CN104814792A - Separable multi-arm soft mechanical arm device - Google Patents
Separable multi-arm soft mechanical arm device Download PDFInfo
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Abstract
The invention discloses a separable multi-arm soft mechanical arm device, and the device comprises a functional arm part, a fixed general arm part, and a supporting part. The functional arm part and the fixed general arm part are made of human body silica gel materials. The fixed general arm part is connected to the rear end of the functional arm part, and provides strong support for the functional arm part. Moreover, the fixed general arm part and the functional arm part jointly form a mechanical arm body. The supporting part longitudinally passes through the mechanical arm body, is located at the axis of the mechanical arm body, and is used for supporting the mechanical arm body. The device depends on stay wire drive, and the operation mode of line drive is simple and reliable in control. The device is safe and soft, and causes no damage to a human body. Moreover, the flexible structure is elastic, can absorb the vibration caused by the movement of body tissues, and reduces the impact on the maneuverability of an operation device from the physiological motion of a patient during an operation. The device replaces the conventional direct operation, so as to achieve the operation effects of small wound and quick recovery.
Description
Technical field
The present invention relates to medical software mechanical arm technical field, specifically a kind of separable multi-arm software robot arm device for single incision surgery.
Background technology
Be applied to clinical medical operating robot system at present mostly based on endoscopic surgery principle, be divided into noninvasive surgery system and minimally invasive surgery system.The operation tool of noninvasive surgery system is entered in patient body by human body natural's tract, and without the need to body surface opening near operative site, can realize the Wicresoft performed the operation to greatest extent.As the U.S.
x2Robotic System, as the noninvasive surgery system of maturation, enters clinical practice multinational.But because non-invasive procedures action need is by the body cavities of long and narrow complexity, operation easier is high; And non-invasive procedures may need to carry out puncture procedure to healthy body tissue before arriving focus, as carried out ablative surgery to left atrium, need enter in body through postcava, pierce through enter left atrium from right atrium, other additional injuries will be caused to patient.
The Minimally Invasive Surgery of single otch, obtains the accreditation of more patients and doctor at present as a kind of therapeutic modality.As the single-hole laparoscopic surgery based on The da Vinci SP system, be namely insert multiple perforator or a perforator with multiple operation duct by the minimal incision * of 1.5cm ~ 4cm, what utilize operating theater instruments in duct completes operation technique.But this system is comparatively heavy, very flexible.Tackle above problem, the people such as M.Piccigallo propose SPRINT system, and this system realizes the torsional bending campaign in joint by the micromachine in mechanical arm, imitate human arm motion, realize the single hole endoscope surgery system of a 6DOF.Although organization volume improves, motility is not enough, only containing an operating theater instruments, completes single operation technique.So carry out Bionic Design to the both hands of doctor, tow-armed robot and multi-arm robot become the development trend of recent medical operating robot.As the single hole endoscopic surgery robot of Tokyo University, be one of the case of tow-armed robot, rely on derotation to complete articulation to the rotation of screw and control, the control of 3-5 degree of freedom can be reached, but the exercisable angle of this system is little, therefore work space is less, reach area is limited to.
For solving above-mentioned difficulties, flexible continuum many arm robot arise at the historic moment.Domestic number of patent application is the single-port laparoscopic minimally-invasive surgery robot system of 201410206379.1, waits motion, complete the multivariant motor performance in space by the brachiocylloosis of Nitinol drive wire driving device is flexible.But its structure and driving complexity, the drive wire of singlehanded arm reaches 19, controls difficulty large.The mechanism of this system is complicated in addition, and continuum mechanical arm stretches out contractive action and may be obstructed due to entering of foreign body etc. from sheath body, thus affects the normal operation of mechanism.And although mechanism is flexible continuum, still comparatively hard relative to this mechanical arm material of tissue, damage may be touched entering the stage in body to bodily tissue.
Summary of the invention
The present invention is directed to above shortcomings in existing single hole endoscopic system, provide a kind of separable multi-arm software robot arm device, this separable multi-arm software robot arm device is a kind of software multi-arm robot having any degree of freedom.
The present invention is achieved by the following technical solutions.
A kind of separable multi-arm software robot arm device, comprises function and divides arm segment, fixing total arm segment and support section; Wherein:
Described function divides arm segment and fixing total arm segment all to adopt human body silica gel material;
Described fixing total arm segment is connected to the rear end that function divides arm segment, for function divides arm segment to provide intensity support, and divides arm segment jointly to form mechanical arm body with function;
Described support section longitudinally through mechanical arm body, and is positioned at the shaft core position of mechanical arm body, for supported mechanical arm body.
