CN109091231A - Minimally Invasive Surgery main operation arm - Google Patents
Minimally Invasive Surgery main operation arm Download PDFInfo
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- CN109091231A CN109091231A CN201711314221.6A CN201711314221A CN109091231A CN 109091231 A CN109091231 A CN 109091231A CN 201711314221 A CN201711314221 A CN 201711314221A CN 109091231 A CN109091231 A CN 109091231A
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- connecting rod
- wrist
- main
- slide bar
- hand
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Molecular Biology (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
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- Manipulator (AREA)
Abstract
The present invention relates to a kind of Minimally Invasive Surgery main operation arms, that which solve operation tools in existing Minimally Invasive Surgery operating process is complicated for operation, flexibility is low, eye hands movement is uncoordinated when doctor operates, the technical issues of shake of doctor's hand will affect surgical quality, it includes main side connecting rod, wrist slide and main hand wrist, wrist slide and the rotation of main side connecting rod connect, and main hand wrist is slidably connected with wrist slide.The present invention is widely used in the field of medical instrument technology.
Description
Technical field
The present invention relates to the Medical Devices in the field of medical instrument technology, can assist doctor in particular to one kind
Implement the Minimally Invasive Surgery main operation arm of Minimally Invasive Surgery operation.
Background technique
20th century medical science is known as to one of the significant contribution of human civilization using laparoscope as the minimally invasive surgery of representative,
Minimally Invasive Surgery operation refers to that doctor is insinuated into using elongated operation tool by the miniature incision of human body surface and carries out hand in vivo
Art operation.It is compared with traditional open surgery with operative incision is small, amount of bleeding is few, scar after the operation is small, recovery time is fast
The advantages that, this pain that patient is subjected to greatly reduces；Therefore minimally invasive surgery is widely used in clinical operation.However,
While Minimally Invasive Surgery is that patient brings many interests, a series of difficulties but are brought to the operation of doctor, such as: 1) due to body
The limitation of table aperture, the freedom degree of tool are reduced to four, and flexibility substantially reduces；2) doctor operates direction and desired side
To on the contrary, eye hands movement is uncoordinated, it is easy fatigue；3) doctor can only obtain surgical scene letter by the two dimensional image on monitor
Breath lacks the feeling on depth direction；4) shake of doctor's hand may be amplified by elongated operation tool, cause to operation
Adverse effect；5) lack force feeling.Therefore, doctor, which has to pass through prolonged exercise, can carry out Minimally Invasive Surgery operation, even if such as
This, Minimally Invasive Surgery is also only applied only to operate among relatively simple surgical procedure at present.
Therefore, extend the ability of doctor, there is an urgent need to ancillary equipment in Minimally Invasive Surgery field to overcome above-mentioned lack
Point enables a physician to easier completion Minimally Invasive Surgery operation.
Summary of the invention
The present invention is exactly that operation tool is complicated for operation in existing Minimally Invasive Surgery operating process, flexibility is low in order to solve, doctor
The technical issues of eye hands movement is uncoordinated when raw operation, and the shake of doctor's hand will affect surgical quality provides a kind of operation letter
Single, flexibility ratio is high, it is not easy to cause the Minimally Invasive Surgery main operation arm of doctor's fatigue.
The present invention provides a kind of Minimally Invasive Surgery main operation arm, including main side connecting rod, wrist slide and main hand wrist, and wrist is sliding
Seat is connected with the rotation of main side connecting rod, and main hand wrist is slidably connected with wrist slide.
Further preferably technical solution be further include passive connecting rod II, main side connecting rod and passive connecting rod II rotation connect.
Further preferably technical solution is that Minimally Invasive Surgery main operation arm includes main hand first motor, the second motor of main hand
With main hand third motor, main hand first motor is connected on passive connecting rod II, the output shaft and main side connecting rod of main hand first motor
Connection；Linear mould group is connected on wrist slide, main hand wrist is connect with linear mould group, and main the second motor of hand is connected to main side company
On bar, the output shaft of main the second motor of hand is connect by transmission mechanism with wrist slide, the output shaft and line of main hand third motor
Property mould group connection.
Further preferably technical solution is that main hand first motor, the second motor of main hand and main hand third motor connect respectively
It is connected to encoder.
Further preferably technical solution is that the linear mould group on wrist slide includes main hand lead screw and wrist seat, wrist
Seat is connect with the nut on main hand lead screw, and main hand wrist is fixedly connected with wrist seat, and main hand third motor is connect with main hand lead screw.
Further preferably technical solution is that main hand wrist includes L-type wrist fixed connecting rod, L-type wrist connecting rod I, L-type hand
Wrist connecting rod II, L-type wrist connecting rod I are connect by bearing with the bottom of the fixed connecting rod of L-type wrist, and L-type wrist connecting rod II passes through axis
It holds and is connect with L-type wrist connecting rod I；One end of L-type wrist connecting rod II is connected with operation handle, and the other end is connected with out by bearing
Close seat；The bottom of the fixed connecting rod of L-type wrist is connected with wrist first motor, and the side of L-type wrist connecting rod I is connected with wrist second
The bottom of motor, L-type wrist connecting rod II is connected with wrist third motor；The output shaft of wrist first motor passes through bevel gear and L
Type wrist connecting rod I connection, the second motor of wrist are connect by bevel gear with L-type wrist connecting rod II, and wrist third motor passes through cone
Gear is connect with folding seat；The fixed connecting rod of L-type wrist is fixedly connected with wrist seat.
Further preferably technical solution is that wrist first motor, the second motor of wrist and wrist third motor connect respectively
It is connected to encoder.
Further preferably technical solution is that passive connecting rod II is connected with translating device.
Further preferably technical solution is that translating device includes quadrangle fixing seat, quadrangle middle base, quadrangle end
End seat, the first passive connecting rod, the second passive connecting rod, the passive connecting rod of third and the 4th passive connecting rod, the first passive connecting rod and second
Passive length of connecting rod is equal, and the passive connecting rod of third and the 4th passive length of connecting rod are equal；First passive connecting rod and second passively connects
One end of bar is respectively rotatably connected in quadrangle fixing seat, and the other end is respectively rotatably connected in quadrangle middle base；
One end of the passive connecting rod of third and the 4th passive connecting rod is respectively rotatably connected in quadrangle middle base, and the other end rotates respectively
Ground is connected to quadrangle end seat；It is connected with the first band-type brake of quadrangle in quadrangle fixing seat, is connected in quadrangle middle base
The second band-type brake of quadrangle；Quadrangle end seat is fixedly connected with passive connecting rod II.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, cunning
Bar, ball-screw and assist motor, ball-screw are connected on lifting seat, and ball-screw nut is connected on ball-screw, sliding
Bar is fixedly connected with ball-screw nut, and the output shaft of assist motor is connect with ball-screw, and quadrangle fixing seat and slide bar are solid
Fixed connection.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, slide bar
With the synchronous belt drive mechanism being disposed vertically, the synchronous belt drive mechanism being disposed vertically is connected on lifting seat, during slide bar passes through
Between connector be fixedly connected with the synchronous belt on the synchronous belt drive mechanism being disposed vertically；Quadrangle fixing seat and the fixed company of slide bar
It connects.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, cunning
Bar, sprocket wheel, chain and counterweight, sprocket wheel are connected on lifting seat, and one end of chain is connected by connector with the top of slide bar, separately
One end is fixedly linked after being oriented to sprocket wheel with counterweight top, and the gravity of slide bar and its respective ends load is equal with counterweight；Four
Side shape fixing seat is fixedly connected with slide bar.
