CN106974732A - A kind of single hole endoscope-assistant surgery robot system - Google Patents
A kind of single hole endoscope-assistant surgery robot system Download PDFInfo
- Publication number
- CN106974732A CN106974732A CN201710124319.9A CN201710124319A CN106974732A CN 106974732 A CN106974732 A CN 106974732A CN 201710124319 A CN201710124319 A CN 201710124319A CN 106974732 A CN106974732 A CN 106974732A
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- rotating shaft
- component
- single hole
- driving box
- robot system
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G13/00—Operating tables; Auxiliary appliances therefor
- A61G13/10—Parts, details or accessories
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61G—TRANSPORT, PERSONAL CONVEYANCES, OR ACCOMMODATION SPECIALLY ADAPTED FOR PATIENTS OR DISABLED PERSONS; OPERATING TABLES OR CHAIRS; CHAIRS FOR DENTISTRY; FUNERAL DEVICES
- A61G2203/00—General characteristics of devices
- A61G2203/70—General characteristics of devices with special adaptations, e.g. for safety or comfort
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Manipulator (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses a kind of single hole endoscope-assistant surgery robot system, belong to operating robot technical field.The single hole endoscope-assistant surgery robot system of the present invention includes master operating station and the first display being fixedly arranged on the master operating station, it is characterised in that：Also include positioning arm component and executing agency, described positioning arm component one end is fixedly connected with the master operating station, the other end and the executing agency rotate and are connected, by the master operating station, first display, first display, the positioning arm component and the executing agency is integrated is integral.The single hole endoscope-assistant surgery robot system of the present invention makes doctor's operation more convenient, accurate using integrated setting, and the emergency that may occur can be handled in time.
Description
Technical field
The present invention relates to robotic technology field, more particularly, to a kind of single hole endoscope-assistant surgery robot system.
Background technology
With automation industry continue to develop with it is perfect, robot occupies more and more important ground in medical industry
Position, is especially performed the operation in the case of being treated to patient, requirement of the traditional operation to doctor is very harsh, doctor's strength
Size, the direction of force and the hand shake that may occur can all produce tremendous influence to the result of operation, seriously
When even entail dangers to patient life security, and performed the operation instead of doctor using robot, the error of doctor can be overcome to make
Into operation risk so that operation is more accurate.
At present, conventional single hole endoscope-assistant surgery robot is often separately positioned by actuating station and operational control end, both it
Between be electrically connected by electric wire, this mode can cause complex circuit so that the operation of doctor terminal inconvenience, the progress to operation
Cause very big trouble.
The content of the invention
The technical problems to be solved by the invention are：A kind of integral type single hole endoscope-assistant surgery robot is provided, it has
Easy to operate, the more accurate benefit of control.
The technical scheme that present invention solution above-mentioned technical problem is used is：A kind of single hole endoscope-assistant surgery robot is provided
System, including master operating station and the first display for being fixedly arranged on the master operating station, it is characterised in that：Also include registration arm
Component and executing agency, described positioning arm component one end are fixedly connected with the master operating station, the other end and the executing agency
Connection is rotated, by the master operating station, first display, first display, the positioning arm component and institute
State that executing agency is integrated to be integral.
As the further improvement of above-mentioned technical proposal, the executing agency includes driving box, the driving box with it is described
Registration arm member hinges are connected, with by adjusting the rotational angle between the driving box and the positioning arm component to adjust
State the posture of executing agency.
As the further improvement of above-mentioned technical proposal, locking switch is installed with the driving box, it is described by unclamping
Locking switch is to lock the positioning arm component and the driving box, by pressing the locking switch so that the registration arm
Component can be rotated relative to master operating station motion, the driving box relative to the positioning arm component.
As the further improvement of above-mentioned technical proposal, operating handle is fixedly provided with the driving box, the locking is opened
Pass is fixedly arranged on the operating handle.
As the further improvement of above-mentioned technical proposal, the executing agency also includes modularization and performs component and first device
Part sleeve, the modularization performs component and is fixedly connected with the driving box, described component sleeve one end and the driving
Case is fixedly connected, and the other end is sheathed on the modularization and performed on component.
As the further improvement of above-mentioned technical proposal, modularization translation interface is fixedly provided with the driving box, it is described
Modularization performs component and inserted in the modularization translation interface, to be fixedly connected with the driving box.
As the further improvement of above-mentioned technical proposal, the modularization performs component can away from described driving box one end
Bending is so that the end is serpentine-like, and it can be performed along the modularization stretches and held around the modularization on component length direction
Axis on row component length direction is rotated.
