CN109481020B - Main manipulator supporting mechanism for laparoscopic surgery system console - Google Patents
Main manipulator supporting mechanism for laparoscopic surgery system console Download PDFInfo
- Publication number
- CN109481020B CN109481020B CN201811414276.9A CN201811414276A CN109481020B CN 109481020 B CN109481020 B CN 109481020B CN 201811414276 A CN201811414276 A CN 201811414276A CN 109481020 B CN109481020 B CN 109481020B
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- Prior art keywords
- seat
- connecting rod
- surgery system
- main
- laparoscopic surgery
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- 238000002357 laparoscopic surgery Methods 0.000 title claims abstract description 23
- 230000007246 mechanism Effects 0.000 title claims abstract description 23
- 238000001356 surgical procedure Methods 0.000 claims description 4
- 230000036544 posture Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000008733 trauma Effects 0.000 description 1
Classifications
-
- 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
- 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
A main manipulator supporting mechanism for a laparoscopic surgery system console belongs to the field of medical system consoles. The left side and the right side of seat at laparoscopic surgery system control cabinet are established respectively to two handrail framves, connect through the connecting plate between two handrail framves, every handrail framves lower extreme is articulated with the supporting seat, every handrail framves upper end outside articulates there is a horizontal mounting panel, the left and right sides on the base of seat respectively is fixed with a linear slide rail, be provided with rather than sliding fit's slider on every linear slide rail, the left and right sides of seat respectively is provided with connecting rod one and two, and connecting rod one and two's both ends are connected with horizontal mounting panel and slider that corresponds through connecting rod free bearing respectively, every horizontal mounting panel front end is connected with main operation hand one end through main hand mount pad, every electric putter's tail end is articulated with the base of seat, every electric putter's execution end is articulated with corresponding handrail framves. The invention is used for supporting the main manipulator of the control console of the laparoscopic surgery system.
Description
Technical Field
The invention belongs to the field of medical system consoles, and particularly relates to an armrest bracket mechanism applied to a laparoscopic surgery system console.
Background
Laparoscopic surgery is a surgery completed by modern high-tech medical technology by using advanced technical principles such as electronics, optics and the like, has the characteristics of small trauma, less complications, safety and quick recovery, and has been attracting attention in treating surgical diseases. When a laparoscopic surgery system is used to perform an operation on a patient, a doctor needs to maintain a posture for a long time to perform the operation in order to secure the safety of the operation due to the limitation of the form of the control panel, and the doctor is easily tired, causing physical discomfort.
Disclosure of Invention
The invention aims to provide a main manipulator support mechanism for a control console of a laparoscopic surgery system, which is applied to the control console in a new layout form of the laparoscopic surgery system, and can ensure that the main manipulator is always in a horizontal state when a seat and a handrail are adjusted, so that the fatigue feeling in the operation of a doctor can be relieved, the use requirement of equipment can be met, and the accuracy of the equipment can be ensured.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
the invention relates to a main manipulator support mechanism for a laparoscopic surgery system control console, which comprises two control mechanisms, wherein the two control mechanisms have the same structure, and each control mechanism comprises a horizontal mounting plate, a handrail frame, a first connecting rod, a second connecting rod, a connecting rod hinged support, a linear guide rail, an electric push rod, a main manipulator mounting seat, a support seat and a connecting plate; the utility model provides a laparoscopic surgery system control console's seat, two handrail framves set up respectively in the left and right sides of laparoscopic surgery system control console's seat, two handrail framves between connect through the connecting plate, the connecting plate be located the seat rear side, every handrail framves lower extreme is articulated with the supporting seat, every handrail framves upper end outside articulates there is a horizontal mounting panel, the left and right sides on the base of seat respectively is fixed with a linear slide rail, the linear slide rail set up along the fore-and-aft direction of seat, be provided with on every linear slide rail rather than sliding fit's slider, the left and right sides of seat respectively be provided with connecting rod one and connecting rod two, connecting rod one and connecting rod two parallel arrangement, and connecting rod one and connecting rod two's both ends are connected with corresponding horizontal mounting panel and slider through the connecting rod free bearing respectively, every horizontal mounting panel front end is connected with the main operation hand one end of laparoscopic surgery system control console, the left and right sides of seat respectively is provided with an electric putter, two electric putter parallel and slope setting, every electric putter's is articulated with the base of seat, every electric putter's end is corresponding articulated with the handrail frame.
Compared with the prior art, the invention has the beneficial effects that:
main operating hands of the laparoscopic surgery system console are respectively arranged on two sides of the seat, and a doctor can adjust sitting postures according to comfort level. When a doctor adjusts the seat to a comfortable state, the main hand mounting seat can be always kept horizontal, so that the main operator can ensure the balance of the main operator when the armrest frame is at any angle. The mechanism can be applied to different equipment in different fields and is mainly applied to a laparoscopic surgery robot operation console.
