CN100469326C - Minimal access bone operating robot based on 3D mouse operation - Google Patents
Minimal access bone operating robot based on 3D mouse operation Download PDFInfo
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- CN100469326C CN100469326C CNB2007101178904A CN200710117890A CN100469326C CN 100469326 C CN100469326 C CN 100469326C CN B2007101178904 A CNB2007101178904 A CN B2007101178904A CN 200710117890 A CN200710117890 A CN 200710117890A CN 100469326 C CN100469326 C CN 100469326C
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Abstract
The invention is concerned with minimally invasive orthopaedics operation robot operated with 3D mouse, relating to landscape orientation moving groupware, reducer groupware, fluctuation moving groupware, small arm groupware, wrist groupware and 3D mouse. The 3D mouse sets on the small arm's shell of small arm groupware, the machine seat of reducer groupware connects with revolving flange of landscape orientation moving groupware, the fixing base seat of fluctuation moving groupware connects with the joint of reducer groupware through two lock poles, the sliding groove of small arm groupware connects with the C sliding groove of fluctuation moving groupware and slides in the groove, and the flange of wrist groupware connects with the output axis of reducer to small arm groupware. The robot is fit for the demand of clinic and operation with practicability and applicability. It is a orthopaedics operation robot with initiative restriction and passivity safety ensure.
Description
Technical field
The present invention relates to the robot that a kind of bone surgery is used, specifically, be meant a kind ofly, adopt the 3D mouse action of 6DOF and the minimal access bone auxiliary robot of control for safety, stability, the reliability that improves in the operation process designs.
Background technology
At present, the treatment of bone surgery turns to the micro-wound surgical operation treatment from traditional closed reduction, and hollow nail fixation, intramedullary pin internal fixation become the first-selected art formula of treatment fracture just gradually as several typical Minimally Invasive Surgerys.Such as in the operation process intramedullary pin being implanted in the medullary cavity of folding bone, respectively with the screw locking, play the effect of fixing fracture at near-end and far-end, this Minimally Invasive Surgery is less for patient's damage, good fixing effect, help the recovery of patient's postoperative.This Minimally Invasive Surgery requires to finish the locking of intramedullary pin under closure state, can finish by means of mechanical sight (intramedullary pin manufacturer provides) for the locking of proximal orifice; And remote stomidium is because distance is gone into a little far, and intramedullary pin has certain deformation in insertion after the medullary cavity, so the locking of remote stomidium always is the difficult point of carrying out this operation.The doctor only by means of the perspective of C type arm X-ray, finishes intra medullary nail far-end locking in traditional operation, and not only patient and medical worker need be exposed under the X-ray radiation for a long time, and for doctor's experience and skill higher requirement is arranged.
Summary of the invention
The purpose of this invention is to provide a kind of Minimally Invasive Surgery orthopedic robot that carries out safety operation based on the 3D mouse, this orthopedic robot is by each mechanism of modularized design, cooperation 3D mouse is led, Passive Control, can in limited operative space, finish navigation to operation pathway, and accurately locate, auxiliary doctor finishes operation technique.Each mechanism of robot can simply dismantle and assemble, and is convenient to it is carried out disinfection and disinfecting action.
The present invention is a kind of Minimally Invasive Surgery orthopedic robot that carries out safety operation based on the 3D mouse, by horizontal moving assembly, decelerator assembly, move up and down assembly, little arm component, wrist assembly and 3D mouse and form; The 3D mouse is installed on the little arm housing of little arm component, the support of decelerator assembly is connected by screw with the rotary flange of horizontal moving assembly, the mounting seat that moves up and down assembly is connected by two locking bars with the interface of decelerator assembly; the chute of little arm component and the C chute that moves up and down assembly) be connected; and in sliding tray, slide, the wrist flange of wrist assembly is connected by key with the output shaft of the decelerator of little arm component.
The advantage of Wicresoft of the present invention orthopedic robot is: (1) frame for movement adopts miniaturization, modularized design, helps dismounting and assembling; (2) placed in-line robot architecture's mode can be controlled flexibly, and is rationally distributed; (3) structural design that is adopted makes that whole motion is accurate and realizes each functions of components easily; (4) laterally moving assembly adopts gear, tooth bar to move under the driving of motor, has improved kinematic accuracy; (5) the 3D mouse of Cai Yonging is installed in the transfer arm front end of forearm assembly 4, makes things convenient for the doctor to operate and controls, and this 3D mouse contains six-freedom degree, can realize the six direction motor control in the cartesian coordinate system; (6) the decelerator assembly adopts the kind of drive of worm gear, worm screw, and helping moving up and down assembly 3, forearm assembly 4, wrist assembly 5 can rotate along the axle center of worm screw 206.