Preferably, described separable multi-arm software robot arm device also comprises fixed pedestal, and described fixed pedestal is provided with drive motors; Wherein:
Described mechanical arm body is connected with fixed pedestal by fixing total arm segment;
Described function divides arm segment to be connected with fixed pedestal respectively with support section, and realizes action control by the driving of drive motors.
Preferably, described function divides a point arm for arm segment to comprise: the first operation point arm, the second operation point arm and vision divide arm three points of arms; Wherein, described first operation point arm and the second operation point all embedded operation tool of arm, described vision divides arm embedded ccd video camera; Rely on magnetic piece adhesive each other between three points of arms, entering the stage through single otch, three points of arms are gathering attitude, in cylinder; Three points of arms have independently fan-shaped panel respectively, and the fan-shaped panel of each point of arm is all connected with three pieces points of arm draught lines, and a point arm draught line for each point of arm all can control separately.
Preferably, the other end of described point of arm draught line drives with the drive motors on fixed pedestal respectively and is connected; When arriving target organ, drive motors pulls a point arm draught line to overcome magnetic piece the suction-combining force to make three points of arms separated from one another; By controlling separately point arm draught line of each point of arm, so control point arm independently bend contractive action, complete operation technique.
Preferably, described vision divides arm entering the stage towards direct of travel through single otch, and embedded ccd video camera divides the location navigation of arm segment to provide image support for function; When arriving target organ, vision divides arm to operate with two the target organ inspections and examinations that point arm has been separated different visual angles, the operation technique of auxiliary two operation point arms.
Preferably, described operation tool comprises and melts head, biopsy forceps, ultrasonic probe or energy type scalpel; Described operation tool is connected with fixed pedestal respectively with the connecting line of ccd video camera.
Preferably, described support section comprises three claw type end-rack, end-rack draught line and flexible support axle; Wherein:
Described three claw type end-rack are arranged at the end that function in mechanical arm body divides arm segment one end;
Described flexible support axle is the flexible continuum with certain rigidity characteristics, and one end of flexible support axle is connected to the center of three claw type end-rack, and the other end of flexible support axle through mechanical arm body, and is connected with fixed pedestal; Flexible support axle can recover original shape in certain bending range, for mechanical arm body provides support;
The top of three claw type end-rack is fixed in one end of described end-rack draught line, and the other end of end-rack draught line divides the space divided arm of arm segment through function, and is connected with the drive motors on fixed pedestal; When mechanical arm body enters through single otch, completed the bending course changing control of mechanical arm body by the drive motors tractive end-rack draught line on fixed pedestal.
Preferably, described support section also comprises LED illumination unit, and described LED illumination unit is inlaid in the front end surface of triangle end-rack, for vision divides arm to provide floor light; In the operation technique stage, completed the light angle adjustment of LED illumination unit by tractive end-rack draught line.
Compared with prior art, the present invention has following beneficial effect:
1, function divides arm segment all to adopt human body silica gel to make with fixing total arm segment, human body silica gel can life-time service keep its resilient flexible performance, environment-protecting asepsis, by the certification of SGS environment-protecting asepsis at temperature range-65 DEG C-200 DEG C, there is excellent electrical property and chemical stability, water-fast, resistance to ozone, weather-resistant, non-corrosiveness, has physiological inertia, nonpoisonous and tasteless, the features such as linear shrinkage ratio is low, easy to operate, can be safe and reliable be applied to medical field;
2, bracing wire is relied on to drive, line drives maneuverability pattern and controls simple and reliable, safety is soft does not form injury for bodily tissue, and flexible structure has elasticity can absorb and move the vibrations brought by bodily tissue, and in minimizing operation process, patient's physiological movement is for the impact of operation device maneuverability;
3, the present invention can be applied to medical operating field, replaces the operation of traditional Direct Surgery, to reach wound little, recover fast surgical effect.
Accompanying drawing explanation
By reading the detailed description done non-limiting example with reference to the following drawings, other features, objects and advantages of the present invention will become more obvious:
Fig. 1 is overall structure rounding state skeleton diagram of the present invention;
Fig. 2 is support section schematic diagram;
Fig. 3 is that Fig. 1 function divides arm segment perspective view;
Fig. 4 is overall structure deployed condition skeleton diagram of the present invention;
Fig. 5 is that Fig. 3 vision divides arm to control schematic diagram;
Fig. 6 is the fan-shaped panel distribution schematic diagram of point arm;
Fig. 7 is the fan-shaped panel schematic diagram of Fig. 6.