Further preferably technical solution is, translating device include main side slide bar end, passive connecting rod I, the first fixed pulley,
Second fixed pulley, the first rotation belt wheel, the second rotation belt wheel, the first synchronous toothed belt and the second synchronous toothed belt；Passively connect
One end of bar I is connect by bearing with main side slide bar end, and the other end is connected with hollow shaft；It is connected with inside hollow shaft by bearing
One end of connecting shaft, passive connecting rod II is fixedly connected with connecting shaft；First fixed pulley is connect with main side slide bar end, and second is fixed
The top of belt wheel and hollow shaft connection, first rotation belt wheel and hollow shaft bottom connect, second rotation belt wheel by bearing with
The other end connection of passive connecting rod II, the first synchronous toothed belt are connected between the first rotation belt wheel and the first fixed pulley, the
Two synchronous toothed belts are connected between the second rotation belt wheel and the second fixed pulley；Connecting shaft is connected with the second band-type brake, passively connects
Bar I is connected with the first band-type brake.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, cunning
Bar, ball-screw and assist motor, ball-screw are connected on lifting seat, and ball-screw nut is connected on ball-screw, sliding
Bar is fixedly connected with ball-screw nut, and the output shaft of assist motor is connect with ball-screw, and main side slide bar end is fixed with slide bar
Connection.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, slide bar
With the synchronous belt drive mechanism being disposed vertically, the synchronous belt drive mechanism being disposed vertically is connected on lifting seat, during slide bar passes through
Between connector be fixedly connected with the synchronous belt on the synchronous belt drive mechanism being disposed vertically；Main side slide bar end and the fixed company of slide bar
It connects.
Further preferably technical solution is that translating device is connected with lifting device, and lifting device includes lifting seat, cunning
Bar, sprocket wheel, chain and counterweight, sprocket wheel are connected on lifting seat, and one end of chain is connected by connector with the top of slide bar, separately
One end is fixedly linked after being oriented to sprocket wheel with counterweight top, and the gravity of slide bar and its respective ends load is equal with counterweight；It is main
End slide bar end is fixedly connected with slide bar.
Minimally Invasive Surgery main operation arm of the present invention has the advantages that compared with prior art
(1) it is used as input control end, for controlling the device action of clamping Minimally Invasive Surgery instrument, is had easy to operate, clever
It is active high, eye hands movement problem of disharmony in existing minimal invasive techniques can be overcome, and then surgical fatigue can be reduced, and protect
Demonstrate,prove surgical quality.
(2) will not there is a situation where the shakes of doctor's hand by elongated operation tool amplification, guarantee the steady of surgical procedure
It is qualitative.
(3) compared with micro-wound operation robot technology, the present invention have many advantages, such as it is small in size, light-weight, easy to use, and
It can be combined with conventional Minimally Invasive Surgery instrument/equipment, reduce operation cost.
Further aspect of the present invention is clearly stated that in the description of following specific embodiments.
Detailed description of the invention
Fig. 1 is Minimally Invasive Surgery instrument auxiliary system general illustration of the invention；
Fig. 2 is the locking structure schematic diagram of Minimally Invasive Surgery instrument auxiliary system middle cross beam rotary motion；
Fig. 3 is the attachment structure schematic diagram between Minimally Invasive Surgery instrument auxiliary system middle cross beam and telescopic rod；
Fig. 4 be in Minimally Invasive Surgery instrument auxiliary system main side slide bar or from end slide bar and lifting seat connection structure illustrate
Figure；
Fig. 5 is the alternative scheme structural schematic diagram of Minimally Invasive Surgery instrument auxiliary system end lifting structure, and (a) indicates skin
Tape handler provides the structure of power, (b) indicates the structure that lifting is realized using counterweight mode；
Fig. 6 is Minimally Invasive Surgery instrument auxiliary system doctor operating side and instrumentation end schematic layout pattern；
Fig. 7 is pure flat shifting passive arm embodiment schematic diagram of the Minimally Invasive Surgery instrument auxiliary system based on toothed belt transmission；
Fig. 8 is the locking mechanism schematic diagram of the passive connecting rod II of the pure flat shifting passive arm based on toothed belt transmission；
Fig. 9 is the attachment structure schematic diagram of main side connecting rod and wrist slide in Minimally Invasive Surgery instrument auxiliary system；
Figure 10 is the structural schematic diagram of main hand wrist, and (a) indicates the figure of positive angle, (b) indicate posterior view point
Figure；
Figure 11 is the structural schematic diagram of the passive arm link form of Minimally Invasive Surgery instrument auxiliary system pure translational；
Figure 12 is the schematic diagram that structure shown in Figure 11 meets translational motion；
Figure 13 is the structural schematic diagram of Minimally Invasive Surgery instrument auxiliary system doctor's motion arm coupled links form；
Figure 14 is the constraint condition schematic diagram that two pivot links realize pure linear motion in Figure 13；
Figure 15 is the Kinematic Decomposition schematic diagram of structure shown in Figure 13.
Figure 16 is Minimally Invasive Surgery instrument auxiliary system instrumentation arm totality rotational structure schematic diagram；
Figure 17 is the structural schematic diagram of Minimally Invasive Surgery instrument auxiliary system instrumentation arm；
Figure 18 is the schematic diagram that instrumentation end meets that Minimally Invasive Surgery operation requires；
Figure 19 is the schematic diagram under instrumentation arm folded state；
Figure 20 is the structural schematic diagram for the embodiment based on link transmission that instrumentation arm uses；
Figure 21 is the schematic diagram of multiple degrees of freedom surgical instrument used by Minimally Invasive Surgery instrument auxiliary system；
Figure 22 is that Minimally Invasive Surgery instrument auxiliary system combines auxiliary operation schematic layout pattern with existing mis instruments；
Figure 23 is the schematic diagram that doctor implements surgical procedure using Minimally Invasive Surgery instrument auxiliary system.
Symbol description in figure:
1. pedestal, 2. columns, 3. crossbeams, 4. telescopic rods, 5. lifting seats, 6. main side slide bars, 7. from end slide bar, 100. doctors
Operating side, 200. instrumentation ends, 21. crossbeam band-type brakes, 30. guide rails, 31. guide rail slide blocks, 32. rack gears, 33. gears, 51. power-assisteds
Motor cabinet, 52. assist motors, 53. band-type brakes, 54. ball-screw seats, 55. ball-screws, 56. ball-screw nuts, 57. splines
Seat, 501. assist motors, 502. synchronous pulleys, 503. synchronous pulleys, 504. band-type brakes, 505. synchronous belts, 506. connectors, 507.
Chain, 508. sprocket wheels, 509. counterweights, 101. passive connecting rod I, 102. passive connecting rod II, 103. main side connecting rods, 104. wrists are sliding
Seat, 105. main hand wrists, 201. from end group seat, 202. connecting rod bases, and 203. from end link I, and 204. from end link II, 205. instruments
Seat, 206. instrument lifting seats, 207. surgical instruments, 208. long axis, 209. new instrument lifting seats, 1010. main side slide bar ends,
1011. first band-type brakes, 1012. first synchronous toothed belts, 1013. first fixed pulleys, 1014. first rotation belt wheels, 1015. is empty
Mandrel, 1016. connecting shafts, 1021. second band-type brakes, 1022. second synchronous toothed belts, 1023. second fixed pulleys, 1024.
Two rotation belt wheels, 90. main hand first motors, 91. main hand connecting rod flanges, 1031. main hand synchronous belts, 1032. main the second motors of hand,
1041. main hand lead screws, 1042. main hand guide rails, 1043. wrist seats, the fixed connecting rod of 1051. wrists, 1052. wrist connecting rod I,
1053. wrist connecting rod II, 1054. folding seats, 1055. operation handles, 1056. wrist first motors, 1057. the second electricity of wrist
Machine, 1058. wrist third motors, 1059. bevel gears, 1060. bevel gears, 1061. bevel gears, 1062. flute profile joint faces, 80.