As the further improvement of above-mentioned technical proposal, the positioning arm component has five frees degree, and it includes movement
Arm, the first cursor, the second cursor, first rotating shaft, the second rotating shaft, the 3rd rotating shaft and the 4th rotating shaft, the transfer arm are fixed
In on the master operating station, it can be relative to the master operating station in being elongated or shortened on vertical direction, and the first rotating shaft is consolidated
On the transfer arm, the first cursor two ends are sheathed in the first rotating shaft and second rotating shaft respectively, institute
State the second cursor two ends to be sheathed on respectively in second rotating shaft and the 3rd rotating shaft, described 4th rotating shaft one end is sheathed on
In 3rd rotating shaft, so that the 4th rotating shaft can be relatively rotated relative to the 3rd rotating shaft, the 4th rotating shaft is another
End is articulated and connected with the executing agency, passes through the transfer arm, first cursor, second cursor, described the
The motor adjustment of one rotating shaft, second rotating shaft, the 3rd rotating shaft and the 4th rotating shaft relative to the master operating station
The position of the executing agency.
As the further improvement of above-mentioned technical proposal, also include primary input end, scram button, pin on the master operating station
Pedal, the primary input end, the scram button and the pedal are fixedly arranged on the master operating station.
Beneficial effects of the present invention：
The present invention single hole endoscope-assistant surgery robot system include operating desk, be arranged on the operating desk the first display,
Arm component and executing agency are positioned, described positioning arm component one end is fixedly arranged on the master operating station, and the other end is held with described
Row mechanism is articulated and connected, and position and the appearance of executing agency are adjusted by the motion of the positioning arm component and the executing agency
State, single hole endoscope-assistant surgery robot system of the invention becomes one master operating station, positioning arm component and executing agency
And be positioned over by sick bed, more ensure the security of operation.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the single hole endoscope-assistant surgery robot system of the present invention；
Fig. 2 is the structural representation of the master operating station and positioning arm component of the single hole endoscope-assistant surgery robot system of the present invention；
Fig. 3 is the structural representation of the executing agency of the single hole endoscope-assistant surgery robot system of the present invention；
Fig. 4 is that the modularization of the single hole endoscope-assistant surgery robot system of the present invention performs the end construction schematic diagram of component
Fig. 5 is the structural representation of the equipment chassis of the single hole endoscope-assistant surgery robot of the present invention.
Embodiment
The technique effect of the design of the present invention, concrete structure and generation is carried out below with reference to embodiment and accompanying drawing clear
Chu, it is fully described by, to be completely understood by the purpose of the present invention, feature and effect.Obviously, described embodiment is this hair
Bright a part of embodiment, rather than whole embodiments, based on embodiments of the invention, those skilled in the art is not paying
The other embodiment obtained on the premise of creative work, belongs to the scope of protection of the invention.In addition, being related in patent
All connection/annexations, not singly refer to component and directly connect, and refer to can according to specific implementation situation, by addition or
Couple auxiliary is reduced, to constitute more excellent draw bail.Each technical characteristic in the invention, in not conflicting conflict
On the premise of can be with combination of interactions.
Please with reference to Fig. 1 to Fig. 5, single hole endoscope-assistant surgery robot system of the invention includes master operating station 1, registration arm
Component 2 and executing agency 3, wherein, positioning one end of arm component 2 is fixedly connected with master operating station 1, the other end and executing agency 3
It is articulated and connected, by master operating station 1, positioning 3 integrated entirety of arm component 2 and executing agency, operationally, the single hole chamber
Videoendoscopic surgery robot system is arranged at by sick bed 4, and patient 5 is lain on sick bed 4 so that doctor can more accurately be performed the operation
Operation, and the emergency case that may occur is handled in time.
The first display 10, primary input end 11, pedal 12 and scram button 13, first are installed with master operating station 1
Display 10 is electrically connected with executing agency 3, to monitor surgery situation, primary input end 11, pedal 12 and scram button in real time
13 electrically connect with executing agency 3, control executing agency 3 to complete required movement by primary input end 11 and pedal 12, lead to
Cross scram button 13 can emergent stopping executing agency 3 everything, facilitate doctor's emergent management emergency case.
The lower end of master operating station 1 is fixedly provided with first pulley 14, and master operating station 1 can be easily adjusted by first pulley 14
Position, make the single hole laparoscopic operation robot system be in optimum treatment position.