Description of drawings
Fig. 1 is the external structure of Wicresoft of the present invention orthopedic robot.
Fig. 2 is the external structure of Connection Block of the present invention.Fig. 2 A is the structure chart of Connection Block lower panel.
Fig. 2 B is the assembling sketch map of rotary flange and guide rail.Fig. 3 is the upward view of decelerator assembly of the present invention.
Fig. 3 A is A-A view of Fig. 3.Fig. 3 B is the vertical view of decelerator assembly of the present invention.
Fig. 3 C is B-B view of Fig. 3 B.Fig. 4 is the profile that the present invention moves up and down assembly.
Fig. 4 A is A-A view of Fig. 4.Fig. 5 is the profile of the little arm component of the present invention.
Fig. 6 is the external structure of wrist assembly of the present invention.Fig. 6 A is A-A view of Fig. 6.
The external structure of the wrist assembly when Fig. 6 B is no guide pad, baffle plate.
Among the figure: 1. horizontal moving assembly 101. rotary flanges 102. rotating shafts 103. alignment pins
104. guide rail 105. tooth bars 106. pin-and-holes 107. troughs 130. Connection Blocks
131.A horizontal horizontal rotating shaft 135. right panel of the horizontal rotating shaft 134.D of the horizontal rotating shaft 133.C of rotating shaft 132.B
136. the vertical rotating shaft of the vertical rotating shaft 143.C of the vertical rotating shaft 142.B of through hole 137. link 141.A
144.D vertical rotating shaft 145. top panels 151. circular hole 152.A groove 153.B grooves
154. screwed hole 155. lower panels 2. decelerator assemblies 201. plane bearings 202. interfaces
203.B motor 204. turbine end caps 205. turbines 206. scroll bars 207. supports
208. scroll bar end cap 209.B pressing plate 210. locking bars 211. tensioning screws 212. regulating tanks
213.A ball bearing 214.B ball bearing 215. inclined-planes 3. move up and down assembly 301.C chute
302.A base 303. guide rail flanges 304. slider nut 305.B bases 307. housings
308. guiderail base 309. shaft couplings 313. leading screw 315.C motors 316. sliding trays
4. forearm assembly 401.D housing 402.D chute 403. baffle plates 404. dividing plates
405. shaft coupling 406.D motor 407. decelerators 408. output shafts 5. wrist assemblies
501. wrist flange 502.E housing 503. shifting blocks 504. screw mandrels 506. locating holes
507. guide pad 508. bearing pins 509. pressing plates 511. motor flange 512.E motors
513.E chute 514. sunk screw 515.E baffle plates 516. left plate 6.3D mouses
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
See also shown in Figure 1ly, the present invention is a kind of minimal access bone robot based on the 3D mouse action, is a kind of medical apparatus and instruments that is applicable to the reduction of the fracture of Lower Half health and trauma operation.By horizontal moving assembly 1, decelerator assembly 2, move up and down assembly 3, forearm assembly 4, wrist assembly 5 and 3D mouse 6 and form; 3D mouse 6 is installed on the forearm housing 401 of forearm assembly 4, the rotary flange 101 of the support 207 of decelerator assembly 2 and horizontal moving assembly 1 is connected by screw, the mounting seat 305 that moves up and down assembly 3 is connected by two locking bars 210 with the interface 202 of decelerator assembly 2; chute 402 of forearm assembly 4 is connected with the C chute 301 that moves up and down assembly 3; and slide in sliding tray 316, and the wrist flange 501 of wrist assembly 5 and the output shaft of the decelerator of forearm assembly 4 408 are connected by key.Five parts that the present invention mainly comprises are formed, and each part all adopts direct current generator to drive, and promptly A motor (not shown) drives horizontal moving assembly 1, B motor-driven decelerator assembly 2, the C motor-driven moves up and down assembly 3, D motor-driven forearm assembly 4, E motor-driven wrist assembly 5.