New main side slide bar end, 81. quadrangle fixing seats, 82. quadrangle middle bases, 83. quadrangle ends seat, 84. first passive connecting rods,
85. the second passive connecting rod, the passive connecting rod of 86. thirds, 87. the 4th passive connecting rods, 88. the first band-type brakes of quadrangle, 89. quadrangles
Two band-type brakes, 140. deflection connecting rods, 141. first coupled links, 142. second coupled links, 143. main hands go up and down assist motor,
144. rotation axis, 145. straight lines, 146. straight lines, 147. big coupling belt wheels, 148. small coupling belt wheels, 149. coupling synchronous belts,
2011. from hand first motor, 2012. bevel pinions, 2013. rotation connecting shafts, 2014. bevel gear wheels, and 2020. from hand-drive band
Wheel, 2021.2021. connecting rod driving motor, 2022. connecting rod driving pulleys, 2023. from hand-drive synchronous belt, 2024. connecting rod bands
Wheel, 2025. first connecting rods, 2026. second connecting rods, 2027. third connecting rods, 2028. fourth links, 2029. rotate from hand first
Belt wheel, 2030. from the first fixing axle of hand, and 2031. from the first synchronous belt of hand, and 2032. rotate belt wheel from hand second, and 2033. from hand
Second fixing axle, 2034. from the first fixed pulley of hand, and 2041. from the second synchronous belt of hand, and 2042. from the second fixed pulley of hand,
2043. rotate belt wheel, 2044. intermediate transit parts, 2060. linear mould groups, 2061. instruments driving lead screw, 2062. devices from hand third
Tool drive seat, 2063. instruments lifting spline, 2064. instrument lifting motors, 280. fixed points, 290. boundaries, 11. operating beds,
12. patient, 13. endoscopes, 14. endoscope points of puncture, 15. common hysteroscope instruments, 16. hysteroscope instrument points of puncture, 17. auxiliary systems
System point of puncture, 18. doctors, 19. monitors.
Specific embodiment
Referring to the drawings, with specific embodiment, invention is further described in detail.
As shown in Figure 1, Minimally Invasive Surgery instrument auxiliary system includes pedestal 1, the column 2 that can be gone up and down on pedestal 1, with column
The connected crossbeam 3 of 2 rotations, the telescopic rod 4 that can be moved horizontally on crossbeam 3 are rotatably mounted to telescopic rod 4 by rotary joint
The lifting seat 5 of end, and can be realized on lifting seat 5 elevating movement main side slide bar 6 and from end slide bar 7, the slide bar 6 in main side
End is fixedly connected with doctor operating side 100, is being fixedly connected with instrumentation end 200 of the invention from end 7 end of slide bar.
Elevating movement of the column 2 on pedestal 1 is active movement, can be used lead screw-guide rail under hydraulic or motor driven,
The embodiments such as lead screw-spline, gear-tooth item.Crossbeam 3 is the quilt that can be driven in the reverse direction manually relative to the rotary motion of column 2
Dynamic movement, one of specific structure as shown in Fig. 2, the crossbeam band-type brake 21 being installed in column 2 can realize to crossbeam 3 relative to
The locking of the rotary motion of column 2, doctor is triggered by modes such as buttons in use process, make crossbeam band-type brake 21 electric release,
And then movement of the crossbeam 3 relative to column 2 can be rotated freely through manually.The moving horizontally as can hand on crossbeam 3 of telescopic rod 4
The dynamic passive movement being driven in the reverse direction, a kind of the specific structure is shown in FIG. 3, and rack gear 32 is fixedly connected on 3 inside bottom side of crossbeam, leads
Rail 30 is fixedly connected on 3 inner top side of crossbeam, and telescopic rod 4 is fixedly connected on the guide rail slide block 31 that can be slided on guide rail 30,
Gear 33 is rotatably mounted to one end of telescopic rod 4 and is meshed with rack gear 32, and the rotation of gear 33 can be fixed on telescopic rod
Interior band-type brake locks, and doctor is triggered by modes such as buttons in use process, is used in the band-type brake release for locking the gear 33,
And then telescopic rod 4 can move linearly under the constraint of guide rail 30；Except embodiment shown in Fig. 3, telescopic rod 4 is in crossbeam 3
On move horizontally the embodiment party such as the lead screw-guide rail, lead screw-spline, gear-tooth item that also can be used under hydraulic or motor driven
Formula；Lifting seat 5 is also the passive movement that can be driven in the reverse direction manually relative to the rotary motion of telescopic rod 4, and embodiments thereof can adopt
With the mode similar relative to the rotary motion of column 2 with crossbeam 3.
Main side slide bar 6 or from end slide bar 7 relative to the elevating movement of lifting seat 5 be also the passive fortune that can be driven in the reverse direction manually
It is dynamic, implementation as shown in Figure 4 (component of label 6 (7) meaning in Fig. 4 be main side slide bar 6 or from holding slide bar 7), main side
Slide bar 6 is all made of spline structure with from end slide bar 7, and spline fitting 57 is fixedly installed on lifting seat 5, main side slide bar 6 or from end
7 top of slide bar is fixedly linked with ball-screw nut 56 by connector, and ball-screw seat 54 is fixedly connected on lifting seat 5
Portion is installed in the centre bore of ball-screw seat 54 at the top of ball-screw 55 by bearing rotary, is fixedly installed in ball wire
Band-type brake 53 on 54 end face of thick stick seat can lock the rotation of ball-screw 55.Assist motor 52 is mounted on by assist motor seat 51
The top on 5 top of lifting seat, ball-screw 55 is connected by shaft coupling with the output shaft of assist motor 52；In use, doctor is logical
External drive is crossed, band-type brake 53 is made to obtain electric release, ball-screw 55 can rotate, while assist motor 52 obtains the constant torsion of electricity output
Square, the torque are converted to the upward lift by ball-screw nut 56 by ball-screw 55；For doctor operating side, rolling
The lift that screw nut 56 provides is equal with the whole gravity that main side slide bar 6 and doctor operating side 100 form, to exercises on apparatus
For making end, the lift that ball-screw nut 56 provides is equal with the gravity formed from end slide bar 7 and instrumentation end 200；This
Sample doctor just will not experience the influence of gravity when being operated manually to doctor operating side 100 or instrumentation end 200,
And then it ensure that the lightness of manual operation.
In addition to lead screw-spline structure shown in Fig. 4, main side slide bar 6 or the lifting from end slide bar 7 relative to lifting seat 5 are transported
Dynamic to be realized by two kinds of embodiments shown in fig. 5, (component of label 6 (7) meaning in Fig. 5 is as shown in Fig. 5 (a)
Main side slide bar 6 or from end slide bar 7), synchronous pulley 502 and synchronous pulley 503 are rotationally mounted on lifting seat 5, synchronous pulley
502 can be driven by assist motor 501, and synchronous pulley 503 can be locked by band-type brake 504, and main side slide bar 6 is all made of with from end slide bar 7
Spline structure, spline fitting 57 are fixedly installed on lifting seat 5, main side slide bar 6 or from end slide bar 7 at the top of pass through intermediate connector
It is fixedly linked with 505 straight-line movement portion of synchronous belt；In this way, in use, doctor makes band-type brake 504 obtain electric pine by external drive
Open, at the same assist motor 502 electricity output constant-torque, the torque by synchronous pulley 502 are converted into main side slide bar 6 or from ends
Slide bar 7 and its equivalent lift of respective ends load gravity.As shown in Fig. 5 (b), main side slide bar 6 is all made of flower with from end slide bar 7
Bond structure, spline fitting 57 are fixedly installed on lifting seat 5, and sprocket wheel 508 is rotationally mounted to 5 top of lifting seat, chain 507
One end is connected by connector 506 and main side slide bar 6 or from the top of end slide bar 7, the other end through with after the guiding of sprocket wheel 508 with match
It weighs and is fixedly linked at the top of 509, sprocket wheel 508 can be locked by band-type brake；In this way, using Shi doctor by external drive, it is used in locking
The gravity etc. that the band-type brake of sprocket wheel 508 obtains electric release, counterweight 509 and main side slide bar 6 or loads from end slide bar 7 and its respective ends
Together, such doctor just will not experience gravity when being operated manually to doctor operating side 100 or instrumentation end 200
It influences, and then ensure that the lightness of manual operation.In addition to the specific structure shown in Fig. 4, Fig. 5, end lifting of the present invention can also be adopted
With gear-tooth item or the structures such as hydraulic, details are not described herein for detailed construction.