Positioning arm component 2 has five frees degree, and it includes transfer arm 20, the first cursor 21, the second cursor 22, the
One rotating shaft 23, the second rotating shaft 24, the 3rd rotating shaft 25 and the 4th rotating shaft 26, transfer arm 20 are fixedly arranged on master operating station 1, and it can phase
For master operating station 1 in being elongated or shortened on vertical direction, to adjust the height of whole positioning arm component 2, wherein, first rotating shaft
23 are fixedly arranged on transfer arm 20, and the one end of the first cursor 21 is sheathed in first rotating shaft 22, and the other end is sheathed on the second rotating shaft 23
On, the two ends of the second cursor 22 are sheathed in the second rotating shaft 24 and the 3rd rotating shaft 25 respectively, and the one end of the 4th rotating shaft 26 is sheathed on
In three rotating shafts 25, the 4th rotating shaft 26 can be rotated relative to the 3rd rotating shaft 25, the other end of the 4th rotating shaft 26, executing agency 3 and
Four rotating shafts 26 are articulated and connected, so as to can adjust position and the posture of execution structure 3 by adjusting positioning component 2.
Executing agency 3 includes driving box 30 and modularization performs component 31, the wherein rotating shaft 26 of driving box 30 and the 4th
It is articulated and connected, is connected while the 4th rotating shaft 26 and the 3rd rotating shaft 25 are rotated, wherein, can be between the rotating shaft 26 of driving box 30 and the 4th
On vertical direction relatively rotate, between the 4th rotating shaft 26 and the 3rd rotating shaft 25 can in horizontal direction relatively rotate, so as to
The regulation of posture is carried out to driving box 30 in two mutually orthogonal directions, and then adjustment moduleization performs the appearance of component 31
State, modularization performs the one end of component 31 and is fixedly installed on driving box side, and the other end vacantly sets to reach the target of patient 5 position
Put and treated, in the present embodiment, executing agency 3 also includes component sleeve 32, and its one end is fixedly arranged on driving box 30, another
End is sheathed on modularization and performed on component 31, to perform the effect that component 31 is supported and positioned to modularization, side
Just modularization performs the motion that component 31 carries out correlation.
Operating handle 300 is fixedly provided with driving box 30, position and appearance by the adjustment actuating mechanism 3 of operating handle 300
State, makes executing agency 3 reach target location and is treated, locking switch 301, locking switch are installed with operating handle 300
301 be a key electromagnetic switch, can be dead with a key-lock by the opening and closing of locking switch 301 or unclamps in positioning arm component 2 each
Kinematic pair, when locking switch 301 is pressed, each kinematic pair of positioning arm component 2 keeps movable state, when locking switch 301
During release, each kinematic pair is in locking state, and makes positioning arm component 2 relative to master operating station 1, positions inside arm component 2
It will not be moved between each structure and between positioning arm component 2 and executing agency 3, it is ensured that doctor is in surgical procedure
In, the change of position and posture will not occur for positioning arm component 2 and executing agency 3, it is ensured that the security of operation.
Driving box 30, which corresponds at modularization execution component 31 position, is additionally provided with translation interface（Not shown in figure）, mould
Blockization, which performs component 31, to be realized by inserting translation interface and is fixedly connected with driving box 5, is fixedly provided with driving box 30 turn
Change switch 302, change-over switch 302 can control modularization perform component 31 and translation interface fixation whether, press conversion and open
302 are closed, modularization can be made to perform component 31 and be disconnected with translation interface, member is performed so as to easily change modularization
Device 31, more facilities are brought for operation.
Power set are fixedly provided with inside driving box 30（Not shown in figure）, drive device include motor, decelerator and
Encoder etc., easily drive moduleization can perform the action that component 31 is specified, to complete to control by drive device
The task for the treatment of.
