (18) is 1:1 with the gear ratio of the first gear (19).
6. a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot according to claim 5, it is characterized in that: the length (L) of driving lever (24) is 4.8mm, one end of slip ring (16) has lobe (16-1), the end of driving lever (24) is inserted in one end of close lobe (16-1) of slip ring (16), and the height (H) of the lobe (16-1) of slip ring (16) is 3.7mm.
7. according to a kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot described in claim 1,2,4 or 6, it is characterized in that: the curved surface of described cam (15) is ∫ shape, the lift angle (β) of cam (15) is 45 °.
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| CN201410418522.3A CN104146779B (en) | 2014-08-22 | 2014-08-22 | A kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot |
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| CN201410418522.3A CN104146779B (en) | 2014-08-22 | 2014-08-22 | A kind of driving lever slip ring Cam reciprocating drive mechanism for intraperitoneal vision robot |
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| CN104523309A (en) * | 2015-01-23 | 2015-04-22 | 哈尔滨工业大学 | Intraperitoneal traction surgical robot for minimally invasive surgery |
| CN104586514A (en) * | 2015-02-06 | 2015-05-06 | 哈尔滨工业大学 | Visual robot for abdominal cavity minimally-invasive surgery |
| CN107320184A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | A kind of operating theater instruments and micro-wound operation robot for micro-wound operation robot |
| CN107320193A (en) * | 2017-07-31 | 2017-11-07 | 成都中科博恩思医学机器人有限公司 | Connection component, the operating theater instruments of operating robot and operating robot |
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| CN111494092A (en) * | 2020-05-12 | 2020-08-07 | 河南省中医院（河南中医药大学第二附属医院） | Can collect duct washing unit of waste liquid |
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