CN110115636B - Stability-increasing anti-shaking surgical instrument - Google Patents
Stability-increasing anti-shaking surgical instrument Download PDFInfo
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- CN110115636B CN110115636B CN201910572635.1A CN201910572635A CN110115636B CN 110115636 B CN110115636 B CN 110115636B CN 201910572635 A CN201910572635 A CN 201910572635A CN 110115636 B CN110115636 B CN 110115636B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V21/00—Supporting, suspending, or attaching arrangements for lighting devices; Hand grips
- F21V21/14—Adjustable mountings
- F21V21/26—Pivoted arms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21W—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES F21K, F21L, F21S and F21V, RELATING TO USES OR APPLICATIONS OF LIGHTING DEVICES OR SYSTEMS
- F21W2131/00—Use or application of lighting devices or systems not provided for in codes F21W2102/00-F21W2121/00
- F21W2131/20—Lighting for medical use
- F21W2131/205—Lighting for medical use for operating theatres
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- Oral & Maxillofacial Surgery (AREA)
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Abstract
The invention discloses a stability-increasing anti-shaking surgical instrument which comprises a serial platform, a parallel platform, a stability-increasing handle and the like. The series platform and the parallel platform are combined to form a seven-degree-of-freedom parallel-serial mechanism, so that the seven-degree-of-freedom parallel-serial mechanism has a large working space, high sensitivity and response speed; the three-degree-of-freedom stability-increasing anti-shaking tripod head is arranged in the stability-increasing handle, and the posture of the terminal holder is regulated and controlled in real time through the hooke hinge, the moving pair and the spherical hinge which are connected in series; the six-dimensional force sensor transmits the hand-held acting force direction in real time when the stability-increasing handle is operated, and drives the parallel mechanism to move along with the hand of an operator in real time; the self-carrying rotary shadowless lamp can adjust the lighting position according to the requirement.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a stability-increasing anti-shaking surgical instrument.
Background
Early surgery was limited to simple manual methods of cutting, incising, and suturing the body surface, such as abscess drainage, tumor excision, and trauma suturing. Surgery is a procedure that destroys the integrity of tissue (incision), or restores the integrity of the destroyed tissue (suture). With the development of surgery, the field of surgery is expanding and can be performed at any part of the human body. The applied instruments are also updated continuously, such as scalpels including electric scalpels, microwave scalpels, ultrasonic scalpels, laser scalpels and the like. Due to manual operation, various surgical tools can cause unintended injuries to affected parts due to shaking in the using process of doctors, and therefore a stability-increasing anti-shaking surgical instrument is needed. For example, patent No. CN201580059293.3 provides a "surgical device", which includes a treatment unit, an operation unit, a grip, a non-contact detection unit, an energy supply unit, and a driving device, and has the advantages of light operation force and relative stability; the disadvantage is that the anti-shake function is not good enough.
Disclosure of Invention
Aiming at the problems, the invention provides a stability-increasing anti-shake surgical instrument, a series platform and a parallel platform are combined to form a seven-degree-of-freedom parallel-serial mechanism, and the instrument has large working space, high sensitivity and response speed; the three-degree-of-freedom stability-increasing anti-shaking pan-tilt is arranged in the stability-increasing handle, and the posture of the terminal holder is regulated and controlled in real time through the serial hooke hinge, the sliding pair and the spherical hinge; the six-dimensional force sensor transmits the hand-held acting force direction in real time when the stability-increasing handle is operated, and drives the parallel mechanism to move along with the hand of an operator in real time; the self-carrying rotary shadowless lamp can adjust the lighting position according to the requirement.
The technical scheme adopted by the invention is as follows: a stability-increasing anti-shake surgical instrument comprises a serial platform, a parallel platform and a stability-increasing handle, wherein the serial platform is fixedly arranged on a roof; the parallel platform is fixedly arranged at the lower side of the serial platform; the stability augmentation handle is fixedly arranged at the lower side of the parallel platform.
The series platform comprises a ceiling flange, a first guide frame, a first guide rod, a second guide frame, a servo motor, a shadowless lamp, a first spherical hinge, a first lead screw, a first support, an external flange, a third guide frame and a first electric push rod, wherein the first guide frame is fixedly arranged on the lower side of the ceiling flange; the first guide rod and the first lead screw are respectively hinged on two sides of the first guide frame; the upper side of the second guide frame is respectively matched with the first guide rod and the first lead screw; the first bracket is hinged on the ceiling flange, the lower end of the first bracket is hinged with a first spherical hinge, and the shadowless lamp is fixedly mounted on the first spherical hinge; the lower side of the second guide frame is hinged with another group of first guide rods and first lead screws, and the third guide frame is matched with the second guide rods; one end of each first lead screw is provided with a servo motor; the two first electric push rods are fixedly arranged on the third guide frame; the external flange is fixedly arranged on the two first electric push rods.