The main manipulator support mechanism of the laparoscopic surgery system console can relieve fatigue in surgery of doctors, meet the use requirements of equipment and ensure the accuracy of the equipment.
Drawings
FIG. 1 is an isometric view of a primary manipulator support mechanism for a laparoscopic surgical system console;
fig. 2 is a partial enlarged view at a of fig. 1.
The reference symbols in the drawings are as follows:
the seat 1, the horizontal mounting plate 2, the armrest frame 3, the first connecting rod 4, the second connecting rod 5, the connecting rod hinged support 6, the linear guide rail 7, the electric push rod 8, the main hand mounting seat 9, the main manipulator 10, the base 11, the supporting seat 12 and the connecting plate 13.
Detailed Description
For better understanding of the technical solutions of the present invention, reference should be made to the accompanying drawings for further description of the technical solutions of the present invention, but not limited thereto, and modifications, equivalents and alternatives of the technical solutions of the present invention should be included in the protection scope of the present invention without departing from the spirit and scope of the technical solutions of the present invention.
The first embodiment is as follows: as shown in fig. 1 and 2, the present embodiment discloses a main manipulator support mechanism for a laparoscopic surgery system console, which includes two control mechanisms having the same structure, each control mechanism includes a horizontal mounting plate 2, a handrail frame 3, a first connecting rod 4, a second connecting rod 5, a connecting rod hinge seat 6, a linear guide rail 7, an electric push rod 8, a main hand mounting seat 9, a support seat 12 and a connecting plate 13; the utility model provides a laparoscopic surgery system control platform's seat 1 (laparoscopic surgery system control platform includes seat 1) left and right sides, two handrail framves 3 between be connected through connecting plate 13, connecting plate 13 be located seat 1 rear side, every handrail framves 3 lower extreme and supporting seat 12 are articulated, every handrail framves 3 upper end outside articulates there is a horizontal mounting panel 2, seat 1's base 11 (seat 1 is installed on base 11, is prior art), the left and right sides on respectively are fixed with a linear slide rail 7, linear slide rail 7 set up along seat 1's fore-and-aft direction, be provided with the slider rather than sliding fit on each linear slide rail 7, seat 1's left and right sides respectively are provided with connecting rod one 4 and connecting rod two 5, connecting rod one 4 and connecting rod two 5 parallel arrangement, and connecting rod two 5's both ends are connected (one 4 and two 5's both ends respectively with corresponding articulated connecting seat 6), seat 2 is provided with the electric putter head end of each electric putter system 8 through the electric putter head 8 of the seat 1, the electric putter system is provided with the seat 8 of the electric putter head 8 of every side of being connected with the corresponding seat 8.
The second embodiment is as follows: as shown in fig. 1 and 2, this embodiment is further limited to the first embodiment, and the horizontal mounting plate 2, the armrest frame 3, the first link 4, the second link 5, the link hinge support 6, the linear guide 7, the electric push rod 8, and the main hand mounting seat 9 form a parallelogram mechanism.
Working principle: when the electric push rod 8 pushes the armrest frame 3 to lift, the first connecting rod 4 and the second connecting rod 5 drive the sliding blocks to do linear motion on the linear guide rail 7, according to the parallelogram principle, the horizontal mounting plate 2 is always kept horizontal along with the swinging of the armrest frame 3, so that the main hand mounting seat 9 is always kept horizontal when the armrest frame 3 is at any angle, and the main operating hand 10 of the laparoscopic surgery system console is mounted with the horizontal mounting plate 2 through the main hand mounting seat 9, so that the main operating hand 10 can reach the self balance state when the armrest frame 3 is at any angle.