In figure, 1 divides arm segment for function, and 2 is a fixing point arm segment, 3 is support section, and 4 is three claw type end-rack, and 5 is flexible support axle, 6 is the first end-rack draught line, and 7 is the second end-rack draught line, and 8 is the 3rd end-rack draught line, 9 is LED illumination unit, and 10 is an operation point arm, and 11 divide arm for vision, 12 for embedding operation tool, and 13 is ccd video camera, and 14 is magnetic piece, 15 is fan-shaped panel, and 16 is a point arm draught line.
Detailed description of the invention
Below embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process.It should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Embodiment
Present embodiments provide a kind of separable multi-arm software robot arm device, comprising:
Function divides arm segment, and described function divides arm segment to comprise function to divide arm segment and vision to divide arm segment.Described function divides arm and vision to divide arm to control respectively by a point arm draught line.A theoretical point arm has infinite degrees of freedom, can complete and curve action at any angle, and the expanding-contracting action in certain limit.
Fixing total arm segment, described fixing total arm segment is positioned at a point arm rear portion, for single unit system provides certain intensity support.And described separable multi-arm software robot arm device is connected with fixed pedestal.
Support section, described support section is positioned at the shaft core position of single unit system, and longitudinal through-going device is overall, for device provides support.To be entered in human body by single otch at described device and before not arriving target organ, by the end-rack draught line of support section, bending course changing control carried out to device.
Further, described function divides arm segment to contain 2 operation point arms and 1 vision divides arm.Divide arm all containing a point arm functional unit, wherein the corresponding embedded operation tool (melting head, biopsy forceps, ultrasonic probe, energy type scalpel etc.) of an operation point arm, vision divides arm correspondence embedded ccd video camera.Divide between arm and rely on magnetic piece adhesive each other, keep attracting state when the single otch by thoracic cavity or abdominal cavity enters in patient.When three points of arms are in attracting state, merge into a cylinder.
Further, described point of arm is all containing independent fan-shaped panel and point arm draught line.Point arm draught line one end is fixed on fan-shaped towing plate, and the other end is connected to the control motor on fixed pedestal longitudinally through corresponding point of arm, fixing total arm.Each point of corresponding 3 draught lines of arm.Pull corresponding draught line by motor, the body portion that can complete point arm from and independent control action.Tractive draught line, the magnetic piece magnetic force overcome between point arm to carry out between point arm and being separated of point arm and main body.The independent point arm that controls can complete arm bending, contractile motion within the specific limits, thus makes an operation point arm complete corresponding surgical action; Make vision divide arm front end ccd video camera to obtain suitable view scope, assist the diagnosis to target organ and operation technique.
Further, described vision divides arm embedded ccd video camera, and ccd video camera camera lens divides arm longitudinal direction towards vision.Enter the stage at this robot arm device and carry out real-time imaging transmission, the navigator fix for device controls to provide reference.In this robot arm device operation technique stage, the adjustment dividing arm draught line to complete ccd video camera lens direction and vision to divide arm pose by tractive, makes doctor obtain image data intuitively, for the operation technique of diagnosis and operation point arm provides reference.
Further, described fixing total arm segment is connected to a point arm rear end, is same size with cylinder during three points of arm adhesives.
Further, described support section is made up of three claw type end-rack, flexible support axle, end-rack draught line and LED illumination unit.Wherein, three claw type end-rack have the support having certain elasticity and rigidity, is fixed on flexible support axle one end, and flexible support axle is longitudinally overall through device, and the other end is fixed on fixed pedestal.Described flexible support axle is positioned at the device longitudinal axis, only for supporting, without the task of driving, for there being the bending recoverable flexible cylinder of certain rigidity.Described three claw type end-rack three end winding support have end-rack draught line, enter the stage play traction control effect, bending the turning to of tractive end-rack draught line controller mechanical arm entirety at this robot arm device.This robot arm device operation stages of deployment (point arm is separated and carries out independent operation technique), tractive end-rack draught line, adjustment end-rack end face LED illumination unit angle, improves the lighting environment of Target organ.
Further, function divides arm segment and fixing total arm segment to be the flexible continuum of human body silica gel material, without any rigid structure.The bending of any degree of freedom can be completed and recover.