Fig. 6 show the layout of Minimally Invasive Surgery instrument auxiliary system doctor operating side and instrumentation end, doctor operating side
100 are mounted on the bottom of main side slide bar 6 integrally fixed, and one end of passive connecting rod I101 is rotationally mounted to 6 bottom of main side slide bar
End, rotation axis are consistent with gravity direction；One end of passive connecting rod II102 is rotationally mounted to the another of passive connecting rod I101
End, rotation axis are consistent with gravity direction；Main side connecting rod 103 is rotationally mounted to the other end of passive connecting rod II102, rotation
Shaft axis is consistent with gravity direction；Wrist slide 104 is rotationally mounted to the lower part of main side connecting rod 103, rotation axis with again
Power direction is vertical；Main hand wrist 105 is slidably mounted on wrist slide 104.Instrumentation end 200 is by from end group seat 201
One end be fixedly mounted in from end 7 bottom of slide bar, connecting rod base 202 is rotationally mounted to the other end from end group seat 201, revolves
Shaft axis is consistent with gravity direction；The bottom of connecting rod base 202 is rotationally mounted to from one end of end link I203, from end link
One end of II204 is mounted on the other end from end link I203, and instrument lifting seat 206 is mounted on from the another of end link II204
End, instrument seat 205 are slidably mounted on instrument lifting seat 206, the mountable top in instrument seat 205 of surgical instrument 207.It is auxiliary
When assistant's art, doctor's right hand can hold the dependency structure of main hand wrist 105 Xiang 100 input motion of doctor operating side, while instrument
Operating side 200 can under the control of peripheral control unit real-time tracking doctor operating side 100 movement；The features of the present invention includes,
Glide direction of the main hand wrist 105 that can be operated by doctor on wrist slide 104 and instrument seat 205 are in instrument lifting seat 206
On glide direction remain parallel during the motion.Realize that the specific embodiment of feature of present invention is as follows.
Fig. 7 show Minimally Invasive Surgery instrument auxiliary system of the invention to be implemented based on the pure flat shifting passive arm of toothed belt transmission
Scheme, main side slide bar end 1010 are fixedly attached to the bottom of main side slide bar 6, are cased with bearing in 1010 lower part of main side slide bar end,
Then 1010 bottom of main side slide bar end is fixedly connected with the first fixed pulley 1013；One end of passive connecting rod I101 is revolvably installed
On the bearing in 1010 lower part of main side slide bar end, the first band-type brake 1011 can lock passive connecting rod I101 and main side slide bar end
1010 relative rotation.There is the sky by bearing rotary being mounted on passive connecting rod I101 in the other end of passive connecting rod I101
Mandrel 1015, as shown in figure 8, being fixedly installed with the second fixed pulley 1023 at the top of hollow shaft 1015, bottom is fixedly installed with
First rotation belt wheel 1014, the first rotation belt wheel 1014 pass through 1012 phase of the first synchronous toothed belt with the first fixed pulley 1013
Connect, as shown in fig. 7, such hollow shaft 1015 is pure translational relative to the movement at main side slide bar end 1010.In hollow shaft 1015
There is the connecting shaft 1016 installed by bearing rotary in portion, and one end of passive connecting rod II102 is fixedly attached to connection by screw
The top of axis 1016, connecting shaft 1016 can be by being mounted on passive connecting rod I101 relative to the rotary motion of hollow shaft 1015
The locking of second band-type brake 1021；Second rotation belt wheel 1024 is mounted on the other end of passive connecting rod II102, the second rotation by bearing
Belt wheel 1024 is connected with the second fixed pulley 1023 by the second synchronous toothed belt 1022, and such second rotation belt wheel 1024 is opposite
In the second fixed pulley 1023 movement be pure translational, and then it follows that second rotation belt wheel 1024 relative to main side slide bar
1010 movement is pure translational.Main hand first motor 90, main hand first motor are fixedly installed on the second rotation belt wheel 1024
90 output shaft is connected by shaft coupling with the drive shaft being mounted in the second rotation belt wheel 1024 by bearing rotary, the drive
Moving axis bottom is fixedly linked by main hand connecting rod flange 91 with main side connecting rod 103.In this way, when main hand first motor 90 remains a certain
When position, then have: 1) when first band-type brake 1011 and second band-type brake 1021 lock, main side connecting rod I101, main side connecting rod II102,
First rotation belt wheel 1014, second rotates belt wheel 1024 and is locked, and main side connecting rod 103 will be unable to move；2) when the first band-type brake
1011 and second band-type brake 1021 unclamp when, main side connecting rod I101, main side connecting rod II102, first rotation belt wheel 1014, second rotate
Belt wheel 1024 unclamps, and with the movement of main side connecting rod I101 and main side connecting rod II102, main side connecting rod 103 will be relative to main side
Slide bar end 1010 will do pure translational；When the first band-type brake 1011 and the second band-type brake 1021 lock, and main hand first motor 90 rotates,
Main side connecting rod 103 will be rotated relative to the second rotation belt wheel 1024 along the direction perpendicular to the earth.When operator holds main hand hand
When wrist 105 rotates main side connecting rod 103 relative to passive connecting rod II102, main hand first motor 90 will generate motor message.
Fig. 9 show the embodiment of doctor's motion arm of the present invention, and wrist slide 104 is rotationally mounted to main side connecting rod
103 lower part, wrist slide 104 can be installed in second electricity of main hand on 103 top of main side connecting rod by main hand synchronous belt 1031
Machine 1032 drives.Main hand lead screw 1041 and main hand guide rail 1042 be installed in 104 interior parallel of wrist slide, wrist seat 1043 with
The sliding block of main hand guide rail 1042 is fixedly linked, and is fixedly linked with the nut of main hand lead screw 1041；In this way, working as main hand lead screw 1041
When moving under the output shaft driving of main hand third motor, it is sliding that wrist seat 1043 will make straight line under the constraint of main hand guide rail 1042
Dynamic, then the main hand wrist 105 being fixedly mounted on wrist seat 1043 will also make linear slide.When operator holds main hand wrist
105 when moving in a straight line wrist seat 1043, and main hand third motor will generate motor message.When operator holds main hand wrist
105 when making lower rotational of the wrist slide 104 relative to main side connecting rod 103, and main the second motor of hand 1032 will generate movement letter
Number.