Modularization, which performs component 31, includes endoscope 310, attractor 311 and end effector 312, passes through endoscope
310 can monitor the concrete condition in the body of patient 5, and be shown to operation doctor by the first display 10, facilitate doctor to determine
Operation technique is acted, and end effector 312 is used to act at the sufferer position of patient 5, patient's sufferer is eliminated, in the present embodiment
In, the quantity of end effector 312 is 2, and one of end effector 312 is used to clamp affected part tissue, other in which
End effector 312 can electrical heating to be treated to affected part, attractor 311 can be used for assist end effector 312 carry out disease
The processing of trouble, it can draw the cigarette produced when hematocele and the electrical heating of the end effector 312 treatment affected part that affected part treatment is produced
Mist, prevents treatment from producing injury to human body.It is preferred that, modularization perform component 31 end can bending so that the end is serpentine-like,
More flexible function is made it have, it can also be performed on the length direction of component 31 along modularization stretches, can also be around
The axis that modularization is performed on the length direction of component 31 is rotated, and can be accurately moved to sufferer position and be carried out related behaviour
Make, above-mentioned endoscope 310, attractor 311 and end effector 312 can carry out bending action along multiple directions, can also divide
It is not flexible along its length direction, it can also be rotated along its length azimuth axis, contribute to its flexibility moved and work(
Can property.Specifically, according to actual operation needs, in actual operative process, above-mentioned endoscope 310, attractor 311
And end effector 312 can stretch out since its length direction, and reach affected part region.In operation, to take up an official post
One modularization performs component 31 and serpentine locomotion can be achieved, you can by the rotation of the axis on its length direction, also may be used
It is elastic, also so as to change the posture of component itself, and more accurate positioning can be reached to multiple directions bending.Specifically
Ground, reference picture 4, endoscope 310, attractor 311 and end effector 312 are by the elongation along its length direction, around certainly
The rotation of axis and the flexing movement of itself on body length direction, so as to form posture as shown in Figure 4.
Further, nurse is preferably assisted a physician and performed the operation for convenience, and equipment chassis is additionally provided with by sick bed 4
6, second display 60, imaging system 61, endoscope 62, cold light source 63 and electric knife equipment 64 etc. are provided with equipment chassis 6,
By operating said apparatus, nurse, which can effectively assist a physician, completes the operation of operation, considerably increases the success rate of operation.
The lower end of equipment chassis 6 is additionally provided with second pulley 65, in that context it may be convenient to the position of adjustment equipment chassis 6, is easy to shield
Scholar easily assists the progress of operation.
Above is the preferable implementation to the present invention is illustrated, but the invention is not limited to the implementation
Example, those skilled in the art can also make a variety of equivalent variations or replace on the premise of without prejudice to spirit of the invention
Change, these equivalent deformations or replacement are all contained in the application claim limited range.
Claims (9)
1. a kind of single hole endoscope-assistant surgery robot system, including master operating station and first showing of being fixedly arranged on the master operating station
Show device, it is characterised in that：Also include positioning arm component and executing agency, described positioning arm component one end is consolidated with the master operating station
Fixed connection, the other end is rotated with the executing agency and is connected, by the master operating station, first display, described first
Display, the positioning arm component and the executing agency is integrated is integral.
2. single hole endoscope-assistant surgery robot system according to claim 1, it is characterised in that：The executing agency includes driving
Dynamic case, the driving box is connected with the registration arm member hinges, with by adjusting the driving box and the positioning arm component
Between rotational angle adjust the posture of the executing agency.
3. single hole endoscope-assistant surgery robot system according to claim 2, it is characterised in that：It is installed with the driving box
Locking switch, it is described by pressing by unclamping the locking switch to lock the positioning arm component and the driving box
Locking switch so that the positioning arm component can master operating station motion, the driving box relatively can relatively described registration arm group
Part is rotated.
4. single hole endoscope-assistant surgery robot system according to claim 3, it is characterised in that：It is also fixed on the driving box
There is operating handle, the locking switch is fixedly arranged on the operating handle.
5. single hole endoscope-assistant surgery robot system according to claim 3, it is characterised in that：The executing agency also includes
Modularization performs component and component sleeve, and the modularization performs component and is fixedly connected with the driving box, the member
Device sleeve one end is fixedly connected with the driving box, and the other end is sheathed on the modularization and performed on component.
6. single hole endoscope-assistant surgery robot system according to claim 5, it is characterised in that：It is also fixed on the driving box
Have a modularization translation interface, the modularization performs component and inserted in the modularization translation interface, with the driving box
It is fixedly connected.
7. the single hole endoscope-assistant surgery robot system according to any one of claim 6, it is characterised in that：The modularization
Perform component away from described driving box one end can bending so that the end is serpentine-like, it is long that it can perform component along the modularization
The axis for stretching and performing around the modularization on component length direction is spent on direction to rotate.