Below in conjunction with accompanying drawing, the present embodiment is further described.
A kind of separable multi-arm software robot arm device, comprises function and divides arm segment, fixing total arm segment and support section.Wherein function divides arm segment and fixing total arm segment main body to be human body silica gel material.Device front portion is divided into function to divide arm segment, and fixing total arm segment is connected to function and divides arm rear portion, and the longitudinal through-going device of support section is overall, is positioned at the axle center of device.
Described function divides arm segment, divides arm containing three functions, wherein has 2 to operate and divides arm and 1 vision to divide arm.Described operation divides arm to be embedded with operation tool, as melted head, biopsy forceps, ultrasonic probe, energy type scalpel etc.Vision divides arm embedded ccd video camera.Divide between arm and rely on magnetic piece adhesive each other, entering the stage through single otch, three points of arms are gathering attitude, in cylinder.Each point of arm has independently fan-shaped panel, and each panel is distributed with three pieces points of arm draught lines.The other end of arm draught line is divided to be connected with the motor of fixed pedestal longitudinally through a point arm.Control electric machine rotation can complete the tension and loosening up with point arm draught line.When arriving target organ, pull a point arm draught line overcome magnetic piece captivation make point arm and body portion from.The actions such as point arm draught line bending contraction of independence that can control point arm of independent control each point of arm, thus complete operation technique.
Described vision divides arm to contain ccd video camera, in the stage that enters towards direct of travel, for location navigation provides image support.Vision divided arm from body portion from the inspections and examinations for target organ that can complete different visual angles, auxiliary operation divides the operation technique of arm.
Function divides arm to be connected with fixed pedestal, for this robot arm device provides support by described fixing total arm segment.The flexible support axle of the operation tool of point arm draught line, embedding, ccd video camera connecting line, support section is connected with fixed pedestal through fixing total arm segment.
Described support section comprises three claw type end-rack, end-rack draught line, flexible support axle and LED illumination unit.Three claw type end-rack are positioned at flexible support axle one end, and the flexible support axle other end is connected with fixed pedestal through fixing total arm segment.Wherein flexible support axle is the flexible continuum having certain rigidity, can recover original shape in certain bending range, for device entirety provides support.Three claw type end-rack tops are fixed with end-rack draught line, and the end-rack draught line other end, through space point arm, is connected with the drive motors on fixed pedestal through fixing total arm.Device function when single otch enters divides arm segment to be in rounding state, completes overall bending course changing control by the drive motors tractive end-rack draught line on fixed pedestal.Three claw type end-rack end faces are embedded with LED illumination unit, for vision divides arm to provide floor light.In the operation technique stage, complete the light angle adjustment of illuminator by tractive end-rack draught line.
Be specially:
As shown in Figure 1, function divides arm segment 1 to be directly connected with fixing total arm segment 2, and support section 3 is longitudinally overall through multi-arm software robot arm device.
Support section as shown in Figure 2, by three claw type end-rack 4, flexible supporting unit 5, end-rack draught line 6,7,8, LED illumination unit 9.Support section completes the support of software robot arm device entirety and the realization driving function.Flexible supporting unit is the flexible continuum having certain rigidity, rustless steel flexible hose waterproof anticorrosion, has certain rigidity and elasticity is good, originally execute adopt in example for diameter be the rustless steel flexible hose of 2mm.Originally execute in example and select fishing line to be end-rack draught line, fishing line mainly nylon, DYNEEMA fiber etc. is made, and can bear larger pulling force, intensity and abrasion resistance high.Software mechanical arm is being in rounding state when single otch enters in patient body, as shown in Figure 1.As shown in Figure 3, function divide arm by between magnetic piece attract adhesive each other, in cylinder, originally executing in example, point arm under this rounding state is overall identical with fixing total arm segment diameter, is 15mm.
Robot arm device, when rounding state, is controlled for the overall travel direction of mechanical arm by tractive end-rack draught line, as shown in Figure 2.As the first tractive end-rack draught line 6 can complete new line action, tractive end-rack draught line 7,8 can complete action of bowing simultaneously, second tractive end-rack draught line 7 can complete the outside go to action of paper, and in like manner the 3rd tractive end-rack draught line 8 can complete the inside go to action of paper.End-rack top is fixed in end-rack draught line one end, passes between point arm, longitudinally runs through fixing point arm segment, is connected with the control motor on fixed pedestal.The LED illumination unit of end-rack front end is assisted for visual unit provides to throw light on.