The parallel platform comprises an upper platform, first supports, second electric push rods, second spherical hinges, a lower platform and a control panel, the three first supports are uniformly and fixedly arranged on the lower side of the upper platform, and each first support is hinged with one second electric push rod; the lower platform is hinged to the three second electric push rods through three second spherical hinges which are uniformly and fixedly arranged on the lower platform; the control panel is fixedly arranged on the upper side of the lower platform.
The stability-increasing handle comprises a six-dimensional force sensor, an electric plug, a left shell, a right shell, a hemispherical hinged support, a clamper, a stability-increasing anti-shaking pan-tilt, a second support, a cross shaft, a third support, a spring, a second guide rod, an outward-extending shaft steel ball and an angular position sensor, wherein the left shell and the right shell are fixedly installed together, and the six-dimensional force sensor, the electric plug and the two hemispherical hinged supports are fixedly installed on the left shell and the right shell; the holder is fixedly arranged on an outward extending shaft section of an outward extending shaft steel ball hinged on the hemispherical hinged support, and an angular position sensor is fixedly arranged on the side shaft section; one end of the stability-increasing anti-shake tripod head is fixedly arranged in the left shell and the right shell, and the other end of the stability-increasing anti-shake tripod head is fixedly provided with a second support; the cross shaft is hinged on the second support, a third support is hinged at the orthogonal position of the cross shaft, the third support is provided with an outward extending square guide rod which is inserted into the second guide rod, and the other end of the second guide rod is fixedly arranged on an outward extending shaft section of the outward extending shaft steel ball; a spring is sleeved between the third support and the second guide rod.
The clamp comprises a flange plate, an immovable clamping hand, a screw rod, a fourth support, a floating clamping hand, a third guide rod and a nut, wherein the immovable clamping hand is fixedly arranged on the flange plate; the fourth support is fixedly arranged on the fixed gripper, and a floating gripper is hinged to the fourth support; one end of the screw rod is hinged on the fixed clamping arm; the nut is sleeved on the screw rod, the outer extending shaft section of the nut is hinged on a third guide rod, and the third guide rod is inserted into an inner hole of the floating clamping hand and can move along the axial direction of the floating clamping hand.
The stability-increasing anti-shake tripod head comprises a first brushless motor, a fifth support, a second brushless motor, a motor base, a sixth support, a T-shaped shaft and a third brushless motor, wherein the fifth support is fixedly arranged on an output shaft of the first brushless motor; the third brushless motor is fixedly arranged on the side surface of the fifth support; one end of the T-shaped shaft is hinged to the fifth support and is fixedly connected with an output shaft of the third brushless motor; the motor base is fixedly arranged at the other end of the T-shaped shaft, and a second brushless motor is fixedly arranged on the motor base; and two ends of the sixth support are respectively hinged to the T-shaped shaft and the output shaft of the second brushless motor.
Due to the adoption of the technical scheme, the invention has the following advantages:
(1) the seven-degree-of-freedom hybrid platform has large working space and flexible motion;
(2) the three-degree-of-freedom stability-increasing anti-shaking tripod head is arranged in the stability-increasing handle, and the posture of the terminal holder is regulated and controlled in real time through the hooke hinge, the moving pair and the spherical hinge which are connected in series;
(3) the six-dimensional force sensor transmits the hand-held acting force direction in real time when the stability-increasing handle is operated, and drives the parallel mechanism to move along with the hand of an operator in real time;
(4) the self-provided rotary shadowless lamp can adjust the lighting position according to the requirement;
(5) simple structure, low cost, simple operation and reduced operation error rate of medical personnel.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 and 3 are schematic structural diagrams of the tandem platform of the present invention.
FIG. 4 is a schematic diagram of a parallel platform structure according to the present invention.
Fig. 5 and 6 are schematic structural views of the stability-enhancing handle of the invention.
Fig. 7 is a schematic view of the structure of the holder of the present invention.
Fig. 8 is a schematic structural view of the stability-increasing anti-shake pan-tilt of the present invention.