8. single hole endoscope-assistant surgery robot system according to any one of claim 1 to 7, it is characterised in that：It is described fixed
Position arm component has five frees degree, it include transfer arm, the first cursor, the second cursor, first rotating shaft, the second rotating shaft,
3rd rotating shaft and the 4th rotating shaft, the transfer arm are fixedly arranged on the master operating station, and it can be relative to the master operating station in perpendicular
Nogata is protruded upward or shortened, and the first rotating shaft is fixedly arranged on the transfer arm, and the first cursor two ends are arranged respectively
In the first rotating shaft and second rotating shaft, the second cursor two ends be sheathed on respectively second rotating shaft with it is described
In 3rd rotating shaft, described 4th rotating shaft one end is sheathed in the 3rd rotating shaft, so that the 4th rotating shaft can be relative to described
3rd rotating shaft is relatively rotated, and the 4th rotating shaft other end is articulated and connected with the executing agency, by the transfer arm, described
First cursor, second cursor, the first rotating shaft, second rotating shaft, the 3rd rotating shaft and the described 4th
Position of the rotating shaft relative to executing agency described in the motor adjustment of the master operating station.
9. single hole endoscope-assistant surgery robot system according to claim 1, it is characterised in that：Also wrapped on the master operating station
Primary input end, scram button, pedal are included, the primary input end, the scram button and the pedal are fixedly arranged on institute
State on master operating station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710124319.9A CN106974732A (en) | 2017-03-03 | 2017-03-03 | A kind of single hole endoscope-assistant surgery robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710124319.9A CN106974732A (en) | 2017-03-03 | 2017-03-03 | A kind of single hole endoscope-assistant surgery robot system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106974732A true CN106974732A (en) | 2017-07-25 |
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ID=59339430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710124319.9A Pending CN106974732A (en) | 2017-03-03 | 2017-03-03 | A kind of single hole endoscope-assistant surgery robot system |
Country Status (1)
| Country | Link |
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| CN (1) | CN106974732A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107361849A (en) * | 2017-07-31 | 2017-11-21 | 成都中科博恩思医学机器人有限公司 | For manipulating the console of executing agency |
| CN109091239A (en) * | 2018-06-22 | 2018-12-28 | 深圳市精锋医疗科技有限公司 | Operating robot with mounting groove |
| CN111700654A (en) * | 2019-08-13 | 2020-09-25 | 微创（上海）医疗机器人有限公司 | Single-hole surgical instrument platform |
| WO2023082929A1 (en) * | 2021-11-12 | 2023-05-19 | 艺柏湾医疗科技(上海)有限公司 | End mechanism of surgical robot and control method therefor, and related device |
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| US6009346A (en) * | 1998-01-02 | 1999-12-28 | Electromagnetic Bracing Systems, Inc. | Automated transdermal drug delivery system |
| CN102672718A (en) * | 2012-05-03 | 2012-09-19 | 上海交通大学 | One-key locked passive seven-degree-of-freedom mechanical arm |
| WO2016025544A1 (en) * | 2014-08-15 | 2016-02-18 | Intuitive Surgical Operations, Inc. | A surgical system with variable entry guide configurations |
| CN205698005U (en) * | 2016-04-11 | 2016-11-23 | 深圳市六联科技有限公司 | A kind of mechanical hand |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US6009346A (en) * | 1998-01-02 | 1999-12-28 | Electromagnetic Bracing Systems, Inc. | Automated transdermal drug delivery system |
| CN102672718A (en) * | 2012-05-03 | 2012-09-19 | 上海交通大学 | One-key locked passive seven-degree-of-freedom mechanical arm |
| WO2016025544A1 (en) * | 2014-08-15 | 2016-02-18 | Intuitive Surgical Operations, Inc. | A surgical system with variable entry guide configurations |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107361849A (en) * | 2017-07-31 | 2017-11-21 | 成都中科博恩思医学机器人有限公司 | For manipulating the console of executing agency |
| CN107361849B (en) * | 2017-07-31 | 2023-11-21 | 成都博恩思医学机器人有限公司 | Console for actuating an actuator |
| CN109091239A (en) * | 2018-06-22 | 2018-12-28 | 深圳市精锋医疗科技有限公司 | Operating robot with mounting groove |
| CN109091239B (en) * | 2018-06-22 | 2021-06-01 | 深圳市精锋医疗科技有限公司 | Surgical robot with mounting groove |
| CN111700654A (en) * | 2019-08-13 | 2020-09-25 | 微创（上海）医疗机器人有限公司 | Single-hole surgical instrument platform |
| WO2023082929A1 (en) * | 2021-11-12 | 2023-05-19 | 艺柏湾医疗科技(上海)有限公司 | End mechanism of surgical robot and control method therefor, and related device |
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Application publication date: 20170725 |