Figure 3 shows that function divides arm perspective diagram, originally executing example adopts 2 operation point arms 10 and 1 vision to divide arm 11, wherein the operation point embedded operation tool of arm is as melted head, biopsy forceps, ultrasonic probe, energy type scalpel etc., originally executes example and adopts biopsy forceps to provide concrete scheme.Vision divides arm embedded ccd video camera, in real time and host computer carry out image communication, for doctor enters at mechanical arm the image reference that stage and operation technique stage provide navigation, location, diagnosis etc.Each point of arm all has fan-shaped panel 15, and the distribution of fan-shaped panel is as Fig. 6, and the fixed position of point arm draught line on each fan-shaped panel is as Fig. 7.Controlled corresponding function divides arm, fixing total arm is connected with the control motor on fixed pedestal to divide arm draught line longitudinally to run through.For dividing the traction control method of arm see the control for end-rack draught line, divide the manipulation schematic diagram of arm as shown in Figure 5 for individual feature.
When mechanical arm arrives target organ, by point arm draught line that tractive three points of arms are corresponding, overcome the magnetic piece magnetic force between point arm, carry out the expansion of device, as shown in Figure 4.Controlling each function by independent joystick divides arm to complete operation technique.Tractive divides arm draught line to complete a point control for arm pose, and can handle operation tool simultaneously and complete remote operation operation, tractive end-rack draught line completes the light angle of the LED illumination unit of end-rack end face, para-operatively carries out.When operation is carried out, according to the size of work space, regulated the attitude of point arm by draught line.When operation technique and diagnostic work complete, loosen a point arm draught line and make function divide arm again due to the adhesive gathering each other of magnetic piece magnetic force.The situation that adhesive is inaccurate may be there is in adhesive when drawing in, first the adhesive gathering work of two operation point arms should be carried out during concrete enforcement, control vision simultaneously and divide arm visual angle, gathering process is played to the effect of vision back-up surveillance, playback is drawn in when an operation point arm completes adhesive, divide arm to carry out adhesive to vision again and draw playback operation in, the mark that overall adhesive gathering action completes should be that vision is divided in the visual field of arm and only had tissue, and can not present the image of any software mechanical arm.
The separable multi-arm software robot arm device that the present embodiment provides, function divides arm segment to be positioned at the front portion of this mechanical arm, and fixing total arm segment is positioned at mechanical arm rear portion, and support section is positioned at arm axle center.Wherein, function divides arm segment to divide arm containing three functions altogether, and the operation comprising two embedded operation tools (melting head, biopsy forceps, ultrasonic probe, energy type scalpel etc.) divides arm, and the vision of a preposition ccd video camera divides arm.Fixing total arm segment is integrated cylinder.Support section is the support having certain elasticity and rigidity, plays a supporting role to mechanical arm entirety.This device is the operation part of software mechanical arm medical robotic system, is controlled by the control section of system.Device enters in patient by the single otch in abdominal cavity or thoracic cavity, divides the magnetic piece magnetic force between arm to be attracted to tighten up by three points of arms in the stage of entering, and relies on pulling support section top draught line to complete behaviors such as curving, stretch.Arrive operation target organ, overcome each function of magnetic separation divide arm by the draught line of traction point arm, the draught line of operation point arm completes behavior such as adjustment photographic head and operation technique etc. separately.This device is mainly used in medical operating field, replaces the operation of traditional Direct Surgery, to reach wound little, recover fast surgical effect.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1. a separable multi-arm software robot arm device, is characterized in that, comprises function and divides arm segment, fixing total arm segment and support section; Wherein:
Described function divides arm segment and fixing total arm segment all to adopt human body silica gel material;
Described fixing total arm segment is connected to the rear end that function divides arm segment, for function divides arm segment to provide intensity support, and divides arm segment jointly to form mechanical arm body with function;
Described support section longitudinally through mechanical arm body, and is positioned at the shaft core position of mechanical arm body, for supported mechanical arm body.
2. separable multi-arm software robot arm device according to claim 1, is characterized in that, described separable multi-arm software robot arm device also comprises fixed pedestal, and described fixed pedestal is provided with drive motors; Wherein:
Described mechanical arm body is connected with fixed pedestal by fixing total arm segment;
Described function divides arm segment to be connected with fixed pedestal respectively with support section, and realizes action control by the driving of drive motors.