To the frame for movement of each assembly of the present invention be elaborated below:
Horizontal moving assembly 1: shown in Fig. 2 B, the bottom of guide rail 104 is equipped with tooth bar 105, the centre of guide rail 104 is provided with trough 107 (trough 107 is used to place horizontal moving assembly 1 and decelerator assembly 2 required drive wire, power line), (support 207 that decelerator assembly 2 is installed on the other end of rotary flange 101 is connected the end of one end of guide rail 104 by rotating shaft 102 and rotary flange 101, the other end of guide rail 104 passes the through hole 136 of Connection Block 130, and is slidingly connected on the Connection Block 130.When undergoing surgery, make rotary flange 101 parallel with guide rail 104 by alignment pin 103; When finishing operation, by taking off alignment pin 103, pin is installed in realizes packing up decelerator assembly 2 in the pin-and-hole 106, move up and down assembly 3, forearm assembly 4 and wrist assembly 5.Shown in Fig. 2, Fig. 2 A, Connection Block 130 is provided with through hole 136 in a lateral direction, and the horizontal rotating shaft 131 of A, the horizontal rotating shaft 132 of B, the horizontal rotating shaft 133 of C, the horizontal rotating shaft 134 of D are installed around the right panel 135 of Connection Block 130; The vertical rotating shaft 141 of A, the vertical rotating shaft 142 of B, the vertical rotating shaft 143 of C, the vertical rotating shaft 144 of D are installed around the top panel 145 of Connection Block 130; The left side of Connection Block 130 is a link 137, is used to realize that Connection Block 130 of the present invention fixedlys connected with operation table; The center of the lower panel 155 of Connection Block 130 is provided with circular hole 151, gear is installed in the circular hole 151 (under the effect of motor, being used to drive tooth bar 105 moves back and forth in a lateral direction), gear is connected with the output shaft of horizontal moving assembly motor, laterally moving assembly motor (A motor) is installed on the lower panel 155, is about to screw and passes installing plate on the horizontal moving assembly motor and the screwed hole on the lower panel 155 154 and realize fixing of horizontal moving assembly motors and lower panel 155; The both sides of lower panel 155 have A groove 152, B groove 153, are placed with the A roller in the A groove 152, are placed with the B roller in the B groove 153, and the A roller housing is connected in the horizontal rotating shaft 133 of C, and the B roller housing is connected in the horizontal rotating shaft 132 of B.In the present invention, four vertical rotating shafts (the vertical rotating shaft 141 of A, the vertical rotating shaft 142 of B, the vertical rotating shaft 143 of C, the vertical rotating shaft 144 of D) and four horizontal rotating shafts (the horizontal rotating shaft 131 of A, the horizontal rotating shaft 132 of B, the horizontal rotating shaft 133 of C, the horizontal rotating shaft 134 of D) can make guide rail 104 gapless slip in Connection Block 130, have improved straight-line precision.
Decelerator assembly 2: referring to Fig. 3, Fig. 3 A, Fig. 3 B, shown in Fig. 3 C, worm gear 205 is installed in the support 207, worm screw 206, worm gear 205 is by A ball bearing 213, B ball bearing 214 is connected with support 207, one end of worm gear 205 is provided with worm gear end cap 204, the other end of worm gear 205 is connected with interface 202 by screw, the two ends of interface 202 are respectively equipped with two locking bars 210, locking bar 210 is used to realize decelerator assembly 2 and goes up being connected between the moving assembly 3 down, have regulating tank 212 on the inclined-plane 215 of support 207, the quality of fit that regulating tank 212 is regulated between worm gear 205 and the worm screw 206 by tensioning screw 211; The output shaft of B motor 203 is connected with the end of worm screw 206, the other end of worm screw 206 is installed in the centre bore of plane bearing 201, plane bearing 201 is connected with B pressing plate 209 by screw, plane bearing 201 holds out against on worm screw end cap 208, and worm screw end cap 208 is installed on the inwall of support 207 by screw.In the present invention, adopt B motor 203 to drive to drive worm gear 205 when worm screws 206 are rotated and rotate, thereby realize the deceleration rotation of worm gear 205, solved and move up and down assembly 3, forearm assembly 4, wrist assembly 5 and can rotate along the axle center of worm screw 206.
Move up and down assembly 3: referring to Fig. 4, shown in Fig. 4 A, have sliding tray 316 on the front plate of housing 307, the end that sliding tray 316 is used for forearm assembly 4 slides up and down in groove, C motor 315 is installed in housing 307 upper ends, and the output shaft of C motor 315 passes the Kong Houyu shaft coupling 309 1 ends connection that housing is provided with, shaft coupling 309 other ends are connected with leading screw 313 1 ends, leading screw 313 other ends pass and 304 back cooperations with bearing of slider nut are installed in housing 307 lower ends, the inwall of the rear board of housing 307 is equipped with guiderail base 308, on the guiderail base 308 line slideway is installed, slider nut 304 is installed on the line slideway, slider nut 304 is connected with guide rail flange 303 1 ends, on guide rail flange 303 other ends A base 302 is installed, A base 302 is provided with C chute 301.
