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Title:
ENDOSCOPIC SURGICAL INSTRUMENT CONVEYING APPARATUS, CONTROL METHOD, AND ROBOT SYSTEM
Document Type and Number:
WIPO Patent Application WO/2023/039930
Kind Code:
A1
Abstract:
An endoscopic surgical instrument conveying apparatus, a control method, and a robot system. The endoscopic surgical instrument conveying apparatus comprises: a robot base (5), a multi-degree-of-freedom robotic arm (3), a first driving platform (16), a second driving platform (13), and a control module. The control module is used for, at an adjustment and alignment stage, calculating the sliding distance of the first driving platform (16) by means of conversion according to the movement position of a tubular fitting conveying assembly (8) of the multi-degree-of-freedom robotic arm (3), and controlling a first driving assembly (4) to drive the first driving platform (16) to move with the multi-degree-of-freedom robotic arm (3); and used for, at a tube body insertion stage, controlling the first driving assembly (4) to drive the first driving platform (16) to slide, so that an endoscope body insertion tube (10) is inserted towards a distal end. By means of the control module, during an alignment process, when the multi-degree-of-freedom robotic arm (3) is moved, the first driving platform (16) slides synchronously to maintain the overall following effect of the endoscope body insertion tube (10), prevent the endoscope body insertion tube (10) from being straightened, tightened and stressed due to the change of the distance, and achieve a stable positioning process.

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Inventors:
LI LING (CN)
SHEN GUANGGUO (CN)
GU JIA (CN)
LI WENCHAO (CN)
Application Number:
PCT/CN2021/120621
Publication Date:
March 23, 2023
Filing Date:
September 26, 2021
Export Citation:
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Assignee:
SUZHOU ULTIMAGE HEALTH TECH CO LTD (CN)
International Classes:
A61B34/30; A61B34/00
Foreign References:
CN111494012A2020-08-07
CN109700537A2019-05-03
CN107411695A2017-12-01
CN210408597U2020-04-28
CN101610712A2009-12-23
KR100695471B12007-03-16
US20210259792A12021-08-26
Attorney, Agent or Firm:
SCIHEAD IP LAW FIRM (CN)
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