Figure 10 (a), (b) show the embodiment of main hand wrist 105 of the invention, and the wrist with L shape is fixed to be connected
Bar 1051 is fixedly linked by the flute profile joint face 1062 of upper part with wrist seat 1043, the wrist connecting rod I1052 with L shape
One end the bottom of the fixed connecting rod 1051 of wrist is mounted on by bearing rotary, wrist connecting rod I1052 can be by being installed on hand
The wrist first motor 1056 of fixed 1051 bottom surface of connecting rod of wrist is driven by bevel gear 1060；Wrist connecting rod with L shape
One end of II1053 is mounted on the top of wrist connecting rod I1052 by bearing rotary, and wrist connecting rod II1053 can pass through installation
The second motor of wrist 1057 in the side wrist connecting rod I1052 is driven by bevel gear 1059；Seat 1054 is opened and closed to revolve by bearing
Turn ground and be mounted on the other end of wrist connecting rod II1053, opening and closing seat 1054 can be by being installed on the hand of the bottom surface wrist connecting rod II1053
Wrist third motor 1058 is driven by bevel gear 1061；The folding angle for opening and closing seat 1054 can be by installing sensing inside it
Device measurement obtains.Operation handle 1055 is fixedly installed with by driving end in wrist connecting rod II1053, operator can be by holding
Operation handle 1055 operates entire doctor operating side 100, and doctor, which holds operation handle 1055, turns wrist connecting rod I1052
Dynamic, wrist first motor 1056 will generate motor message；Doctor, which holds operation handle 1055, rotates wrist connecting rod II1053,
The second motor of wrist 1057 will generate motor message；Doctor holds the finger of operation handle 1055 and rotates folding seat 1054, hand
Wrist third motor 1058 will generate motor message.The fixed connecting rod 1051 of the wrist of L shape be equipped with for the in Figure 13
The mounting groove 1063 that two coupled links 142 are fixedly connected.
It is mounted on the main hand first motor 90 of doctor operating side 100, the second motor of main hand 1032, is connected to main hand lead screw
Main hand third motor, wrist first motor 1056, the second motor of wrist 1057, wrist third motor 1058 on 1041 are provided with
Encoder, for feeding back the movement angle of each motor；Doctor operating side 100 is motion input device, and doctor can be by holding behaviour
Make handle 1055 to be operated, the motion information of each motor encoder record doctor's hand, peripheral control unit is according to motion information
Realize the motion control to instrumentation end 200.
Except the embodiment shown in Fig. 7 based on toothed belt transmission, the pure flat shifting passive arm of the doctor operating side 100
Embodiment as shown in figure 11 also can be used, new main side slide bar end 80 can be fixedly mounted on main side slide bar 6, and quadrangle is solid
Reservation 81 is fixedly attached on new main side slide bar end 80, the passive connecting rod 84 of the first of equal length and the second passive connecting rod 85
It is respectively rotatably mounted in quadrangle fixing seat 81, the other end of the first passive connecting rod 84 and the second passive connecting rod 85 revolves respectively
It is mounted in quadrangle middle base 82 with turning, quadrangle fixing seat 81, the first passive connecting rod 84, the second passive connecting rod 85, four sides
Shape middle base 82 constitutes parallelogram.The quadrangle the of the passive connecting rod 85 of lockable second is installed in quadrangle fixing seat 81
One band-type brake 88, when the first band-type brake of quadrangle 88 locks, the second passive connecting rod 85 and quadrangle fixing seat 81 are without relative motion, and four
The position of side shape middle base 82 will also be fixed；When the first band-type brake of quadrangle 88 unclamps, the second passive connecting rod 85 can be relative to four
Side shape fixing seat 81 rotates, and quadrangle middle base 82 will be relative to quadrangle fixing seat 81 under the constraint for being formed by quadrangle
Make pure translational.In the passive connecting rod 86 of third that the other end of quadrangle middle base 82 is respectively rotatably equipped with equal length and
The other end of four passive connecting rods 87, the passive connecting rod 86 of third and the 4th passive connecting rod 87 respectively rotatably with quadrangle end seat 83
It is connected, the passive connecting rod 86 of quadrangle middle base 82, third, the 4th passive connecting rod 87, quadrangle end seat 83 constitute parallel four side
Shape.The second band-type brake of quadrangle 89 that the passive connecting rod 86 of lockable third is installed in quadrangle middle base 82, when quadrangle second
When band-type brake 89 locks, the passive connecting rod 86 of third is with quadrangle middle base 82 without relative motion, the position of quadrangle end seat 83
It will fix；When the second band-type brake of quadrangle 89 unclamps, the passive connecting rod 86 of third can be rotated relative to quadrangle middle base 82, in institute
Quadrangle end seat 83 will make pure translational relative to quadrangle middle base 82 under the constraint of the quadrangle of formation；When quadrangle first
When band-type brake 88 and the second band-type brake 89 lock simultaneously, the position of quadrangle end seat 83 will be irremovable；When the first band-type brake of quadrangle
88 and second band-type brake 89 when unclamping simultaneously, quadrangle end seat 83 can make pure translational, such as Figure 12 relative to quadrangle fixing seat 81
It is shown, when quadrangle end seat 83 is moved to the position n from the position m, due to the constraint of parallelogram, so that quadrangle end
Seat 83 is relative to quadrangle fixing seat 81 without any rotary motion, only translational motion.It can consolidate on quadrangle end seat 83
Dingan County fills main hand first motor 90, which can drive main side connecting rod 103 by main hand connecting rod flange 91.
In addition to the embodiment of doctor's motion arm shown in Fig. 9, doctor's motion arm can also be using shape as shown in fig. 13 that
Formula, deflection connecting rod 140 be mounted on by bearing rotary main side connecting rod 103 lower part (144 indicate deflect connecting rods 140 relative to
The axis that main side connecting rod 103 rotates), and can be by the belt wheel that is fixed thereon by main the second motor of hand 1032 and main hand synchronous belt
1031 drivings；One end of first coupled links 141 is rotationally mounted to deflection 140 lower part of connecting rod, and may be mounted to that deflection connects
Main hand lifting assist motor 143 on bar 140 drives, and passes through bearing and second company of coupling in the lower end of the first coupled links 141
One end rotation of bar 142 is connected, and is fixedly installed with main hand wrist 105 in the other end of the second coupled links 142；First coupling connects
Bar 141 and the second coupled links 142 are made by specific constraint condition when the first coupled links 141 and the second coupled links
When 142 movement, main hand wrist 105 makes linear motion, and the constraint condition is as shown in figure 14, and the big belt wheel 147 that couples fixedly is pacified
Mounted in the lower part of deflection connecting rod 140, small coupling belt wheel 148 is fixedly attached in the second coupled links 142, and is coupled with second
Connecting rod 142 passes through one end for being installed on the first coupled links 141 of bearing rotary together, big to couple belt wheel 147 and small strap
Wheel 148 is connected by coupling synchronous belt 149, and coupling belt wheel 147 greatly with the small transmission ratio coupled between belt wheel 148 is 2, the first coupling
Close the equal length of connecting rod 141 and the second coupled links 142；Under such constraint condition, the achievable fortune of doctor's motion arm
It is dynamic as shown in figure 15, when main hand lifting assist motor 143 maintains motionless and main the second motor of hand 1032 movable, the first coupling
Connecting rod 141 can not be rotated relative to deflection connecting rod 140, and the second coupled links 142 can not also be revolved relative to the first coupled links 141
Turn, at this point, main hand wrist 105 is only swung with deflection connecting rod 140, as shown in Figure 15 (a)；When main hand lifting assist motor 143 can
When with movement, main the second motor of hand 1032 remains motionless, deflection connecting rod 140 will remain motionless, and the first coupled links 141 can
It is rotated relative to deflection connecting rod 140, the second coupled links 142 can also be rotated relative to the first coupled links 141, due to coupling greatly
Belt wheel 147, small coupling belt wheel 148 and the effect of contraction for coupling synchronous belt 149, main hand wrist 105 only can be along Figure 15 (b) at this time
Shown in straight line 146 do reciprocating linear motion.This feature has mechanism shown in Figure 13 and mechanism shown in Fig. 9 to be equal
Effect and performance.That is, the motor message that main hand lifting assist motor 143 generates has reacted main 105 straight line of hand wrist
Movement generates motor message with hand third motor main in Fig. 9 and is equal.
Main hand lifting assist motor 143 is equipped with the encoder for feeding back the movement angle of motor.