Forearm assembly 4: referring to shown in Figure 5, D chute 402 is installed on the left side of D housing 401, be provided with dividing plate 404 in the D housing 401, D motor 406 is installed on the dividing plate 404, the output shaft of D motor 406 is connected with shaft coupling 405, the other end of shaft coupling 405 is connected with an end of decelerator 407, and the output shaft 408 of decelerator 407 is connected with the wrist flange 501 of wrist assembly 5, and the top of D housing 401 is provided with baffle plate 403.D chute 402 cooperates with C chute 301 to be finished forearm assembly 4 and moves up and down docking of assembly 3.
Wrist assembly 5: referring to Fig. 6, Fig. 6 A, shown in Fig. 6 B, E motor 512 is connected with motor flange 511, motor flange 511 is installed on the right plate of E housing 502, the right plate outer wall of E housing 502 is connected with wrist flange 501, the position of the right-hand part installation E motor 512 of E housing 502 adds is stamped E baffle plate 515, the output shaft of E motor 512 is connected with an end of leading screw 504, the other end of leading screw 504 is installed on the left plate 516 after passing shifting block 503, the longitudinal center of (shown in Fig. 6 B) shifting block 503 is provided with E chute 513, bearing pin 508 is installed in the circular hole that the upper end of E chute 513 has, the design of bearing pin 508 helps shifting block 503 and rotates around this bearing pin 508, by being installed, a sunk screw 514 realizes that shifting block 503 is connected with screw mandrel 504 in the E chute 513 of shifting block 503, intrinsic pressure pressing plate 509 backs of being stamped of the front groove of shifting block 503 are connected with guide pad 507, and the center of guide pad 507 is provided with locating hole 506.
The control system that minimal access bone of the present invention robot adopts 3D mouse 6 to operate can realize the control mode of passive bound, promptly operates 3D mouse 6 and just can control robot and reach operative region; Also can realize the mode of ACTIVE CONTROL, 3D mouse 6 plays a part a kind of safety guarantee at this moment, promptly under this kind pattern, the doctor can allow robot control automatically, but occur exceeding the speed limit, crossing under the situation of problems such as work track the robot motion, the doctor can operate 3D mouse 6, it is stopped or moving according to passive mode.
Minimal access bone of the present invention robot divides the horizontal movement joint can be arranged (laterally moving assembly 1), divertical motion joint (decelerator assembly 2), plane rotatablely move joint (moving up and down assembly 3), the joint that moves both vertically (forearm assembly 4), the joint that rotatablely moves (wrist assembly 5) according to the joint.Laterally moving assembly 1 adopts rack-and-pinion 105 transmissions, and moving up and down of forearm assembly 4 adopts line slideway, slide block to realize moving up and down on the vertical direction.
The horizontal moving assembly 1 of minimal access bone of the present invention robot adopts rack-and-pinion 105 structures, the operation stroke is long, very big work space can be arranged, can in relatively long operation table scope, move also through determining the position, and adopt square hole to cooperate between first joint and the operation table body and be connected, be convenient to dismounting.
Minimal access bone of the present invention robot is in order to ensure robot motion's process safe and to be convenient to controlling of doctor, the 3D mouse 6 of on the D of forearm assembly 4 housing 401 six degree of freedom being installed is realized the safety operation control system, the doctor can pass through this handle, operate machine people's movement locus, finish the coarse positioning and the navigation of robot, avoid by the planning of the automatic orbit of robot the man-machine interference problem that may cause.
The invention discloses a kind of minimal access bone robot based on the 3D mouse action, this robot is at the clinical demand of bone surgery and surgical environments, according to the high security requirement in the bone surgery process, with the practicality and the suitability is basic starting point, adopt initiatively constraint planning thought, designed structuring, modular bone surgery robot.The present invention has fully utilized multi-door subject technologies such as Machine Design, theory of mechanisms, robotics, control automatically, computer technology, electronic technology, communication technology, has solved path navigation and pinpoint problem in the minimal access bone.This robot both provided reliable and stable surgical navigational method for minimal access bone, can simply dismantle and assemble again, and have control safety, compact conformation, advantage such as easy and simple to handle, was adapted at carrying out under the national conditions of China the popularization of clinical practice.