Reference numerals: 1-a tandem platform; 2-parallel platform; 3-a stability-enhancing handle; 101-a ceiling flange; 102-a first guide; 103-a first guide bar; 104-a second guide; 105-a servo motor; 106-shadowless lamps; 107-first spherical hinge; 108-a first lead screw; 109-a first scaffold; 110-an external flange; 111-a third guide; 112-a first electric putter; 201-upper platform; 202-a first support; 203-a second electric push rod; 204-a second spherical hinge; 205-lower platform; 206-control panel; 301-six-dimensional force sensors; 302-an electrical plug; 303-left shell; 304-right housing; 305-hemispherical hinged supports; 306-a gripper; 307-stability-increasing anti-shaking holder; 308-a second support; 309-cross shaft; 310-a third support; 311-a spring; 312-a second guide bar; 313-outrigger shaft steel ball; 314-angular position sensor; 30601-flange; 30602-stationary gripper; 30603-screw; 30604-fourth support; 30605-floating clamping arm; 30606-a third guide bar; 30607-a nut; 30701-a first brushless motor; 30702-a fifth support; 30703-a second brushless motor; 30704-a motor base; 30705-sixth support; 30706-T-axis; 30707-a third brushless motor.
Detailed Description
The present invention will be further described with reference to specific examples, which are intended to illustrate, but not limit the scope of the invention.
Example (b): fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8 show a stability-enhancing anti-shake surgical instrument.
As shown in fig. 2 and 3, a first guide frame 102 is arranged on the lower side of a ceiling flange 101, and a fixed mounting manner is adopted, a first guide rod 103 and a first lead screw 108 are arranged in parallel on two sides of the first guide frame 102, and the upper side of a second guide frame 104 is respectively matched with the first guide rod 103 and the first lead screw 108. A first bracket 109 is hinged on the ceiling flange 101, and a first spherical hinge 107 is hinged at the lower end of the first bracket, and the first spherical hinge 107 is used for fixedly mounting the shadowless lamp 106. The other set of first guide rod 103 and first lead screw 108 are also hinged on the lower side of the second guide frame 104, and the third guide frame 111 is matched with the second guide frame 104 in principle. One end of each first lead screw 108 is provided with a servo motor 105, which is used as a power source to drive the first lead screw 108 to rotate. Two first electric push rods 112 are fixedly mounted on the third guide frame 111, and an external flange 110 is fixedly mounted at the end of a piston rod of each of the two first electric push rods 112.
The specific structure of the parallel platform 2 is shown in fig. 4, wherein three first supporting seats 202 are uniformly arranged at the lower side of an upper platform 201, each first supporting seat 202 is hinged to the end of a cylinder of one second electric push rod 203, three second spherical hinges 204 are uniformly arranged on a lower platform 205, and the three second spherical hinges 204 are respectively hinged to the ends of piston rods of the three second electric push rods 203. The control panel 206 is fixedly mounted on the upper side of the lower platform 205, and an operation display screen and operation buttons are arranged on the upper portion of the control panel.
The specific structure of the stability-enhancing handle 3 is shown in fig. 5 and 6, wherein the left housing 303 and the right housing 304 are fixedly mounted together to form a cylindrical structure, and the six-dimensional force sensor 301, the electric plug 302 and the two hemispherical hinge supports 305 are arranged on the cylindrical structure formed by the left housing 303 and the right housing 304. The holder 306 is fixedly mounted on the protruding shaft section of the protruding shaft steel ball 313 hinged on the hemispherical hinge support 305, and an angular position sensor 314 is fixedly mounted on the side shaft section. One end of the stability-increasing anti-shake cradle head 307 is fixedly arranged in the left shell 303 and the right shell 304, and the other end is fixedly provided with a second support 308; the cross 309 is hinged on the second support 308, and the orthogonal position of the cross is hinged with a third support 310, the third support 310 has an outward extending square guide rod inserted into the second guide rod 312, and the other end of the second guide rod 312 is fixedly arranged on the outward extending shaft section of the outward extending shaft steel ball 313. A spring 311 is sleeved between the third support 310 and the second guide 312.
Fig. 7 shows a specific structure of the clamp 306, in which a stationary clamp 30602 is fixedly mounted on a flange 30601, and a fourth support 30604 is fixedly mounted on the stationary clamp 30602, and a floating clamp 30605 is hinged thereto. One end of the screw 30603 is hinged to the stationary gripper 30602, the nut 30607 is sleeved on the screw 30603, the outer extending shaft section of the screw is hinged to the third guide rod 30606, and the third guide rod 30606 is inserted into the inner hole of the floating gripper 30605 and can move along the axial direction of the floating gripper 30605.