Figure 16 show a kind of embodiment that instrumentation arm of the present invention totally rotates, and fixedly pacifies from end group seat 201
Mounted in the lower end from end slide bar 7, rotation connecting shaft 2013 is rotationally mounted to from end group seat 201 vertically by bearing, from hand
First motor 2011 can drive bevel pinion 2012 to rotate, with the bevel gear wheel 2014 that is fixedly connected of rotation connecting shaft 2013 with it is small
Bevel gear 2012 engages, and then rotation connecting shaft 2013 can be driven to rotate from hand first motor 2011.
Figure 17 show a kind of embodiment of the instrumentation arm of the present invention based on toothed belt transmission, and instrumentation arm is in perpendicular
Histogram is to arrangement, it may be assumed that 202 top of connecting rod base is fixedly linked with rotation connecting shaft 2013, when rotating from hand first motor 2011, just
Instrument motion arm can be driven to rotate along the rotation axis perpendicular to the earth；202 structure of connecting rod base is in inverted L shape, is installed at the top of it
Have a connecting rod driving motor 2021, connecting rod driving motor 2021 can drive be rotationally mounted on connecting rod base 202 from hand-drive band
Wheel 2020 is fixedly installed with from the first fixing axle of hand 2030 in 202 bottom of connecting rod base, rotates belt wheel 2029 from hand first and pass through axis
It holds and is rotationally mounted to from the first fixing axle of hand 2030, rotated between belt wheel 2029 from hand-drive belt wheel 2020 and from hand first
By being connected from hand-drive synchronous belt 2023, transmission ratio between the two is 1:1；It is fixedly mounted from one end of end link I203
It rotates on belt wheel 2029 from hand first, and then can be driven from end link I203 with belt wheel 2029 is rotated from hand first in connecting rod
It is rotated under the driving of dynamic motor 2021；It passes through from the first fixing axle of hand 2030 from end link I203 and does not contact；From
The inside of end link I203 is fixedly mounted in from hand first by square shaft-square hole cooperation from the first fixed pulley of hand 2034 and is consolidated
On dead axle 2030, it is fixedly installed on the inside of the other end from end link I203 from the second fixing axle of hand 2033, is revolved from hand second
Turn belt wheel 2032 to be mounted on by bearing rotary from the second fixing axle of hand 2033, from the first fixed pulley of hand 2034 with from hand
For second rotation belt wheel 2032 by being connected from the first synchronous belt of hand 2031, transmission ratio between the two is 1:1；From end link
One end of II204, which is fixedly mounted in from hand second, to rotate on belt wheel 2032, passes through from the second fixing axle of hand 2033 from end link
It II204 and does not contact；In the inside from end link II204, matched from the second fixed pulley of hand 2042 by square shaft-square hole
Conjunction is fixedly mounted in from the second fixing axle of hand 2033, from hand third rotation belt wheel 2043 be mounted on by bearing rotary from
The inside other end of end link II204 rotates belt wheel 2043 by from hand the from the second fixed pulley of hand 2042 with from hand third
Two synchronous belts 2041 are connected, transmission ratio position 1:1 between the two；Instrument lifting seat 206 passes through intermediate transit part 2044 fixedly
It is mounted on from hand third rotation belt wheel 2043；Instrument driving 2061 both ends of lead screw are mounted on instrument lifting by bearing rotary
On seat 206, instrument lifting spline 2063 both ends parallel with instrument driving 2061 axis of lead screw are fixedly mounted in instrument lifting
On seat 206, the sliding block of instrument drive seat 2062 and instrument lifting spline 2063 is fixedly linked, and drives lead screw 2061 with instrument
Nut is fixedly linked, and instrument seat 205 is fixedly mounted in instrument drive seat 2062；In this way, instrument driving lead screw 2061 is being pacified
When moving under the driving of the instrument lifting motor 2064 loaded on 206 bottom of instrument lifting seat, instrument drive seat 2062 will be with instrument
Seat 205 does linear slide under the constraint of instrument lifting spline 2063 together, the surgical device being further installed on instrument seat 205
Tool 207 will also make linear slide together therewith.
When initial assembly, it should be ensured that the axis of 207 length direction of surgical instrument and the rotation axis of rotation connecting shaft 2013
Intersection, and make, instrument lifting seat 206 and from end link parallel with the rotation axis direction of connecting rod base 202 from end link II204
I203 is parallel to each other；In this way, due to relatively fixed with connecting rod base 202 from the first fixed pulley of hand 2034, when from end link I203
When being rotated under driving, under the constraint from the first synchronous belt of hand 2031, from hand second rotate belt wheel 2032 will with it is fixed thereto
Slave end link II204 make pure translational movement relative to connecting rod base 202 together；Further as from the second fixed pulley of hand 2042
With it is relatively fixed from end link I203, then during exercise from end link II204, due to the constraint from the second synchronous belt of hand 2041,
Instrument lifting seat 206 will be parallel with from end link I203 always；This constraint condition makes instrumentation arm during the motion
Instrument shaft passes through one, space fixed point, fixed point 280 as shown in figure 18, i.e., when connecting rod driving motor 2021 rotates always
When, inside the instrumentation arm under the constraint of each synchronous belt, from end link I203, from end link II204, instrument lifting seat 206
Also will be moved under the constraint of mechanism of the present invention therewith, regardless of instrument lifting seat 206 move at a of boundary or at the c of boundary or
At any middle position b, instrument shaft passes through fixed point 280 always；The fixed point 280 should be also laid out in design and initial assembly
In rotation connecting shaft 2013, rotated in this way when from the driving rotation connecting shaft 2013 of hand first motor 2011, and then drive entire
Along rotation connecting shaft 2013 when moving perpendicular to paper direction, the axis direction of instrument shaft still passes through instrumentation arm always
Fixed point 280；Finally, the arrangement of the elevating movement of instrument seat 205, also needs to make its driving in instrument lifting motor 2064
Under when moving up and down, instrument shaft still passes through fixed point 280 always.Instrumentation arm of the present invention uses vertical arrangement mode,
The axis for rotating connecting shaft 2013 is vertical with the earth, and this layout type can make the outreach space of instrumentation arm minimum,
The boundary in outreach space is boundary 290 as shown in figure 18, and the radius size on the boundary is fixed point 280 to instrument liter will
The distance at 206 top of seat；It is that instrumentation arm has folding feature that the present invention, which also has an advantage, such as Figure 19 institute
Show, volume after folding is small and exquisite, is readily transported.
In addition to the embodiment of the above-described instrumentation arm based on toothed belt transmission, instrumentation arm can also be adopted
With the embodiment as shown in figure 20 based on link transmission, one end of first connecting rod 2025 by bearing rotary company of being mounted on
202 middle part upper position of pole socket, and being connected with connecting rod belt wheel 2024, connecting rod belt wheel 2024 can be by from hand-drive synchronous belts 2023
And connecting rod driving pulley 2022 is driven by connecting rod driving motor 2021, and then first connecting rod 2025 can be driven to rotate；Second connecting rod
2026 one end is mounted on the lower part of connecting rod base 202 by bearing rotary, and the other end passes through bearing and third connecting rod 2027
The rotation of middle part upper position is connected, and the top of third connecting rod 2027 is revolved by the middle part of bearing and first connecting rod 2025 position of keeping right
Phase inversion connects, the rotary joint that connecting rod base 202, first connecting rod 2025, second connecting rod 2026, third connecting rod 2027 pass through interconnection
First parallelogram A is constituted, as shown in figure 20；The right end of first connecting rod 2025 and the top of fourth link 2028 rotate phase
Even, the bottom end of third connecting rod 2027 is connected by rotary joint with the rotation of one end of new 209 raised structures of instrument lifting seat, and the 4th
The bottom end of connecting rod 2028 is connected by rotary joint with the rotation of the other end of new 209 raised structures of instrument lifting seat, first connecting rod
2025, third connecting rod 2027, fourth link 2028, new instrument lifting seat 209 constitute second by the rotary joint interconnected
A parallelogram B, as shown in figure 20；Under this constraint condition, the position of fixed point 280 is located at two rotation on connecting rod base 202
On the extended line of joint line and new instrument lifting seat 209 on the intersection point of the extended line of two rotary joint lines, instrument seat 205 exists
Sliding on new instrument lifting seat 209 has layout so that the axis of instrument shaft passes through the fixed point 280.It is mounted on new instrument liter
Linear mould group 2060 on drop seat 209 can make 205 linear movement of instrument seat.