Claims (1)
1, a kind of Minimally Invasive Surgery orthopedic robot that carries out safety operation based on the 3D mouse is characterized in that: by horizontal moving assembly (1), decelerator assembly (2), move up and down assembly (3), little arm component (4), wrist assembly (5) and 3D mouse (6) and form; 3D mouse (6) is installed on the little arm housing (401) of little arm component (4), the support (207) of decelerator assembly (2) is connected by screw with the rotary flange (101) of horizontal moving assembly (1), the mounting seat (305) that moves up and down assembly (3) is connected by two locking bars (210) with the interface (202) of decelerator assembly (2); the chute (402) of little arm component (4) is connected with the C chute (301) that moves up and down assembly (3); and in sliding tray (316), slide, the wrist flange (501) of wrist assembly (5) is connected by key with the output shaft (408) of the decelerator of little arm component (4);
Laterally the bottom of the guide rail (104) of moving assembly (1) is equipped with tooth bar (105), the centre of guide rail (104) is provided with trough (107), one end of guide rail (104) is connected by the end of rotating shaft (102) with rotary flange (101), the other end of guide rail (104) passes the set in a lateral direction through hole (136) of Connection Block (130), and is slidingly connected on the Connection Block (130); The horizontal rotating shaft of A (131), the horizontal rotating shaft of B (132), the horizontal rotating shaft of C (133), the horizontal rotating shaft of D (134) are installed around the right panel (135) of Connection Block (130); The vertical rotating shaft of A (141), the vertical rotating shaft of B (142), the vertical rotating shaft of C (143), the vertical rotating shaft of D (144) are installed around the top panel (145) of Connection Block (130); The left side of Connection Block (130) is link (137); The center of the lower panel (155) of Connection Block (130) is provided with circular hole (151), and circular hole is equipped with gear in (151), and gear is connected with the output shaft of A motor, and the A motor is installed on the lower panel (155); The both sides of lower panel (155) have A groove (152), B groove (153), the A groove is placed with the A roller in (152), the B groove is placed with the B roller in (153), and the A roller housing is connected in the horizontal rotating shaft of C (133), and the B roller housing is connected in the horizontal rotating shaft of B (132);
Worm gear (205), worm screw (206) are installed in the support (207) of decelerator assembly (2), worm gear (205) is connected with support (207) by A ball bearing (213), B ball bearing (214), one end of worm gear (205) is provided with worm gear end cap (204), the other end of worm gear (205) is connected with interface (202) by screw, the two ends of interface (202) are respectively equipped with two locking bars (210), have regulating tank (212) on the inclined-plane (215) of support (207); The output shaft of B motor (203) is connected with the end of worm screw (206), the other end of worm screw (206) is installed in the centre bore of plane bearing (201), plane bearing (201) is connected with B pressing plate (209) by screw, plane bearing (201) holds out against on worm screw end cap (208), and worm screw end cap (208) is installed on the inwall of support (207) by screw;
Move up and down on the front plate of housing (307) of assembly (3) and have sliding tray (316), C motor (315) is installed in housing (307) upper end, and the output shaft of C motor (315) passes Kong Houyu shaft coupling (309) the one ends connection that housing is provided with, shaft coupling (309) other end is connected with leading screw (313) one ends, leading screw (313) other end passes and back the cooperation with bearing of slider nut (304) is installed in housing (307) lower end, the inwall of the rear board of housing (307) is equipped with guiderail base (308), guiderail base is equipped with line slideway on (308), slider nut (304) is installed on the line slideway, slider nut (304) other end is connected with guide rail flange (303) one ends, on guide rail flange (303) other end A base (302) is installed, A base (302) is provided with C chute (301);
The D chute (402) of little arm component (4) is installed on the left side of D housing (401), be provided with dividing plate (404) in the D housing (401), D motor (406) is installed on the dividing plate (404), the output shaft of D motor (406) is connected with shaft coupling (405), the other end of shaft coupling (405) is connected with an end of decelerator (407), the output shaft (408) of decelerator (407) is connected with the wrist flange (501) of wrist assembly (5), and the top of D housing (401) is provided with baffle plate (403);