Fig. 8 shows a specific structural schematic diagram of the stability-enhancing anti-shake pan/tilt head 307, wherein a fifth support 30702 is fixedly mounted on an output shaft of a first brushless motor 30701, a third brushless motor 30707 is fixedly mounted on a side surface of the fifth support 30702, and a t-shaped shaft 30706 is hinged to the fifth support 30702 at a first end and is fixedly connected to the output shaft of the third brushless motor 30707. The motor seat 30704 is fixedly arranged at the other end of the T-shaped shaft 30706, a second brushless motor 30703 is fixedly arranged on the motor seat, and two ends of the sixth support 30705 are respectively hinged on the T-shaped shaft 30706 and an output shaft of the second brushless motor 30703.
The series platform 1 of the invention has three-direction movement freedom degrees, the parallel platform 2 is a 3RPS parallel mechanism, and has four freedom degrees of rotation in three directions and movement in the vertical direction, and the three freedom degrees and the vertical direction form a seven-freedom-degree parallel-serial mechanism.
The first support 109 can rotate along the ceiling flange 101 in a whole circle, the shadowless lamp 106 hinged to the lower side of the first support 109 through the first spherical hinge 107 can rotate along the lower side of the first support 109 in three directions, and the shadowless lamp 106 can be adjusted to a required position according to the requirement of actual surgical operation.
The six-dimensional force sensor 301 based on the Stewart structure can transmit the stress information of the stability-increasing handle 3 in real time, so that the follow-up motion of the stability-increasing handle 3 is realized by auxiliary assistance through the hybrid mechanism, namely the follow-up motion is carried out along with the direction which is attempted to be operated by medical personnel.
The stability-enhancing anti-shake cradle head 307 has rotational freedom degrees along three orthogonal axes, is driven by a first brushless motor 30701, a second brushless motor 30703 and a third brushless motor 30707 respectively, regulates and controls the posture of a sixth support 30705 in real time, and the posture control of the sixth support 30705 is directly influenced by an angular position sensor 314 fixedly arranged on an external shaft steel ball 313; meanwhile, a two-degree-of-freedom hook hinge formed by the second support 308, the cross shaft 309 and the third support 310 transfers the pose of the sixth support 30705 to the outward extending shaft steel ball 313 through the second guide rod 312, so that the synchronization of the poses of the holder 306 and the stability-increasing anti-shake pan-tilt 307 is realized.
The screw 30603, the nut 30607, the third guide rod 30606 and the floating clamp 30605 form a plane four-bar mechanism, and the screw 30603 is screwed forwards and backwards to realize the closing and opening of the floating clamp 30605. The gripper 306 can grip a variety of surgical tools to achieve a variety of surgical work functions.
When necessary, the stability-increasing handle 3 can be taken down from the hybrid platform, directly holds the work by hand, and is supplied with power through the external power line of the electric plug 302, so that the flexibility is increased, the operation weight is reduced, and part of stability is reduced.
Claims (8)
1. The utility model provides an increase steady anti-shake formula surgical instruments, includes series connection platform (1), parallel platform (2), increases steady handle (3), its characterized in that: the tandem platform (1) is fixedly arranged on a roof; the parallel platform (2) is fixedly arranged at the lower side of the serial platform (1); the stability augmentation handle (3) is fixedly arranged at the lower side of the parallel platform (2);
the series platform (1) comprises a ceiling flange (101), a first guide frame (102), a first guide rod (103), a second guide frame (104), a servo motor (105), a shadowless lamp (106), a first spherical hinge (107), a first lead screw (108), a first support (109), an external flange (110), a third guide frame (111) and a first electric push rod (112), wherein the first guide frame (102) is fixedly arranged on the lower side of the ceiling flange (101); the first guide rod (103) and the first lead screw (108) are respectively hinged on two sides of the first guide frame (102); the upper side of the second guide frame (104) is respectively matched with the first guide rod (103) and the first lead screw (108); the first bracket (109) is hinged on the ceiling flange (101), the lower end of the first bracket is hinged with a first spherical hinge (107), and the shadowless lamp (106) is fixedly mounted on the first spherical hinge (107); the lower side of the second guide frame (104) is hinged with another group of first guide rods (103) and first lead screws (108), and a third guide frame (111) is matched with the first guide rods; two first electric push rods (112) are fixedly arranged on the third guide frame (111); the external flange (110) is fixedly arranged on the two first electric push rods (112);