Figure 21 show the multiple degrees of freedom surgical instrument that the present invention uses, and publication can be used in specific embodiment
(application number: form 201510669801.1), detailed construction are not belonging to scope of the invention, and details are not described herein.
Figure 22,23 show the signal for carrying out endoscope-assistant surgery using Minimally Invasive Surgery instrument auxiliary system, operation consent patient 12
It is fixed on operating bed 11, doctor 18 selectes instrument point of puncture, respectively endoscope according to operation demand, in 12 body surface of patient
13 endoscope point of puncture 14, common hysteroscope instrument 15 hysteroscope instrument point of puncture 16 and present system used in auxiliary system
System point of puncture 17；Since 12 position of patient is fixed, then the spatial position of these points of puncture is also fixed therewith, it is contemplated that common hysteroscope
Instrument 15, by manually directly operating, therefore can directly pass through two points of puncture 14,16 with endoscope 13；Surgical instrument 207 is installed
There are one on instrumentation end 200 of the invention, and on the mechanical arm at instrumentation end 200 can make surgical instrument 207 exist
The fixed point 280 passed through always in motion process, the then preoperative fixed point 280 that should make on instrumentation end 200 and patient
The auxiliary system point of puncture 17 of the fixation of 12 body surfaces overlaps, to avoid in surgical procedure due to the movement of surgical instrument 207
Lead to the additional injuries of patient 12；The process for making fixed point 280 and auxiliary system point of puncture 17 overlap are as follows: the present invention is minimally invasive
Position locks after surgical instrument auxiliary system is moved to 11 side of operating bed, individually quickly shifting of the adjustment column 2 relative to pedestal 1
Momentum makes crossbeam 3 reach certain height；Later, for doctor by external drive, synchronous release locks the band-type brake of crossbeam 3, locking
The band-type brake of gear 33, the band-type brake for locking lifting seat 5 and locking are from the band-type brake of end slide bar 7, and doctor can hold from end group seat later
201, instrument operating side 200 is carefully slowly moved, the fixed point 280 on instrumentation end 200 and the auxiliary on patient 12 are made
System point of puncture 17 coincides, and then locks aforementioned each band-type brake, make crossbeam 3, telescopic rod 4, lifting seat 5, from end slide bar 7 can not
It is moved again；After instrumentation end is in place, doctor passes through another external drive, band-type brake, the locking quilt of release locking main side slide bar 6
The band-type brake of dynamic connecting rod I101 and the band-type brake of the passive connecting rod II102 of locking, and then manually adjust main hand wrist 105 to comfortable position,
Then aforementioned each band-type brake is locked, move main side slide bar 6, passive connecting rod I101, passive connecting rod II102 can not again.Later
Doctor 18 can observe display the acquired lesion image of endoscope 13 monitor 19, with the common hysteroscope instrument 15 of left-handed operation,
The right hand operates main hand wrist 105 and implements surgical procedure, and endoscope 13 holds mirror doctor holding by another.In surgical procedure, wrist is sliding
Seat 104 always with 206 keeping parallelism of instrument lifting seat, amount of exercise of the surgical instrument 207 on instrument lifting seat 206 and main hand hand
Amount of exercise of the wrist 105 on wrist slide 104 is equal；The implementation of the process is that doctor operates main hand wrist 105 and moves
When, main side connecting rod 103 will rotate relative to passive connecting rod II102, wrist slide 104 occurs relative to main side connecting rod 103
Rotation, main hand wrist 105 are moved relative to wrist slide 104, and synchronously the motor in instrumentation end is by drive link
Seat 202 relative to rotate the amount of spin equal with main side connecting rod 103 from end group seat 201, from end link I203 relative to connecting rod base
The 202 rotations amount of exercise equal with wrist slide 104, instrument seat 205 are relative to the movement of instrument lifting seat 206 and main hand wrist
105 equal amount of movements；In the same fashion, doctor is completed using each joint in main hand wrist 105 to surgical instrument 207
The control in interior each joint.
Schematically the present invention and embodiments thereof are described above, description is not limiting, institute in attached drawing
What is shown is also one of embodiments of the present invention, and actual structure is not limited to this.So if those skilled in the art
Member is enlightened by it, without departing from the spirit of the invention, the part configuration that takes other form, driving device and
Connection type not inventively designs frame mode similar with the technical solution and embodiment, should belong to guarantor of the invention
Protect range.
Claims (16)
1. a kind of Minimally Invasive Surgery main operation arm, which is characterized in that including main side connecting rod, wrist slide and main hand wrist, the hand
Wrist slide and the rotation of main side connecting rod connect, and main hand wrist is slidably connected with wrist slide.
2. Minimally Invasive Surgery main operation arm according to claim 1, which is characterized in that further include passive connecting rod II, the master
End link and the passive connecting rod II rotation connect.
3. Minimally Invasive Surgery main operation arm according to claim 2, which is characterized in that the Minimally Invasive Surgery main operation arm includes
Main hand first motor, the second motor of main hand and main hand third motor, the main hand first motor are connected on passive connecting rod II, institute
The output shaft for stating main hand first motor is connect with main side connecting rod；Linear mould group, the main hand hand are connected on the wrist slide
Wrist is connect with linear mould group, and main second motor of hand is connected on the connecting rod of main side, and the output shaft of main second motor of hand is logical
It crosses transmission mechanism to connect with wrist slide, the output shaft of the main hand third motor is connect with linear mould group.
4. Minimally Invasive Surgery main operation arm according to claim 3, which is characterized in that the main hand first motor, main hand
Two motors and main hand third motor are connected separately with encoder.
5. Minimally Invasive Surgery main operation arm according to claim 3, which is characterized in that the linear mould group on the wrist slide
Including main hand lead screw and wrist seat, wrist seat is connect with the nut on the main hand lead screw, and the main hand wrist and wrist seat are solid
Fixed connection, the main hand third motor are connect with main hand lead screw.
6. Minimally Invasive Surgery main operation arm according to claim 3, which is characterized in that the main hand wrist includes L-type wrist
The bottom that fixed connecting rod, L-type wrist connecting rod I, L-type wrist connecting rod II, L-type wrist connecting rod I pass through bearing and the fixed connecting rod of L-type wrist
Portion's connection, L-type wrist connecting rod II are connect by bearing with L-type wrist connecting rod I；One end of the L-type wrist connecting rod II is connected with
Operation handle, the other end are connected with folding seat by bearing；The bottom of the fixed connecting rod of the L-type wrist is connected with the first electricity of wrist
Machine, the side of the L-type wrist connecting rod I are connected with the second motor of wrist, and the bottom of the L-type wrist connecting rod II is connected with wrist
Third motor；The output shaft of the wrist first motor is connect by bevel gear with L-type wrist connecting rod I, second electricity of wrist
Machine is connect by bevel gear with L-type wrist connecting rod II, and the wrist third motor is connect by bevel gear with folding seat；The L
The fixed connecting rod of type wrist is fixedly connected with wrist seat.
7. Minimally Invasive Surgery main operation arm according to claim 6, which is characterized in that the wrist first motor, wrist
Two motors and wrist third motor are connected separately with encoder.