The E motor (512) of wrist assembly (5) is connected with motor flange (511), motor flange (511) is installed on the right plate of E housing (502), the right plate outer wall of E housing (502) is connected with wrist flange (501), the position of the right-hand part installation E motor (512) of E housing (502) adds is stamped E baffle plate (515), the output shaft of E motor (512) is connected with an end of leading screw (504), the other end of leading screw (504) is installed on the left plate (516) after passing shifting block (503), the longitudinal center of shifting block (503) is provided with E chute (513), bearing pin (508) is installed in the circular hole that the upper end of E chute (513) has, by being installed, a sunk screw (514) realizes that shifting block (503) is connected with screw mandrel (504) in the E chute (513) of shifting block (503), intrinsic pressure pressing plate (509) back of being stamped of the front groove of shifting block (503) is connected with guide pad (507), and the center of guide pad (507) is provided with locating hole (506).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101178904A CN100469326C (en) | 2007-06-26 | 2007-06-26 | Minimal access bone operating robot based on 3D mouse operation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007101178904A CN100469326C (en) | 2007-06-26 | 2007-06-26 | Minimal access bone operating robot based on 3D mouse operation |
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| CN101073511A CN101073511A (en) | 2007-11-21 |
| CN100469326C true CN100469326C (en) | 2009-03-18 |
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| CNB2007101178904A Expired - Fee Related CN100469326C (en) | 2007-06-26 | 2007-06-26 | Minimal access bone operating robot based on 3D mouse operation |
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| CN101612062B (en) * | 2008-06-26 | 2014-03-26 | 北京石油化工学院 | Sensing type six-joint mechanical arm for implementing method for navigating and positioning ultrasonic image |
| CN101390763B (en) * | 2008-10-31 | 2010-06-02 | 天津大学 | Robot main body system for assisting micro-wound surgical operation |
| CN101411631B (en) * | 2008-11-21 | 2011-05-11 | 南开大学 | Controlling mechanism of five-freedom degree vertebral column minimally invasive robot |
| CN102101297B (en) * | 2009-12-18 | 2013-03-27 | 中国科学院沈阳自动化研究所 | Telescopic joint module for modularized reconfigurable robot |
| CN101870107B (en) * | 2010-06-26 | 2011-08-31 | 上海交通大学 | Control system of auxiliary robot of orthopedic surgery |
| CN101933837B (en) * | 2010-07-08 | 2011-10-12 | 中国科学院自动化研究所 | Minimally invasive vascular interventional surgical robot tube feeding device |
| CN101904771B (en) * | 2010-07-08 | 2012-04-25 | 中国科学院自动化研究所 | Control device of catheter delivery mechanism of minimally-invasive vascular intervention operation robot |
| CN103300906B (en) * | 2013-07-03 | 2015-02-18 | 青岛理工大学 | Medical six-degree-of-freedom automatic adjusting manipulator grinding and clamping device for surgical operation |
| CN103393447B (en) * | 2013-08-22 | 2015-04-01 | 厦门大学 | Miniature numerical control scalpel |
| CN103465249A (en) * | 2013-09-06 | 2013-12-25 | 苏州凯欧机械科技有限公司 | Subminiature positioning table for micro manipulator |
| CN105395235B (en) * | 2014-09-10 | 2017-12-05 | 芜湖锐进医疗设备有限公司 | A kind of reciprocal scroll saw and its cutting method |
| CN106965191A (en) * | 2016-01-13 | 2017-07-21 | 上海摩西海洋工程股份有限公司 | A kind of safety protection robot |
| CN106618735B (en) * | 2016-11-16 | 2019-01-22 | 苏州大学 | A kind of cooperation interaction robot for surgical operation |
| CN107157582B (en) * | 2017-04-25 | 2019-05-07 | 山东科技大学 | A kind of surgery of nasal cavity auxiliary Chi Jing robot |
| CN107028661A (en) * | 2017-05-16 | 2017-08-11 | 周国庆 | Full series connection upper and lower extremities pelvic fracture resets robot and remote real_time control system |
| CN107291049B (en) * | 2017-05-25 | 2020-08-25 | 深圳市越疆科技有限公司 | Motion control method and device of mechanical arm |
| JP6730247B2 (en) * | 2017-11-28 | 2020-07-29 | ファナック株式会社 | Robot operating device |
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| CN108527320B (en) * | 2018-03-30 | 2021-08-13 | 天津大学 | Three-dimensional mouse-based collaborative robot guiding teaching method |
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| CN101073511A (en) | 2007-11-21 |
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