3. separable multi-arm software robot arm device according to claim 1 and 2, is characterized in that, described function divides a point arm for arm segment to comprise: the first operation point arm, the second operation point arm and vision divide arm three points of arms; Wherein, described first operation point arm and the second operation point all embedded operation tool of arm, described vision divides arm embedded ccd video camera; Rely on magnetic piece adhesive each other between three points of arms, entering the stage through single otch, three points of arms are gathering attitude, in cylinder; Three points of arms have independently fan-shaped panel respectively, and the fan-shaped panel of each point of arm is all connected with three pieces points of arm draught lines, and a point arm draught line for each point of arm all can control separately.
4. separable multi-arm software robot arm device according to claim 3, is characterized in that, the other end of described point of arm draught line drives with the drive motors on fixed pedestal respectively and is connected; When arriving target organ, drive motors pulls a point arm draught line to overcome magnetic piece the suction-combining force to make three points of arms separated from one another; By controlling separately point arm draught line of each point of arm, so control point arm independently bend contractive action, complete operation technique.
5. separable multi-arm software robot arm device according to claim 3, is characterized in that, described vision divides arm entering the stage towards direct of travel through single otch, and embedded ccd video camera divides the location navigation of arm segment to provide image support for function; When arriving target organ, vision divides arm to operate with two the target organ inspections and examinations that point arm has been separated different visual angles, the operation technique of auxiliary two operation point arms.
6. separable multi-arm software robot arm device according to claim 3, is characterized in that, described operation tool comprises and melts head, biopsy forceps, ultrasonic probe or energy type scalpel; Described operation tool is connected with fixed pedestal respectively with the connecting line of ccd video camera.
7. separable multi-arm software robot arm device according to claim 2, it is characterized in that, described support section comprises three claw type end-rack, end-rack draught line and flexible support axle; Wherein:
Described three claw type end-rack are arranged at the end that function in mechanical arm body divides arm segment one end;
Described flexible support axle is flexible continuum, and one end of flexible support axle is connected to the center of three claw type end-rack, and the other end of flexible support axle through mechanical arm body, and is connected with fixed pedestal; Flexible support axle can recover original shape in certain bending range, for mechanical arm body provides support;
The top of three claw type end-rack is fixed in one end of described end-rack draught line, and the other end of end-rack draught line divides the space divided arm of arm segment through function, and is connected with the drive motors on fixed pedestal; When mechanical arm body enters through single otch, completed the bending course changing control of mechanical arm body by the drive motors tractive end-rack draught line on fixed pedestal.
8. separable multi-arm software robot arm device according to claim 7, it is characterized in that, described support section also comprises LED illumination unit, and described LED illumination unit is inlaid in the front end surface of triangle end-rack, for vision divides arm to provide floor light; In the operation technique stage, completed the light angle adjustment of LED illumination unit by tractive end-rack draught line.
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| CN105816265A (en) * | 2016-05-23 | 2016-08-03 | 上海优创医疗器械技术有限公司 | Rigid molding technology for forearm of human body |
| CN105902313A (en) * | 2016-04-07 | 2016-08-31 | 上海交通大学 | Balloon type separable dobby soft robot |
| CN105943229A (en) * | 2016-05-23 | 2016-09-21 | 诸燮平 | Rigid modeling technology used for whole legs of human body |
| CN105943230A (en) * | 2016-05-23 | 2016-09-21 | 诸燮平 | Rigid modeling technology used for whole arms of human body |
| CN106073897A (en) * | 2016-07-12 | 2016-11-09 | 天津大学 | A kind of snakelike joint for single hole minimally invasive robot and mechanism thereof |
| CN106123801A (en) * | 2016-06-12 | 2016-11-16 | 上海交通大学 | Software mechanical arm shape method of estimation with temperature drift compensation |
| CN106308932A (en) * | 2016-08-31 | 2017-01-11 | 上海交通大学 | Rigid-soft coupling design of single-hole surgical robot designed for emergent operation |
| CN107595329A (en) * | 2017-10-26 | 2018-01-19 | 令狐恩强 | A kind of biopsy forceps with support arm |
| CN112356020A (en) * | 2020-09-21 | 2021-02-12 | 中国人民解放军军事科学院国防科技创新研究院 | Variable cross-section flexible arm feedback control line length positioning method and device and medium |
| CN113180832A (en) * | 2021-04-21 | 2021-07-30 | 上海盼研机器人科技有限公司 | Semi-surface short and small operation tractor positioning system based on mechanical arm |
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