8. according to Minimally Invasive Surgery main operation arm described in claim 2,3,4,5,6 or 7, which is characterized in that the passive connecting rod
II is connected with translating device.
9. Minimally Invasive Surgery main operation arm according to claim 8, which is characterized in that the translating device includes that quadrangle is solid
Reservation, quadrangle middle base, quadrangle end seat, the first passive connecting rod, the second passive connecting rod, the passive connecting rod of third and the 4th quilt
Dynamic connecting rod, the first passive connecting rod and the second passive length of connecting rod are equal, the passive connecting rod of third and the 4th passive length of connecting rod
It is equal；One end of the first passive connecting rod and the second passive connecting rod is respectively rotatably connected in quadrangle fixing seat, another
End is respectively rotatably connected in quadrangle middle base；One end of the passive connecting rod of the third and the 4th passive connecting rod rotates respectively
Ground is connected in quadrangle middle base, and the other end is respectively rotatably connected to quadrangle end seat；In the quadrangle fixing seat
It is connected with the first band-type brake of quadrangle, the second band-type brake of quadrangle is connected in the quadrangle middle base；The quadrangle end seat
It is fixedly connected with passive connecting rod II.
10. Minimally Invasive Surgery main operation arm according to claim 9, which is characterized in that the translating device is connected with lifting
Device, the lifting device include lifting seat, slide bar, ball-screw and assist motor, and the ball-screw is connected to lifting seat
On, ball-screw nut is connected on ball-screw, the slide bar is fixedly connected with ball-screw nut, the assist motor
Output shaft is connect with ball-screw, and the quadrangle fixing seat is fixedly connected with slide bar.
11. Minimally Invasive Surgery main operation arm according to claim 9, which is characterized in that the translating device is connected with lifting
Device, the lifting device include lifting seat, slide bar and the synchronous belt drive mechanism being disposed vertically, the synchronization being disposed vertically
Tape handler is connected on lifting seat, and the slide bar passes through on intermediate connector and the synchronous belt drive mechanism being disposed vertically
Synchronous belt is fixedly connected；The quadrangle fixing seat is fixedly connected with slide bar.
12. Minimally Invasive Surgery main operation arm according to claim 9, which is characterized in that the translating device is connected with lifting
Device, the lifting device include lifting seat, slide bar, sprocket wheel, chain and counterweight, and the sprocket wheel is connected on lifting seat, described
One end of chain is connected by connector with the top of slide bar, and the other end is fixedly linked after being oriented to sprocket wheel with counterweight top,
Slide bar and its gravity of respective ends load are equal with counterweight；The quadrangle fixing seat is fixedly connected with slide bar.
13. Minimally Invasive Surgery main operation arm according to claim 8, which is characterized in that the translating device includes that main side is sliding
Rod end, passive connecting rod I, the first fixed pulley, the second fixed pulley, the first rotation belt wheel, the second rotation belt wheel, the first synchronous gear
Shape band and the second synchronous toothed belt；One end of the passive connecting rod I is connect by bearing with main side slide bar end, and the other end is connected with
Hollow shaft；Connecting shaft, one end of the passive connecting rod II and the fixed company of connecting shaft are connected with by bearing inside the hollow shaft
It connects；First fixed pulley is connect with main side slide bar end, the top connection of the second fixed pulley and hollow shaft, the first rotation band
Wheel connect with the bottom of hollow shaft, and described second, which rotates belt wheel, passes through bearing and connect with the other end of passive connecting rod II, and described the
One synchronous toothed belt is connected between the first rotation belt wheel and the first fixed pulley, and second synchronous toothed belt is connected to second
It rotates between belt wheel and the second fixed pulley；The connecting shaft is connected with the second band-type brake, and the passive connecting rod I is connected with first armful
Lock.
14. Minimally Invasive Surgery main operation arm according to claim 13, which is characterized in that the translating device is connected with lifting
Device, the lifting device include lifting seat, slide bar, ball-screw and assist motor, and the ball-screw is connected to lifting seat
On, ball-screw nut is connected on ball-screw, the slide bar is fixedly connected with ball-screw nut, the assist motor
Output shaft is connect with ball-screw, and main side slide bar end is fixedly connected with slide bar.
15. Minimally Invasive Surgery main operation arm according to claim 13, which is characterized in that the translating device is connected with lifting
Device, the lifting device include lifting seat, slide bar and the synchronous belt drive mechanism being disposed vertically, the synchronization being disposed vertically
Tape handler is connected on lifting seat, and the slide bar passes through on intermediate connector and the synchronous belt drive mechanism being disposed vertically
Synchronous belt is fixedly connected；Main side slide bar end is fixedly connected with slide bar.
16. Minimally Invasive Surgery main operation arm according to claim 13, which is characterized in that the translating device is connected with lifting
Device, the lifting device include lifting seat, slide bar, sprocket wheel, chain and counterweight, and the sprocket wheel is connected on lifting seat, described
One end of chain is connected by connector with the top of slide bar, and the other end is fixedly linked after being oriented to sprocket wheel with counterweight top,
Slide bar and its gravity of respective ends load are equal with counterweight；Main side slide bar end is fixedly connected with slide bar.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710473898 | 2017-06-21 | ||
| CN2017104738988 | 2017-06-21 |
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| CN109091231B CN109091231B (en) | 2020-06-30 |
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| CN201711314221.6A Active CN109091231B (en) | 2017-06-21 | 2017-12-12 | Main operation arm for minimally invasive surgery |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110393588A (en) * | 2019-08-30 | 2019-11-01 | 山东威高手术机器人有限公司 | Doctor's station for Minimally Invasive Surgery |
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| CN112932673A (en) * | 2021-02-03 | 2021-06-11 | 山东省千佛山医院 | Mechanical arm layout structure of minimally invasive surgical robot |
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| CN110403700A (en) * | 2019-08-30 | 2019-11-05 | 山东威高手术机器人有限公司 | Doctor's station |
| CN110403700B (en) * | 2019-08-30 | 2024-05-03 | 山东威高手术机器人有限公司 | Doctor operation table |
| CN110393588A (en) * | 2019-08-30 | 2019-11-01 | 山东威高手术机器人有限公司 | Doctor's station for Minimally Invasive Surgery |
| CN110393588B (en) * | 2019-08-30 | 2024-05-03 | 山东威高手术机器人有限公司 | Doctor operation table for minimally invasive surgery |
| CN112220503B (en) * | 2020-05-26 | 2023-09-22 | 成都博恩思医学机器人有限公司 | Sliding block structure |
| CN112220503A (en) * | 2020-05-26 | 2021-01-15 | 成都博恩思医学机器人有限公司 | Sliding block structure |
| CN112716608A (en) * | 2021-01-20 | 2021-04-30 | 山东威高手术机器人有限公司 | Master-slave tracking control method for minimally invasive surgery robot |
| CN112716608B (en) * | 2021-01-20 | 2022-06-24 | 山东威高手术机器人有限公司 | Master-slave tracking control method for minimally invasive surgery robot |
| CN112932673A (en) * | 2021-02-03 | 2021-06-11 | 山东省千佛山医院 | Mechanical arm layout structure of minimally invasive surgical robot |
| CN113069210A (en) * | 2021-04-06 | 2021-07-06 | 天津大学医疗机器人与智能系统研究院 | Deployable instrument arm |
| CN113069210B (en) * | 2021-04-06 | 2023-02-17 | 天津大学医疗机器人与智能系统研究院 | Deployable instrument arm |
| CN113081277A (en) * | 2021-04-06 | 2021-07-09 | 天津大学医疗机器人与智能系统研究院 | Deployable instrument arm |
| CN113069209A (en) * | 2021-04-06 | 2021-07-06 | 天津大学医疗机器人与智能系统研究院 | Deployable instrument arm |
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