the parallel platform (2) comprises an upper platform (201), first supports (202), second electric push rods (203), second spherical hinges (204), a lower platform (205) and a control panel (206), the three first supports (202) are uniformly distributed and installed on the lower side of the upper platform (201), and each first support (202) is hinged with one second electric push rod (203); the lower platform (205) is hinged on the three second electric push rods (203) through three second spherical hinges (204) which are uniformly distributed and arranged on the lower platform;
the stability augmentation handle (3) comprises a six-dimensional force sensor (301), an electric plug (302), a left shell (303), a right shell (304), a hemispherical hinged support (305), a clamp holder (306), a stability augmentation anti-shake tripod head (307), a second support (308), a cross shaft (309), a third support (310), a spring (311), a second guide rod (312), an outward extending shaft steel ball (313) and an angular position sensor (314), wherein the six-dimensional force sensor (301), the electric plug (302) and the two hemispherical hinged supports (305) are fixedly arranged on the left shell (303) and the right shell (304); the holder (306) is fixedly arranged on an outward extending shaft section of an outward extending shaft steel ball (313) hinged on the hemispherical hinged support (305), and an angular position sensor (314) is fixedly arranged on the outward extending shaft section; one end of the stability-increasing anti-shaking tripod head (307) is fixedly arranged in the left shell (303) and the right shell (304), and the other end is fixedly provided with a second support (308); the cross shaft (309) is hinged on the second support (308), the orthogonal position of the cross shaft is hinged with a third support (310), the third support (310) is provided with an outward extending square guide rod which is inserted into the second guide rod (312), and the other end of the second guide rod (312) is fixedly arranged on the outward extending shaft section of the outward extending shaft steel ball (313); a spring (311) is sleeved between the third support (310) and the second guide rod (312).
2. The stability-enhancing anti-shake surgical instrument as recited in claim 1, further comprising: one end of the first lead screw (108) is provided with a servo motor (105).
3. The stability-enhancing anti-shake surgical instrument as recited in claim 1, further comprising: the first guide rod (103) and the first lead screw (108) are parallel to each other.
4. The stability-enhancing anti-shake surgical instrument as recited in claim 1, wherein: the upper side of the lower platform (205) is provided with a control panel (206).
5. The stability-enhancing anti-shake surgical instrument as recited in claim 1, further comprising: the left shell (303) and the right shell (304) are fixedly installed together.
6. The stability-enhancing anti-shake surgical instrument as recited in claim 1, further comprising: the clamp holder (306) comprises a flange plate (30601), a fixed clamping hand (30602), a screw rod (30603), a fourth support (30604), a floating clamping hand (30605), a third guide rod (30606) and a nut (30607), and the fixed clamping hand (30602) is fixedly arranged on the flange plate (30601); the fourth support (30604) is fixedly arranged on the fixed clamping arm (30602), and a floating clamping arm (30605) is hinged on the fourth support; one end of the screw rod (30603) is hinged on the fixed clamping arm (30602); the nut (30607) is sleeved on the screw rod (30603), the shaft extending section of the nut is hinged on a third guide rod (30606), and the third guide rod (30606) is inserted into the inner hole of the floating clamping hand (30605) and can move along the axial direction of the floating clamping hand.
7. The stability-enhancing anti-shake surgical instrument as recited in claim 1, wherein: the stability-increasing anti-shake tripod head (307) comprises a first brushless motor (30701), a fifth support (30702), a second brushless motor (30703), a motor base (30704), a sixth support (30705), a T-shaped shaft (30706) and a third brushless motor (30707), wherein the fifth support (30702) is fixedly arranged on an output shaft of the first brushless motor (30701); the third brushless motor (30707) is fixedly arranged on the side surface of the fifth support (30702); one end of the T-shaped shaft (30706) is hinged to the fifth support (30702) and is fixedly connected with the output shaft of the third brushless motor (30707).
8. The stability-enhancing anti-shake surgical instrument as recited in claim 7, further comprising: the motor base (30704) is fixedly arranged at the other end of the T-shaped shaft (30706), and a second brushless motor (30703) is fixedly arranged on the motor base; and two ends of the sixth support (30705) are respectively hinged on the T-shaped shaft (30706) and the output shaft of the second brushless motor (30703).
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| CN201910572635.1A CN110115636B (en) | 2019-06-28 | 2019-06-28 | Stability-increasing anti-shaking surgical instrument |
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| CN201910572635.1A CN110115636B (en) | 2019-06-28 | 2019-06-28 | Stability-increasing anti-shaking surgical instrument |
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| CN110115636B true CN110115636B (en) | 2022-08-26 |
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| CN111820955B (en) * | 2020-07-27 | 2021-09-10 | 南方科技大学 | Intelligent device is gathered to portable pharynx swab |
| CN113133811B (en) * | 2021-04-02 | 2022-07-05 | 陕西中医药大学附属医院 | Multifunctional ceramic scalpel |
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