Claims (1)
1. A main manipulator support mechanism for a laparoscopic surgical system console, characterized by: the main manipulator support mechanism for the laparoscopic surgery system console comprises two control mechanisms, wherein the two control mechanisms have the same structure, and each control mechanism comprises a horizontal mounting plate (2), a handrail frame (3), a first connecting rod (4), a second connecting rod (5), a connecting rod hinged support (6), a linear guide rail (7), an electric push rod (8), a main manipulator mounting seat (9), a support seat (12) and a connecting plate (13);
each control mechanism is provided with an armrest frame, two armrest frames (3) are respectively arranged at the left side and the right side of a seat (1) of a control console of a laparoscopic surgery system, two armrest frames (3) are connected through connecting plates (13), the connecting plates (13) are positioned at the rear side of the seat (1), the lower end of each armrest frame (3) is hinged with a supporting seat (12), the outer side of the upper end of each armrest frame (3) is hinged with a horizontal mounting plate (2), the left side and the right side on a base (11) of the seat (1) are respectively fixed with a linear slide rail (7), the linear slide rails (7) are arranged along the front and the rear directions of the seat (1), each linear slide rail (7) is provided with a sliding block which is in sliding fit with the linear slide rail, the left side and the right side of the seat (1) are respectively provided with a connecting rod I (4) and a connecting rod II (5), the two ends of the connecting rod I (4) and the connecting rod II (5) are arranged in parallel, two ends of the connecting rod I (4) and the connecting rod II (5) are respectively connected with the corresponding mounting plates (2) of the main surgery system (2) and the main surgery system (2) through the horizontal mounting plates (8), the two electric push rods (8) are parallel and obliquely arranged, the tail end of each electric push rod (8) is hinged with the base (11) of the seat (1), and the executing end of each electric push rod (8) is hinged with the corresponding armrest frame (3); the parallelogram mechanism is composed of the horizontal mounting plate (2), the armrest frame (3), the first connecting rod (4), the second connecting rod (5), the connecting rod hinged support (6), the linear slide rail (7), the electric push rod (8) and the main hand mounting seat (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811414276.9A CN109481020B (en) | 2018-11-26 | 2018-11-26 | Main manipulator supporting mechanism for laparoscopic surgery system console |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811414276.9A CN109481020B (en) | 2018-11-26 | 2018-11-26 | Main manipulator supporting mechanism for laparoscopic surgery system console |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109481020A CN109481020A (en) | 2019-03-19 |
| CN109481020B true CN109481020B (en) | 2023-10-31 |
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ID=65696709
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811414276.9A Active CN109481020B (en) | 2018-11-26 | 2018-11-26 | Main manipulator supporting mechanism for laparoscopic surgery system console |
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| Country | Link |
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| CN (1) | CN109481020B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4244623A (en) * | 1979-05-08 | 1981-01-13 | Uop Inc. | Multi-position armrest |
| US5433509A (en) * | 1993-08-24 | 1995-07-18 | Prince Corporation | Adjustable armrest |
| DE102006016522A1 (en) * | 2006-04-07 | 2007-10-18 | Hukla Möbel GmbH | Sitting and/or lying seat comprises carrier structure with seat section and adjustable upholstered rest |
| WO2009029693A1 (en) * | 2007-08-30 | 2009-03-05 | Brown Garrett W | Articulated human arm support |
| CN104095682A (en) * | 2013-04-11 | 2014-10-15 | 株式会社电装 | Operation-mode indicating system for body support apparatus, and body support apparatus |
| CN106963499A (en) * | 2017-04-25 | 2017-07-21 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of console applied to laparoscopic surgery |
| CN207627419U (en) * | 2017-05-17 | 2018-07-20 | 上海市同济医院 | A kind of Urology Surgery surgical seat |
| CN209574880U (en) * | 2018-11-26 | 2019-11-05 | 苏州康多机器人有限公司 | A kind of main manipulator supporting mechanism for laparoscopic surgical system console |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102016105751A1 (en) * | 2016-03-30 | 2017-10-05 | Bock 1 Gmbh & Co. Kg | Height-adjustable armrest |
| US10568703B2 (en) * | 2016-09-21 | 2020-02-25 | Verb Surgical Inc. | User arm support for use in a robotic surgical system |
-
2018
- 2018-11-26 CN CN201811414276.9A patent/CN109481020B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4244623A (en) * | 1979-05-08 | 1981-01-13 | Uop Inc. | Multi-position armrest |
| US5433509A (en) * | 1993-08-24 | 1995-07-18 | Prince Corporation | Adjustable armrest |
| DE102006016522A1 (en) * | 2006-04-07 | 2007-10-18 | Hukla Möbel GmbH | Sitting and/or lying seat comprises carrier structure with seat section and adjustable upholstered rest |
| WO2009029693A1 (en) * | 2007-08-30 | 2009-03-05 | Brown Garrett W | Articulated human arm support |
| CN101795601A (en) * | 2007-08-30 | 2010-08-04 | 加勒特·W·布朗 | Articulated human arm support |
| CN104095682A (en) * | 2013-04-11 | 2014-10-15 | 株式会社电装 | Operation-mode indicating system for body support apparatus, and body support apparatus |
| CN106963499A (en) * | 2017-04-25 | 2017-07-21 | 哈尔滨思哲睿智能医疗设备有限公司 | A kind of console applied to laparoscopic surgery |
| CN207627419U (en) * | 2017-05-17 | 2018-07-20 | 上海市同济医院 | A kind of Urology Surgery surgical seat |
| CN209574880U (en) * | 2018-11-26 | 2019-11-05 | 苏州康多机器人有限公司 | A kind of main manipulator supporting mechanism for laparoscopic surgical system console |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109481020A (en) | 2019-03-19 |
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